version: 66.08
glider: 503
mission: 7
dive: 743
start: 1 16 111 8 9 3
data:
$ID,503
$MISSION,7
$DIVE,743
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,220
$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,250
$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,-20461.094
$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,49
$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
$GPS1,160111,080219,-7606.074,17645.656,21,1.1,26,121.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.7
$GPS2,160111,080832,-7606.083,17645.672,14,1.4,14,121.1
$SPEED_LIMITS,0.197,0.325
$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,280.2,6689,-15.8,-11.364
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-219.0,0.0,0.0,0,91,0.00,0.00,-72.50,0.000,2,0.000,0.000,157,2811,3329,0,0,0,0,0,0
$GC,95,-0.76,-219.0,3.0,-5.5,12,122,9.18,2.30,-11.20,0.000,4,0.207,0.042,2548,1368,3854,0,0,0,0,0,0
$GC,374,-0.76,-219.0,49.1,-13.4,61,382,0.00,2.25,0.00,0.000,6,0.000,0.042,2538,2761,3857,0,0,0,0,0,0
$GC,517,-0.76,-219.0,71.0,-16.0,86,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2761,3857,0,0,0,0,0,0
$GC,659,-0.76,-219.0,94.8,-16.4,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2760,3857,0,0,0,0,0,0
$GC,802,-0.76,-219.0,117.7,-16.2,127,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2760,3857,0,0,0,0,0,0
$GC,929,-0.76,-219.0,137.4,-15.4,139,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2760,3857,0,0,0,0,0,0
$GC,1056,-0.76,-219.0,157.1,-15.5,151,1060,0.00,1.62,0.00,0.000,4,0.000,0.048,2530,3764,3857,0,0,0,0,0,0
$GC,1093,-0.76,-219.0,162.6,-16.9,154,1097,0.00,1.55,0.00,0.000,6,0.000,0.030,2530,2761,3857,0,0,0,0,0,0
$GC,1233,-0.76,-219.0,185.5,-16.2,167,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2762,3857,0,0,0,0,0,0
$GC,1360,-0.76,-219.0,205.3,-15.3,179,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2762,3858,0,0,0,0,0,0
$GC,1488,-0.76,-219.0,224.5,-15.0,191,1492,0.00,1.65,0.00,0.000,4,0.000,0.049,2522,3764,3857,0,0,0,0,0,0
$GC,1538,-0.76,-219.0,232.8,-15.6,195,1546,0.08,1.50,0.00,0.000,6,0.129,0.030,2549,2797,3857,0,0,0,0,0,0
$GC,1674,-0.76,-219.0,250.8,-13.3,208,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2796,3858,0,0,0,0,0,0
$GC,1864,-0.76,-219.0,276.1,-13.2,226,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2796,3857,0,0,0,0,0,0
$GC,2055,-0.76,-219.0,301.3,-13.1,244,2059,0.00,1.58,0.00,0.000,4,0.000,0.049,2543,3755,3857,0,0,0,0,0,0
$GC,2095,-0.76,-219.0,307.0,-13.9,247,2102,0.00,1.50,0.00,0.000,6,0.000,0.030,2543,2790,3857,0,0,0,0,0,0
$GC,2295,-0.76,-219.0,333.4,-13.3,266,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2790,3857,0,0,0,0,0,0
$GC,2484,-0.76,-219.0,358.4,-13.0,284,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2791,3857,0,0,0,0,0,0
$STATE,2609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2609,begin apogee
$GC,2617,-0.16,0.0,375.3,13.5,296,2799,0.60,0.00,177.40,0.970,4,0.113,0.000,2745,2686,2960,0,0,0,0,0,0
$STATE,2800,end apogee,CONTROL_FINISHED_OK
$STATE,2800,begin climb
$GC,2803,0.76,219.0,385.3,0.0,312,3011,0.85,0.00,196.02,0.916,6,0.073,0.000,3039,2687,2067,0,0,0,0,0,0
$GC,3201,0.81,260.2,356.6,9.9,349,3248,0.00,1.90,37.85,0.894,4,0.000,0.047,3039,3753,1899,0,0,1,0,0,0
$GC,3339,0.81,260.2,340.7,11.8,361,3343,0.00,1.65,0.00,0.000,6,0.000,0.029,3045,2721,1897,0,0,1,0,0,0
$GC,3544,0.81,261.8,317.3,11.3,380,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2720,1895,0,0,0,0,0,0
$GC,3734,0.82,268.7,296.1,11.1,398,3745,0.00,0.00,8.38,0.815,6,0.000,0.000,3045,2720,1864,0,0,0,0,0,0
$GC,3938,0.82,269.5,272.2,11.3,417,3941,0.00,1.67,0.00,0.000,4,0.000,0.048,3045,3759,1863,0,0,0,0,0,0
$GC,3973,0.82,269.5,267.4,12.8,420,3976,0.00,1.62,0.00,0.000,6,0.000,0.031,3052,2694,1863,0,0,1,0,0,0
$GC,4177,0.82,269.5,241.9,12.1,439,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2692,1862,0,0,0,0,0,0
$GC,4305,0.82,269.5,227.1,11.4,451,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2692,1862,0,0,0,0,0,0
$GC,4431,0.82,269.5,212.7,11.6,463,4435,0.00,1.75,0.00,0.000,4,0.000,0.049,3052,3750,1862,0,0,0,0,0,0
$GC,4477,0.82,269.5,207.0,12.5,467,4481,0.00,1.62,0.00,0.000,6,0.000,0.030,3057,2721,1862,0,0,0,0,0,0
$GC,4618,0.82,269.5,190.7,11.4,480,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1861,0,0,0,0,0,0
$GC,4745,0.83,278.3,176.4,11.1,492,4757,0.00,0.00,10.07,0.819,6,0.000,0.000,3058,2720,1825,0,0,0,0,0,0
$GC,4882,0.83,278.3,160.5,11.6,505,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1825,0,0,0,0,0,0
$GC,5010,0.83,278.3,145.3,12.2,517,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1824,0,0,0,0,0,0
$GC,5137,0.83,278.3,130.1,11.9,529,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1824,0,0,0,0,0,0
$GC,5264,0.83,278.3,115.4,11.8,541,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1824,0,0,0,0,0,0
$GC,5393,0.84,280.9,101.2,11.3,553,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1823,0,0,0,0,0,0
$GC,5525,0.85,292.8,86.4,10.9,575,5543,0.00,0.00,13.98,0.796,6,0.000,0.000,3058,2720,1766,0,0,0,0,0,0
$GC,5680,0.88,316.4,69.8,10.5,602,5705,0.00,0.00,22.30,0.784,6,0.000,0.000,3058,2720,1669,0,0,0,0,0,0
$GC,5843,0.93,353.0,50.6,10.1,630,5883,0.12,1.77,32.80,0.764,4,0.089,0.050,3119,3760,1519,0,0,1,0,0,0
$GC,5913,0.93,353.0,39.4,17.2,641,5920,0.00,1.65,0.00,0.000,6,0.000,0.031,3127,2728,1520,0,0,1,0,0,0
$GC,6060,0.93,353.0,13.1,16.8,666,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2728,1519,0,0,0,0,0,0
$FREEZE,8.57,-0.325,-1.892,2,1,0
$FREEZE,7.47,-0.322,-1.891,2,1,0
$FREEZE,6.30,-0.322,-1.890,2,1,0
$FREEZE,5.12,-0.321,-1.889,2,1,0
$FREEZE,4.40,-0.319,-1.889,2,1,0
$FREEZE,3.39,-0.323,-1.888,2,1,0
$FREEZE,2.21,-0.318,-1.887,2,1,0
$STATE,6115,end climb,SURFACE_DEPTH_REACHED
$STATE,6115,begin surface coast
$FREEZE,1.22,-0.314,-1.886,2,1,0
$FREEZE,0.33,-0.315,-1.886,2,1,0
$FREEZE,-0.17,-0.398,-1.403,2,1,0
$FINISH,-0.2,1.020695
$STATE,6136,end surface coast,CONTROL_FINISHED_OK
$STATE,6137,begin surface
$SM_CCo,6215,0.00,0.000,0,0,1516,354.21
$SM_GC,0.72,7.82,0.00,0.00,0.045,0.000,0.000,193,2786,1516,-8.07,0.17,354.21
$IRIDIUM_FIX,-7519.49,17634.34,160111,060603
$TT8_MAMPS,0.026964
$HUMID,52.95
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.9
$24V_AH,21.7,78.371
$10V_AH,9.8,30.601
$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,18.650,27.775,498.800,0.000,0.000,27.447,35.070,165.759,1.000,0.000,16.729,1642.478,2830.764,505.955,1354.187,261.887,0.000,1161.135,0.000,1076.977,0.000,7.755,0.000
$DEVICE_MAMPS,207.315,117.045,970.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.505,863.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,43732,679
$CAP_FILE_SIZE,84555,0
$CFSIZE,260165632,218189824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.183,186.6,1
$GPS,160111,095407,-7605.912,17648.305,50,1.0,51,121.0