version: 66.08
glider: 503
mission: 7
dive: 471
start: 12 29 110 5 0 1
data:
$ID,503
$MISSION,7
$DIVE,471
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,4
$T_DIVE,180
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51780
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,-7700
$TGT_DEFAULT_LON,17100
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20084.877
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2780
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2960
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,134.3
$AH0_10V,102.9
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.009045
$PRESSURE_SLOPE,0.00011732637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,291210,045406,-7606.461,17519.361,36,0.9,37,123.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.1
$GPS2,291210,045932,-7606.460,17519.223,11,0.9,11,123.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,322.9,44970,-18.2,-13.333
$D_GRID,378
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-92.35,0.000,2,0.000,0.000,176,2793,3525,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.8,-9.2,15,136,9.00,1.60,-6.47,0.000,4,0.215,0.064,2516,3762,3857,0,0,0,0,0,0
$GC,287,-0.84,-219.0,47.2,-19.7,45,294,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2773,3859,0,0,0,0,0,0
$GC,430,-0.84,-219.0,73.8,-18.8,70,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,572,-0.84,-219.0,99.8,-18.7,95,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,706,-0.84,-219.0,124.1,-18.0,108,709,0.00,1.60,0.00,0.000,4,0.000,0.050,2508,3748,3860,0,0,0,0,0,0
$GC,744,-0.84,-219.0,131.8,-20.1,111,751,0.00,1.50,0.00,0.000,6,0.000,0.030,2508,2789,3860,0,0,0,0,0,0
$GC,878,-0.84,-219.0,156.4,-18.4,124,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3861,0,0,0,0,0,0
$GC,1006,-0.84,-219.0,180.0,-18.8,136,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2788,3861,0,0,0,0,0,0
$GC,1134,-0.84,-219.0,203.3,-18.1,148,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3861,0,0,0,0,0,0
$GC,1261,-0.84,-219.0,226.3,-17.7,160,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2788,3860,0,0,0,0,0,0
$GC,1388,-0.84,-219.0,249.0,-18.1,172,1393,0.00,1.55,0.00,0.000,4,0.000,0.050,2501,3738,3860,0,0,0,0,0,0
$GC,1425,-0.84,-219.0,256.2,-19.1,175,1432,0.00,1.48,0.00,0.000,6,0.000,0.031,2501,2783,3861,0,0,1,0,0,0
$GC,1625,-0.84,-219.0,292.7,-18.8,194,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2783,3860,0,0,0,0,0,0
$GC,1814,-0.84,-219.0,328.6,-18.8,212,1817,0.00,1.58,0.00,0.000,4,0.000,0.050,2493,3750,3860,0,0,0,0,0,0
$GC,1849,-0.84,-219.0,335.4,-19.7,215,1853,0.08,1.50,0.00,0.000,6,0.142,0.031,2520,2788,3860,0,0,0,0,0,0
$GC,2053,-0.84,-219.0,368.5,-15.3,234,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2788,3861,0,0,0,0,0,0
$STATE,2113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2113,begin apogee
$GC,2119,-0.16,0.0,378.5,15.9,240,2299,0.68,0.00,174.73,0.968,4,0.121,0.000,2745,2686,2960,0,0,0,0,0,0
$STATE,2300,end apogee,CONTROL_FINISHED_OK
$STATE,2300,begin climb
$GC,2303,0.84,219.0,387.7,0.0,256,2507,0.98,2.40,190.82,0.918,4,0.073,0.033,3069,1311,2066,0,0,0,0,0,0
$GC,2665,0.84,219.0,354.1,13.7,288,2669,0.00,2.38,0.00,0.000,6,0.000,0.041,3069,2692,2059,0,0,0,0,0,0
$GC,2864,0.84,219.0,325.4,13.6,306,2868,0.00,2.28,0.00,0.000,4,0.000,0.033,3079,1314,2056,0,0,0,0,0,0
$GC,3039,0.86,238.2,303.4,12.5,321,3064,0.00,2.28,16.60,0.868,6,0.000,0.041,3079,2708,1988,0,0,1,0,0,0
$GC,3256,0.86,238.2,272.9,14.4,341,3259,0.00,1.67,0.00,0.000,4,0.000,0.047,3079,3761,1986,0,0,0,0,0,0
$GC,3302,0.86,238.2,265.4,15.9,345,3306,0.00,1.62,0.00,0.000,6,0.000,0.030,3088,2706,1986,0,0,1,0,0,0
$GC,3505,0.86,238.2,233.3,15.3,364,3509,0.00,1.70,0.00,0.000,4,0.000,0.048,3088,3764,1985,0,0,0,0,0,0
$GC,3539,0.86,238.2,227.5,17.3,367,3543,0.00,1.62,0.00,0.000,6,0.000,0.031,3096,2702,1985,0,0,1,0,0,0
$GC,3679,0.86,238.2,205.0,15.8,380,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2701,1985,0,0,0,0,0,0
$GC,3808,0.86,238.2,184.8,16.2,392,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2701,1984,0,0,0,0,0,0
$GC,3933,0.86,238.2,164.7,15.6,404,3937,0.00,1.70,0.00,0.000,4,0.000,0.049,3096,3767,1985,0,0,0,0,0,0
$GC,3971,0.86,238.2,158.0,17.9,407,3978,0.00,1.62,0.00,0.000,6,0.000,0.031,3105,2726,1984,0,0,1,0,0,0
$GC,4105,0.86,238.2,135.9,16.3,420,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2726,1984,0,0,0,0,0,0
$GC,4232,0.86,238.2,115.1,16.2,432,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2726,1984,0,0,0,0,0,0
$GC,4361,0.86,238.2,94.3,16.3,447,4368,0.00,1.67,0.00,0.000,4,0.000,0.049,3105,3752,1984,0,0,0,0,0,0
$GC,4403,0.86,238.2,86.9,18.9,454,4410,0.10,1.62,0.00,0.000,6,0.142,0.031,3079,2726,1983,0,0,0,0,0,0
$GC,4546,0.86,238.2,65.4,14.8,479,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2725,1983,0,0,0,0,0,0
$GC,4685,0.87,242.7,45.6,13.1,504,4692,0.00,0.00,4.60,0.647,6,0.000,0.000,3079,2725,1970,0,0,0,0,0,0
$GC,4827,0.87,242.7,25.5,14.4,529,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2725,1970,0,0,0,0,0,0
$FREEZE,8.93,-0.190,-1.892,2,1,0
$FREEZE,8.21,-0.190,-1.891,2,1,0
$FREEZE,7.47,-0.175,-1.891,2,1,0
$FREEZE,6.76,-0.179,-1.890,2,1,0
$FREEZE,6.12,-0.171,-1.890,2,1,0
$GC,4971,0.87,242.7,6.1,14.1,554,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2725,1970,0,0,0,0,0,0
$FREEZE,3.75,-0.171,-1.889,2,1,0
$FREEZE,2.93,-0.175,-1.888,2,1,0
$STATE,4988,end climb,SURFACE_DEPTH_REACHED
$STATE,4988,begin surface coast
$FREEZE,2.15,-0.174,-1.888,2,1,0
$FREEZE,1.43,-0.161,-1.887,2,1,0
$FREEZE,0.59,-0.164,-1.886,2,1,0
$FREEZE,-0.21,-0.164,-1.886,2,1,0
$FINISH,-0.2,1.027602
$STATE,5011,end surface coast,CONTROL_FINISHED_OK
$STATE,5011,begin surface
$SM_CCo,5028,38.05,0.103,0,0,1655,320.11
$SM_GC,0.64,0.00,0.00,38.05,0.000,0.000,0.103,182,2795,1655,-8.18,0.42,320.11
$IRIDIUM_FIX,-7528.04,17454.83,291210,030358
$TT8_MAMPS,0.026964
$HUMID,52.48
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.6
$24V_AH,22.4,45.145
$10V_AH,9.9,17.686
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.450,35.125,386.750,38.050,0.000,29.080,40.970,141.576,1.000,0.000,14.537,1386.394,2157.758,482.852,1204.539,173.667,0.000,1059.929,0.000,941.454,0.000,7.750,0.000
$DEVICE_MAMPS,214.965,99.450,967.725,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.739,714.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,37068,561
$CAP_FILE_SIZE,75718,0
$CFSIZE,260165632,230150144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.127,251.4,1
$GPS,291210,062537,-7606.629,17521.238,30,1.5,30,123.1