version: 66.08
glider: 503
mission: 7
dive: 797
start: 1 20 111 17 46 25
data:
$ID,503
$MISSION,7
$DIVE,797
$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,-20533.035
$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,36
$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
$GPS1,200111,173930,-7645.446,17520.129,44,0.9,45,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-76.2
$GPS2,200111,174556,-7645.432,17520.062,12,1.3,12,125.7
$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,68.8,19614,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,94,0.00,0.00,-75.32,0.000,2,0.000,0.000,185,2790,3515,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.8,-9.0,13,119,9.27,2.30,-2.83,0.000,4,0.210,0.041,2568,1360,3657,0,0,0,0,0,0
$GC,373,-0.71,-170.3,49.5,-12.4,61,380,0.00,2.30,0.00,0.000,6,0.000,0.042,2563,2777,3659,0,0,0,0,0,0
$GC,514,-0.71,-170.3,67.8,-13.4,86,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3660,0,0,0,0,0,0
$GC,658,-0.71,-170.3,86.8,-13.5,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3661,0,0,0,0,0,0
$GC,805,-0.71,-170.3,106.1,-12.8,133,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3660,0,0,0,0,0,0
$GC,932,-0.71,-170.3,123.1,-13.8,145,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3661,0,0,0,0,0,0
$GC,1059,-0.71,-170.3,140.3,-13.5,157,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3661,0,0,0,0,0,0
$GC,1188,-0.71,-170.3,158.0,-13.9,169,1191,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3758,3660,0,0,0,0,0,0
$GC,1223,-0.71,-170.3,163.1,-14.7,172,1227,0.00,1.55,0.00,0.000,6,0.000,0.030,2563,2776,3661,0,0,0,0,0,0
$GC,1363,-0.71,-170.3,181.9,-12.8,185,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3660,0,0,0,0,0,0
$GC,1492,-0.71,-170.3,198.4,-13.0,197,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3660,0,0,0,0,0,0
$GC,1618,-0.71,-170.3,214.2,-12.1,209,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3661,0,0,0,0,0,0
$GC,1746,-0.71,-170.3,229.6,-12.2,221,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3661,0,0,0,0,0,0
$GC,1874,-0.71,-170.3,245.4,-12.5,233,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3661,0,0,0,0,0,0
$GC,2002,-0.71,-170.3,261.2,-12.6,245,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3661,0,0,0,0,0,0
$GC,2191,-0.71,-170.3,285.2,-12.7,263,2194,0.00,1.62,0.00,0.000,4,0.000,0.049,2555,3772,3661,0,0,0,0,0,0
$GC,2238,-0.71,-170.3,291.3,-13.0,267,2241,0.00,1.55,0.00,0.000,6,0.000,0.029,2555,2783,3661,0,0,0,0,0,0
$GC,2444,-0.71,-170.3,317.5,-12.9,286,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2784,3660,0,0,0,0,0,0
$GC,2642,-0.71,-170.3,343.2,-13.3,305,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2784,3661,0,0,0,0,0,0
$STATE,2661,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2661,begin apogee
$GC,2668,-0.16,0.0,345.8,12.4,307,2815,0.57,0.00,138.90,0.958,4,0.122,0.000,2745,2685,2959,0,0,0,0,0,0
$STATE,2816,end apogee,CONTROL_FINISHED_OK
$STATE,2816,begin climb
$GC,2820,0.71,170.3,352.1,0.0,320,2980,0.85,2.33,150.55,0.909,4,0.070,0.031,3034,1305,2265,0,0,0,0,0,0
$GC,3152,0.74,189.5,329.8,9.2,349,3176,0.00,2.40,17.67,0.861,6,0.000,0.040,3034,2702,2187,0,0,0,0,0,0
$GC,3371,0.74,189.5,307.5,10.6,369,3375,0.00,2.28,0.00,0.000,4,0.000,0.033,3044,1308,2185,0,0,0,0,0,0
$GC,3558,0.75,199.8,288.0,9.6,385,3573,0.00,2.28,10.38,0.836,6,0.000,0.041,3045,2705,2145,0,0,0,0,0,0
$GC,3770,0.75,199.8,264.7,11.0,404,3774,0.00,1.70,0.00,0.000,4,0.000,0.049,3045,3760,2145,0,0,0,0,0,0
$GC,3851,0.75,199.8,254.1,12.6,411,3855,0.00,1.65,0.00,0.000,6,0.000,0.030,3053,2704,2144,0,0,0,0,0,0
$GC,4055,0.75,199.8,229.6,11.5,430,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2704,2144,0,0,0,0,0,0
$GC,4183,0.75,199.8,215.2,10.9,442,4187,0.00,1.70,0.00,0.000,4,0.000,0.048,3053,3759,2143,0,0,0,0,0,0
$GC,4233,0.75,199.8,208.7,12.5,446,4239,0.00,1.65,0.00,0.000,6,0.000,0.031,3061,2721,2142,0,0,0,0,0,0
$GC,4367,0.75,199.8,193.2,11.3,459,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2720,2143,0,0,0,0,0,0
$GC,4495,0.75,199.8,178.7,11.3,471,4499,0.00,1.67,0.00,0.000,4,0.000,0.049,3061,3762,2142,0,0,0,0,0,0
$GC,4530,0.75,199.8,174.2,13.1,474,4533,0.00,1.65,0.00,0.000,6,0.000,0.030,3069,2696,2142,0,0,0,0,0,0
$GC,4670,0.75,199.8,157.7,11.6,487,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2695,2142,0,0,0,0,0,0
$GC,4800,0.75,199.8,142.6,11.9,499,4803,0.00,1.73,0.00,0.000,4,0.000,0.049,3069,3767,2142,0,0,0,0,0,0
$GC,4846,0.75,199.8,136.3,13.4,503,4850,0.12,1.62,0.00,0.000,6,0.170,0.030,3042,2737,2142,0,0,0,0,0,0
$GC,4986,0.75,199.8,121.2,10.2,516,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2737,2141,0,0,0,0,0,0
$GC,5114,0.75,199.8,108.0,10.5,528,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2737,2141,0,0,0,0,0,0
$GC,5243,0.75,199.8,94.8,10.4,544,5249,0.00,1.67,0.00,0.000,4,0.000,0.050,3042,3751,2141,0,0,0,0,0,0
$GC,5284,0.75,199.8,90.1,12.0,551,5292,0.00,1.58,0.00,0.000,6,0.000,0.031,3048,2740,2141,0,0,1,0,0,0
$GC,5429,0.75,199.8,74.5,10.9,576,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2740,2140,0,0,0,0,0,0
$GC,5570,0.75,199.8,59.0,11.2,601,5577,0.00,1.67,0.00,0.000,4,0.000,0.050,3048,3752,2141,0,0,0,0,0,0
$GC,5607,0.75,199.8,54.7,11.5,607,5615,0.00,1.60,0.00,0.000,6,0.000,0.031,3055,2739,2141,0,0,0,0,0,0
$GC,5751,0.75,199.8,38.7,11.7,632,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2739,2141,0,0,0,0,0,0
$GC,5890,0.75,199.8,23.5,10.4,657,5897,0.00,1.67,0.00,0.000,4,0.000,0.049,3055,3751,2141,0,0,0,0,0,0
$GC,5938,0.75,199.8,17.6,12.9,665,5945,0.00,1.55,0.00,0.000,6,0.000,0.031,3062,2752,2140,0,0,1,0,0,0
$FREEZE,8.96,-0.163,-1.898,2,1,0
$FREEZE,8.32,-0.163,-1.898,2,1,0
$FREEZE,7.86,-0.163,-1.898,2,1,0
$FREEZE,7.16,-0.162,-1.897,2,1,0
$FREEZE,6.75,-0.160,-1.897,2,1,0
$FREEZE,6.04,-0.161,-1.896,2,1,0
$FREEZE,5.36,-0.158,-1.896,2,1,0
$FREEZE,4.85,-0.156,-1.895,2,1,0
$FREEZE,4.13,-0.154,-1.895,2,1,0
$FREEZE,3.54,-0.152,-1.894,2,1,0
$FREEZE,3.07,-0.146,-1.894,2,1,0
$FREEZE,2.42,-0.149,-1.894,2,1,0
$STATE,6069,end climb,SURFACE_DEPTH_REACHED
$STATE,6069,begin surface coast
$FREEZE,1.83,-0.148,-1.893,2,1,0
$FREEZE,1.12,-0.140,-1.892,2,1,0
$FREEZE,0.45,-0.143,-1.892,2,1,0
$FREEZE,-0.02,-0.138,-1.892,2,1,0
$FREEZE,-0.11,-0.148,-1.653,2,1,0
$FINISH,-0.1,1.024291
$STATE,6098,end surface coast,CONTROL_FINISHED_OK
$STATE,6098,begin surface
$SM_CCo,6117,23.20,0.101,0,0,1939,250.20
$SM_GC,0.50,0.00,0.00,23.20,0.000,0.000,0.101,181,2751,1939,-8.19,-0.79,250.20
$IRIDIUM_FIX,-7603.11,17528.18,200111,151536
$TT8_MAMPS,0.028462
$HUMID,52.55
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,301.2,59.5
$24V_AH,21.9,84.205
$10V_AH,9.8,33.660
$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,18.450,43.425,317.500,23.200,0.000,31.266,37.652,165.182,1.000,0.000,15.518,1741.598,2674.835,410.667,1414.780,291.377,0.000,1070.444,0.000,1132.566,0.000,8.906,0.000
$DEVICE_MAMPS,209.610,81.090,957.780,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.288,920.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,43632,694
$CAP_FILE_SIZE,87809,0
$CFSIZE,260165632,215392256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.155,325.3,1
$GPS,200111,192944,-7645.776,17518.119,15,1.7,16,125.8