version: 66.08
glider: 503
mission: 7
dive: 481
start: 12 29 110 20 15 18
data:
$ID,503
$MISSION,7
$DIVE,481
$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,-20098.83
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,291210,200919,-7607.246,17536.324,10,1.7,14,122.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.4
$GPS2,291210,201449,-7607.241,17536.166,9,2.0,9,122.8
$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,323.1,37572,-18.2,-13.333
$D_GRID,375
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-89.85,0.000,2,0.000,0.000,182,2783,3443,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.3,-6.7,15,140,8.95,1.62,-8.60,0.000,4,0.214,0.064,2513,3766,3856,0,0,0,0,0,0
$GC,292,-0.84,-219.0,43.6,-18.0,46,299,0.00,1.55,0.00,0.000,6,0.000,0.030,2513,2773,3859,0,0,0,0,0,0
$GC,435,-0.84,-219.0,69.4,-17.9,71,442,0.00,2.20,0.00,0.000,4,0.000,0.031,2514,1382,3859,0,0,0,0,0,0
$GC,472,-0.84,-219.0,76.0,-17.3,77,480,0.00,2.28,0.00,0.000,6,0.000,0.044,2504,2777,3860,0,0,0,0,0,0
$GC,620,-0.84,-219.0,102.9,-18.7,102,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2777,3859,0,0,0,0,0,0
$GC,748,-0.84,-219.0,126.7,-18.8,114,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2777,3860,0,0,0,0,0,0
$GC,874,-0.84,-219.0,150.3,-18.8,126,878,0.00,1.60,0.00,0.000,4,0.000,0.050,2496,3769,3860,0,0,0,0,0,0
$GC,909,-0.84,-219.0,157.1,-19.7,129,913,0.08,1.55,0.00,0.000,6,0.144,0.030,2536,2776,3860,0,0,0,0,0,0
$GC,1049,-0.84,-219.0,179.7,-15.7,142,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2776,3860,0,0,0,0,0,0
$GC,1176,-0.84,-219.0,199.9,-15.9,154,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2776,3861,0,0,0,0,0,0
$GC,1303,-0.84,-219.0,220.5,-16.1,166,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2776,3860,0,0,0,0,0,0
$GC,1431,-0.84,-219.0,240.4,-15.3,178,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2776,3861,0,0,0,0,0,0
$GC,1558,-0.84,-219.0,259.9,-15.2,190,1562,0.00,1.60,0.00,0.000,4,0.000,0.050,2530,3760,3861,0,0,0,0,0,0
$GC,1605,-0.84,-219.0,267.4,-16.7,194,1608,0.00,1.52,0.00,0.000,6,0.000,0.030,2530,2780,3860,0,0,0,0,0,0
$GC,1810,-0.84,-219.0,301.3,-16.4,213,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2780,3861,0,0,0,0,0,0
$GC,1999,-0.84,-219.0,332.8,-16.0,231,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2780,3860,0,0,0,0,0,0
$GC,2191,-0.84,-219.0,363.6,-16.1,249,2195,0.00,1.60,0.00,0.000,4,0.000,0.050,2522,3764,3860,0,0,1,0,0,0
$GC,2225,-0.84,-219.0,369.2,-16.5,252,2229,0.00,1.52,0.00,0.000,6,0.000,0.030,2522,2787,3860,0,0,0,0,0,0
$STATE,2267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2267,begin apogee
$GC,2272,-0.16,0.0,376.1,16.1,256,2452,0.68,0.00,174.15,0.970,4,0.119,0.000,2747,2689,2959,0,0,0,0,0,0
$STATE,2453,end apogee,CONTROL_FINISHED_OK
$STATE,2453,begin climb
$GC,2455,0.84,219.0,385.0,0.0,272,2659,0.98,2.38,191.02,0.916,4,0.070,0.032,3073,1308,2066,0,0,0,0,0,0
$GC,2730,0.84,219.0,362.9,13.4,296,2738,0.00,2.47,0.00,0.000,6,0.000,0.040,3073,2717,2061,0,0,0,0,0,0
$GC,2931,0.84,219.0,335.4,13.4,315,2936,0.00,2.35,0.00,0.000,4,0.000,0.034,3083,1306,2056,0,0,0,0,0,0
$GC,3106,0.84,219.0,311.7,13.6,330,3110,0.00,2.33,0.00,0.000,6,0.000,0.041,3083,2707,2055,0,0,0,0,0,0
$GC,3304,0.84,219.0,282.8,14.8,348,3307,0.00,1.67,0.00,0.000,4,0.000,0.048,3083,3762,2054,0,0,0,0,0,0
$GC,3349,0.84,219.0,275.6,16.4,352,3353,0.00,1.67,0.00,0.000,6,0.000,0.031,3092,2716,2053,0,0,0,0,0,0
$GC,3553,0.84,219.0,244.5,15.6,371,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2716,2053,0,0,0,0,0,0
$GC,3680,0.84,219.0,225.1,15.1,383,3684,0.00,1.73,0.00,0.000,4,0.000,0.048,3092,3766,2053,0,0,0,0,0,0
$GC,3706,0.84,219.0,220.3,16.3,385,3714,0.08,1.67,0.00,0.000,6,0.148,0.031,3075,2707,2052,0,0,0,0,0,0
$GC,3841,0.84,219.0,201.7,13.6,398,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2707,2053,0,0,0,0,0,0
$GC,3969,0.84,219.0,184.0,13.8,410,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2707,2052,0,0,0,0,0,0
$GC,4096,0.84,219.0,166.5,13.7,422,4099,0.00,1.67,0.00,0.000,4,0.000,0.049,3075,3761,2052,0,0,0,0,0,0
$GC,4134,0.84,219.0,160.4,15.6,425,4141,0.00,1.65,0.00,0.000,6,0.000,0.030,3083,2715,2051,0,0,0,0,0,0
$GC,4269,0.84,219.0,141.0,14.1,438,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2715,2051,0,0,0,0,0,0
$GC,4396,0.84,219.0,123.4,13.8,450,4399,0.00,1.67,0.00,0.000,4,0.000,0.048,3083,3771,2051,0,0,0,0,0,0
$GC,4441,0.84,219.0,116.3,16.0,454,4445,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2696,2051,0,0,0,0,0,0
$GC,4577,0.84,219.0,96.1,14.7,468,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2696,2051,0,0,0,0,0,0
$GC,4717,0.84,219.0,76.2,13.7,493,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2696,2051,0,0,0,0,0,0
$GC,4859,0.84,219.0,56.3,14.2,518,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2696,2051,0,0,0,0,0,0
$GC,5001,0.84,219.0,36.0,14.5,543,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2696,2051,0,0,0,0,0,0
$GC,5143,0.84,219.0,15.7,13.8,568,5150,0.00,1.73,0.00,0.000,4,0.000,0.048,3091,3757,2051,0,0,0,0,0,0
$FREEZE,8.91,-0.024,-1.894,2,1,0
$FREEZE,8.04,-0.023,-1.894,2,1,0
$FREEZE,7.11,-0.023,-1.893,2,1,0
$FREEZE,6.30,-0.020,-1.892,2,1,0
$FREEZE,5.46,-0.021,-1.892,2,1,0
$FREEZE,4.49,-0.023,-1.891,2,1,0
$FREEZE,3.68,-0.021,-1.890,2,1,0
$FREEZE,2.73,-0.021,-1.890,2,1,0
$STATE,5221,end climb,SURFACE_DEPTH_REACHED
$STATE,5221,begin surface coast
$FREEZE,1.34,-0.016,-1.888,2,1,0
$FREEZE,0.40,-0.014,-1.888,2,1,0
$FINISH,0.4,1.027613
$STATE,5234,end surface coast,CONTROL_FINISHED_OK
$STATE,5234,begin surface
$SM_CCo,5252,47.47,0.101,0,0,1655,320.11
$SM_GC,0.85,0.00,0.00,47.47,0.000,0.000,0.101,187,2774,1655,-8.17,-0.17,320.11
$IRIDIUM_FIX,-7528.04,17539.52,291210,181852
$TT8_MAMPS,0.027713
$HUMID,53.38
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.2
$24V_AH,22.5,46.297
$10V_AH,9.8,18.140
$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,18.400,43.350,365.175,47.475,0.000,29.706,39.711,145.984,1.000,0.000,12.032,1446.094,2301.515,477.437,1241.167,177.178,0.000,1069.580,0.000,968.322,0.000,7.757,0.000
$DEVICE_MAMPS,214.200,78.795,970.020,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.302,749.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,40405,584
$CAP_FILE_SIZE,78412,0
$CFSIZE,260165632,229728256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.173,256.0,1
$GPS,291210,214440,-7607.338,17537.613,22,1.4,22,122.8