version: 66.08
glider: 503
mission: 7
dive: 744
start: 1 16 111 10 1 15
data:
$ID,503
$MISSION,7
$DIVE,744
$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,-20462.352
$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,43
$R_STBD_OVSHOOT,35
$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
$GPS1,160111,095407,-7605.912,17648.305,50,1.0,51,121.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-68.1
$GPS2,160111,100044,-7605.927,17648.238,10,1.9,10,121.0
$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,280.1,5513,-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,12,begin dive
$GC,15,-0.76,-219.0,0.0,0.0,0,114,0.00,0.00,-96.38,0.000,2,0.000,0.000,135,2789,3496,0,0,0,0,0,0
$GC,118,-0.76,-219.0,4.1,-10.0,16,140,9.12,1.62,-6.97,0.000,4,0.203,0.063,2543,3759,3855,0,0,0,0,0,0
$GC,376,-0.76,-219.0,55.8,-17.0,61,383,0.00,1.55,0.00,0.000,6,0.000,0.029,2543,2770,3858,0,0,0,0,0,0
$GC,520,-0.76,-219.0,78.7,-15.6,86,528,0.00,2.17,0.00,0.000,4,0.000,0.031,2543,1380,3860,0,0,0,0,0,0
$GC,547,-0.76,-219.0,83.0,-15.3,90,555,0.00,2.25,0.00,0.000,6,0.000,0.043,2534,2769,3860,0,0,0,0,0,0
$GC,690,-0.76,-219.0,105.9,-16.6,112,693,0.00,1.62,0.00,0.000,4,0.000,0.050,2530,3792,3860,0,0,0,0,0,0
$GC,725,-0.76,-219.0,111.9,-17.2,115,729,0.00,1.60,0.00,0.000,6,0.000,0.028,2530,2769,3859,0,0,0,0,0,0
$GC,865,-0.76,-219.0,134.9,-16.6,128,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$GC,993,-0.76,-219.0,155.5,-16.3,140,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$GC,1120,-0.76,-219.0,176.1,-16.0,152,1124,0.00,1.62,0.00,0.000,4,0.000,0.048,2522,3788,3860,0,0,0,0,0,0
$GC,1159,-0.76,-219.0,183.0,-16.7,155,1166,0.08,1.58,0.00,0.000,6,0.128,0.029,2550,2778,3860,0,0,0,0,0,0
$GC,1294,-0.76,-219.0,202.5,-14.3,168,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2778,3860,0,0,0,0,0,0
$GC,1421,-0.76,-219.0,220.5,-13.9,180,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2778,3860,0,0,0,0,0,0
$GC,1548,-0.76,-219.0,239.0,-14.5,192,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2778,3859,0,0,0,0,0,0
$GC,1676,-0.76,-219.0,257.1,-13.9,204,1680,0.00,1.62,0.00,0.000,4,0.000,0.049,2543,3795,3859,0,0,0,0,0,0
$GC,1722,-0.76,-219.0,264.0,-15.1,208,1726,0.00,1.58,0.00,0.000,6,0.000,0.028,2543,2779,3859,0,0,0,0,0,0
$GC,1928,-0.76,-219.0,294.2,-14.8,227,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2779,3859,0,0,0,0,0,0
$GC,2127,-0.76,-219.0,323.2,-14.0,246,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2779,3859,0,0,0,0,0,0
$GC,2319,-0.76,-219.0,349.6,-13.3,264,2324,0.00,1.60,0.00,0.000,4,0.000,0.048,2536,3756,3859,0,0,0,0,0,0
$GC,2379,-0.76,-219.0,358.6,-14.4,269,2386,0.00,1.50,0.00,0.000,6,0.000,0.028,2536,2790,3859,0,0,0,0,0,0
$STATE,2501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2501,begin apogee
$GC,2508,-0.16,0.0,376.0,14.5,281,2691,0.62,0.00,177.40,0.970,4,0.114,0.000,2745,2687,2960,0,0,0,0,0,0
$STATE,2691,end apogee,CONTROL_FINISHED_OK
$STATE,2691,begin climb
$GC,2695,0.76,219.0,386.0,0.0,297,2902,0.85,0.00,195.48,0.916,6,0.070,0.000,3040,2686,2066,0,0,0,0,0,0
$GC,3092,0.79,238.9,356.0,10.7,334,3116,0.00,1.92,18.45,0.869,4,0.000,0.047,3040,3767,1986,0,0,1,0,0,0
$GC,3185,0.79,238.9,344.5,13.1,342,3188,0.00,1.67,0.00,0.000,6,0.000,0.030,3047,2720,1982,0,0,1,0,0,0
$GC,3389,0.79,238.9,320.2,12.0,361,3393,0.00,1.73,0.00,0.000,4,0.000,0.048,3047,3767,1980,0,0,0,0,0,0
$GC,3428,0.79,238.9,314.9,13.1,364,3435,0.00,1.67,0.00,0.000,6,0.000,0.030,3053,2713,1980,0,0,1,0,0,0
$GC,3627,0.79,238.9,290.4,12.0,383,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2713,1979,0,0,0,0,0,0
$GC,3818,0.79,242.9,268.0,11.2,401,3830,0.00,1.73,4.25,0.659,4,0.000,0.050,3053,3755,1968,0,0,1,0,0,0
$GC,3887,0.79,242.9,259.1,13.5,407,3891,0.00,1.65,0.00,0.000,6,0.000,0.030,3060,2690,1968,0,0,0,0,0,0
$GC,4092,0.79,242.9,235.0,11.8,426,4095,0.00,1.73,0.00,0.000,4,0.000,0.048,3060,3763,1968,0,0,0,0,0,0
$GC,4142,0.79,242.9,228.1,14.2,430,4148,0.00,1.62,0.00,0.000,6,0.000,0.031,3067,2735,1968,0,0,0,0,0,0
$GC,4277,0.79,242.9,211.6,12.4,443,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2735,1968,0,0,0,0,0,0
$GC,4404,0.79,242.9,195.6,12.8,455,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2735,1967,0,0,0,0,0,0
$GC,4531,0.79,242.9,179.1,12.9,467,4535,0.00,1.65,0.00,0.000,4,0.000,0.048,3067,3767,1967,0,0,0,0,0,0
$GC,4570,0.79,242.9,173.4,14.4,470,4576,0.00,1.62,0.00,0.000,6,0.000,0.029,3074,2734,1967,0,0,0,0,0,0
$GC,4705,0.79,242.9,154.8,14.3,483,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2734,1967,0,0,0,0,0,0
$GC,4832,0.79,242.9,137.4,13.9,495,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,1967,0,0,0,0,0,0
$GC,4959,0.79,242.9,120.0,13.6,507,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2734,1967,0,0,0,0,0,0
$GC,5087,0.79,242.9,103.3,13.1,519,5091,0.00,1.67,0.00,0.000,4,0.000,0.048,3074,3756,1966,0,0,0,0,0,0
$GC,5133,0.79,242.9,96.6,14.7,525,5140,0.00,1.58,0.00,0.000,6,0.000,0.031,3081,2756,1966,0,0,0,0,0,0
$GC,5277,0.79,242.9,77.3,12.9,550,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2756,1966,0,0,0,0,0,0
$GC,5419,0.79,242.9,59.2,12.4,575,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2756,1966,0,0,0,0,0,0
$GC,5561,0.79,242.9,41.4,12.6,600,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2756,1966,0,0,0,0,0,0
$GC,5704,0.79,242.9,22.9,14.2,625,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2756,1966,0,0,0,0,0,0
$FREEZE,8.73,-0.114,-1.891,2,1,0
$FREEZE,8.22,-0.114,-1.890,2,1,0
$FREEZE,7.40,-0.113,-1.890,2,1,0
$FREEZE,6.73,-0.115,-1.889,2,1,0
$FREEZE,6.01,-0.115,-1.889,2,1,0
$FREEZE,4.98,-0.113,-1.888,2,1,0
$GC,5845,0.79,242.9,5.0,14.7,650,5852,0.00,1.65,0.00,0.000,4,0.000,0.047,3082,3763,1966,0,0,0,0,0,0
$FREEZE,2.64,-0.113,-1.886,2,1,0
$STATE,5858,end climb,SURFACE_DEPTH_REACHED
$STATE,5858,begin surface coast
$FREEZE,1.72,-0.113,-1.885,2,1,0
$FREEZE,0.98,-0.113,-1.885,2,1,0
$FREEZE,0.26,-0.114,-1.884,2,1,0
$FREEZE,-0.01,-0.116,-1.884,2,1,0
$FINISH,-0.0,1.027574
$STATE,5881,end surface coast,CONTROL_FINISHED_OK
$STATE,5881,begin surface
$SM_CCo,5900,2.20,0.105,0,0,1940,250.20
$SM_GC,2.04,0.00,0.00,2.20,0.000,0.000,0.105,182,2770,1940,-8.18,-0.28,250.20
$IRIDIUM_FIX,-7519.49,17643.26,160111,080827
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.4
$24V_AH,21.7,78.489
$10V_AH,9.8,30.654
$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,18.300,43.900,395.575,2.200,0.000,27.544,36.937,189.065,1.250,0.000,13.305,1611.526,2599.316,472.538,1364.636,261.255,0.000,1120.306,0.000,1066.291,0.000,7.752,0.000
$DEVICE_MAMPS,203.490,80.325,970.020,104.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.598,836.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,43735,656
$CAP_FILE_SIZE,85350,0
$CFSIZE,260165632,218144768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.161,189.5,1
$GPS,160111,114043,-7605.666,17650.850,23,2.0,24,121.0