version: 66.08
glider: 503
mission: 7
dive: 795
start: 1 20 111 14 8 25
data:
$ID,503
$MISSION,7
$DIVE,795
$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,250
$T_MISSION,300
$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,175
$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,-20530.521
$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,52
$R_STBD_OVSHOOT,24
$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
$GPS1,200111,140136,-7644.399,17525.686,14,1.3,25,125.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-76.2
$GPS2,200111,140756,-7644.421,17525.732,10,1.7,10,125.5
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_SW
$TGT_LATLONG,-7655.000,17500.000
$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,115.0,22366,-16.1,-10.000
$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,-0.71,-170.3,0.0,0.0,0,93,0.00,0.00,-75.00,0.000,2,0.000,0.000,182,2759,3508,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.6,-8.5,13,118,9.25,2.20,-3.03,0.000,4,0.208,0.041,2563,1373,3658,0,0,0,0,0,0
$GC,370,-0.71,-170.3,48.7,-12.4,61,377,0.00,2.30,0.00,0.000,6,0.000,0.041,2553,2789,3661,0,0,0,0,0,0
$GC,512,-0.71,-170.3,68.2,-13.7,86,519,0.00,1.60,0.00,0.000,4,0.000,0.049,2546,3767,3661,0,0,0,0,0,0
$GC,549,-0.71,-170.3,73.8,-15.5,92,556,0.00,1.55,0.00,0.000,6,0.000,0.029,2546,2781,3661,0,0,0,0,0,0
$GC,692,-0.71,-170.3,94.7,-14.5,117,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3661,0,0,0,0,0,0
$GC,835,-0.71,-170.3,115.8,-14.9,133,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3661,0,0,0,0,0,0
$GC,962,-0.71,-170.3,134.8,-14.5,145,966,0.00,1.62,0.00,0.000,4,0.000,0.048,2538,3793,3661,0,0,0,0,0,0
$GC,1020,-0.71,-170.3,143.6,-14.9,150,1025,0.08,1.58,0.00,0.000,6,0.131,0.028,2573,2784,3662,0,0,0,0,0,0
$GC,1161,-0.71,-170.3,161.4,-12.4,163,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2784,3662,0,0,0,0,0,0
$GC,1288,-0.71,-170.3,177.8,-12.7,175,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2783,3662,0,0,0,0,0,0
$GC,1416,-0.71,-170.3,194.2,-12.6,187,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2783,3662,0,0,0,0,0,0
$GC,1543,-0.71,-170.3,210.9,-13.0,199,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2784,3662,0,0,0,0,0,0
$GC,1670,-0.71,-170.3,227.5,-12.8,211,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2784,3662,0,0,0,0,0,0
$GC,1799,-0.71,-170.3,243.5,-12.4,223,1803,0.00,1.62,0.00,0.000,4,0.000,0.050,2566,3764,3662,0,0,0,0,0,0
$GC,1852,-0.71,-170.3,250.4,-13.6,227,1860,0.00,1.52,0.00,0.000,6,0.000,0.029,2566,2797,3661,0,0,0,0,0,0
$GC,1987,-0.71,-170.3,267.7,-12.5,240,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2798,3662,0,0,0,0,0,0
$GC,2178,-0.71,-170.3,291.4,-12.4,258,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2798,3661,0,0,0,0,0,0
$GC,2370,-0.71,-170.3,314.7,-12.2,276,2374,0.00,1.60,0.00,0.000,4,0.000,0.050,2559,3763,3661,0,0,0,0,0,0
$GC,2428,-0.71,-170.3,322.3,-12.2,281,2432,0.00,1.52,0.00,0.000,6,0.000,0.029,2559,2792,3661,0,0,0,0,0,0
$STATE,2608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2608,begin apogee
$GC,2616,-0.16,0.0,345.4,12.7,298,2764,0.55,0.00,138.90,0.957,4,0.117,0.000,2743,2690,2960,0,0,0,0,0,0
$STATE,2765,end apogee,CONTROL_FINISHED_OK
$STATE,2765,begin climb
$GC,2767,0.71,170.3,352.3,0.0,311,2929,0.85,2.33,150.62,0.910,4,0.073,0.031,3029,1302,2265,0,0,0,0,0,0
$GC,2936,0.75,204.0,345.8,8.7,325,2977,0.00,2.50,33.33,0.865,6,0.000,0.040,3029,2705,2128,0,0,1,0,0,0
$GC,3167,0.76,206.4,323.4,9.9,347,3171,0.00,1.80,0.00,0.000,4,0.000,0.050,3030,3767,2124,0,0,0,0,0,0
$GC,3229,0.76,206.4,316.2,12.0,352,3237,0.00,1.73,0.00,0.000,6,0.000,0.030,3038,2715,2122,0,0,1,0,0,0
$GC,3427,0.76,206.4,294.9,10.7,371,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2715,2121,0,0,0,0,0,0
$GC,3619,0.76,206.4,275.2,10.2,389,3622,0.00,1.70,0.00,0.000,4,0.000,0.050,3038,3764,2120,0,0,0,0,0,0
$GC,3676,0.76,206.4,268.6,11.5,394,3680,0.00,1.65,0.00,0.000,6,0.000,0.030,3045,2704,2119,0,0,0,0,0,0
$GC,3881,0.76,206.4,247.0,10.3,413,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2705,2119,0,0,0,0,0,0
$GC,4009,0.76,206.4,233.5,10.6,425,4012,0.00,1.73,0.00,0.000,4,0.000,0.049,3044,3768,2118,0,0,0,0,0,0
$GC,4047,0.76,206.4,228.5,12.5,428,4055,0.00,1.67,0.00,0.000,6,0.000,0.031,3052,2717,2118,0,0,0,0,0,0
$GC,4183,0.76,206.4,213.6,11.2,441,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2718,2118,0,0,0,0,0,0
$GC,4310,0.76,206.4,199.2,11.3,453,4314,0.00,1.73,0.00,0.000,4,0.000,0.050,3052,3756,2118,0,0,0,0,0,0
$GC,4338,0.76,206.4,195.6,12.6,455,4345,0.00,1.62,0.00,0.000,6,0.000,0.031,3060,2736,2118,0,0,0,0,0,0
$GC,4473,0.76,206.4,179.7,11.7,468,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2736,2118,0,0,0,0,0,0
$GC,4600,0.76,206.4,164.5,11.9,480,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2736,2118,0,0,0,0,0,0
$GC,4728,0.76,206.4,149.1,12.2,492,4732,0.00,1.65,0.00,0.000,4,0.000,0.049,3060,3764,2118,0,0,0,0,0,0
$GC,4766,0.76,206.4,143.9,13.3,495,4773,0.00,1.62,0.00,0.000,6,0.000,0.031,3068,2739,2117,0,0,0,0,0,0
$GC,4901,0.76,206.4,127.7,12.0,508,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2739,2117,0,0,0,0,0,0
$GC,5029,0.76,206.4,112.5,11.9,520,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2739,2117,0,0,0,0,0,0
$GC,5157,0.76,206.4,97.2,12.0,534,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2739,2117,0,0,0,0,0,0
$GC,5298,0.76,206.4,81.0,11.7,559,5305,0.00,1.70,0.00,0.000,4,0.000,0.049,3068,3760,2117,0,0,0,0,0,0
$GC,5346,0.76,206.4,75.0,12.9,567,5354,0.08,1.60,0.00,0.000,6,0.150,0.031,3048,2758,2116,0,0,0,0,0,0
$GC,5491,0.76,206.4,60.0,10.0,592,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2758,2116,0,0,0,0,0,0
$GC,5636,0.76,209.5,45.3,9.9,617,5644,0.00,0.00,4.18,0.619,6,0.000,0.000,3048,2758,2105,0,0,0,0,0,0
$GC,5780,0.76,209.5,31.1,10.1,642,5787,0.00,1.67,0.00,0.000,4,0.000,0.049,3048,3762,2105,0,0,0,0,0,0
$GC,5833,0.76,209.5,25.0,12.1,651,5840,0.00,1.60,0.00,0.000,6,0.000,0.030,3054,2759,2104,0,0,0,0,0,0
$GC,5977,0.76,209.5,9.6,11.8,676,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2759,2104,0,0,0,0,0,0
$FREEZE,7.87,-0.056,-1.898,2,1,0
$FREEZE,7.07,-0.049,-1.897,2,1,0
$FREEZE,6.69,-0.039,-1.896,2,1,0
$FREEZE,6.18,-0.032,-1.896,2,1,0
$FREEZE,5.57,-0.026,-1.896,2,1,0
$FREEZE,5.00,-0.026,-1.895,2,1,0
$FREEZE,4.57,-0.026,-1.895,2,1,0
$FREEZE,3.86,-0.026,-1.895,2,1,0
$FREEZE,3.31,-0.020,-1.894,2,1,0
$FREEZE,2.70,-0.022,-1.894,2,1,0
$STATE,6035,end climb,SURFACE_DEPTH_REACHED
$STATE,6035,begin surface coast
$FREEZE,2.14,-0.017,-1.893,2,1,0
$FREEZE,1.55,-0.017,-1.893,2,1,0
$FREEZE,1.07,-0.016,-1.893,2,1,0
$FREEZE,0.19,-0.017,-1.892,2,1,0
$FREEZE,-0.04,-0.055,-0.978,2,1,0
$FINISH,-0.0,1.014459
$STATE,6065,end surface coast,CONTROL_FINISHED_OK
$STATE,6065,begin surface
$SM_CCo,6083,19.00,0.101,0,0,1939,250.20
$SM_GC,0.66,0.00,0.00,19.00,0.000,0.000,0.101,183,2758,1939,-8.18,-0.62,250.20
$IRIDIUM_FIX,-7603.11,17537.52,200111,121236
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,300.4,59.7
$24V_AH,21.8,84.009
$10V_AH,9.7,33.552
$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,18.400,45.525,327.025,19.000,0.000,23.160,38.128,168.149,1.250,0.000,12.669,1718.633,2677.300,428.904,1380.466,284.479,0.000,1079.585,0.000,1096.652,0.000,13.710,0.000
$DEVICE_MAMPS,208.080,81.090,957.015,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.132,915.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258184
$DATA_FILE_SIZE,43713,692
$CAP_FILE_SIZE,88600,0
$CFSIZE,260165632,215490560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.055,145.5,1
$GPS,200111,155120,-7645.053,17522.859,29,1.3,30,125.6