version: 66.08
glider: 503
mission: 7
dive: 901
start: 1 28 111 15 11 20
data:
$ID,503
$MISSION,7
$DIVE,901
$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,-20672.303
$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,49
$R_STBD_OVSHOOT,32
$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
$GPS1,280111,150106,-7618.534,17531.801,30,1.5,41,123.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-76.0
$GPS2,280111,151050,-7618.557,17531.664,11,1.4,11,123.7
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$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,220.5,28797,-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,16,-0.71,-170.3,0.0,0.0,0,90,0.00,0.00,-71.30,0.000,2,0.000,0.000,187,2791,3385,0,0,0,0,0,0
$GC,94,-0.71,-170.3,3.1,-6.3,12,115,9.32,1.65,-5.90,0.000,4,0.212,0.062,2555,3765,3658,0,0,0,0,0,0
$GC,213,-0.71,-170.3,28.3,-15.5,32,220,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2767,3661,0,0,0,0,0,0
$GC,357,-0.71,-170.3,49.6,-14.7,57,363,0.00,2.17,0.00,0.000,4,0.000,0.032,2555,1379,3662,0,0,0,0,0,0
$GC,395,-0.71,-170.3,55.1,-13.7,63,402,0.00,2.28,0.00,0.000,6,0.000,0.042,2547,2781,3662,0,0,0,0,0,0
$GC,539,-0.71,-170.3,76.9,-16.4,88,545,0.00,1.62,0.00,0.000,4,0.000,0.050,2547,3762,3662,0,0,0,0,0,0
$GC,575,-0.71,-170.3,82.4,-16.3,94,583,0.00,1.52,0.00,0.000,6,0.000,0.029,2547,2797,3662,0,0,0,0,0,0
$GC,718,-0.71,-170.3,103.8,-15.5,117,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2796,3662,0,0,0,0,0,0
$GC,846,-0.71,-170.3,123.3,-15.2,129,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2796,3662,0,0,0,0,0,0
$GC,972,-0.71,-170.3,142.6,-15.0,141,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2796,3662,0,0,0,0,0,0
$GC,1101,-0.71,-170.3,161.7,-15.1,153,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3661,0,0,0,0,0,0
$GC,1227,-0.71,-170.3,180.5,-14.7,165,1231,0.00,1.60,0.00,0.000,4,0.000,0.047,2539,3760,3662,0,0,0,0,0,0
$GC,1263,-0.71,-170.3,186.1,-16.4,168,1267,0.08,1.52,0.00,0.000,6,0.132,0.028,2566,2788,3662,0,0,0,0,0,0
$GC,1403,-0.71,-170.3,204.9,-13.0,181,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2788,3662,0,0,0,0,0,0
$GC,1531,-0.71,-170.3,221.0,-12.5,193,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2788,3663,0,0,0,0,0,0
$GC,1657,-0.71,-170.3,237.4,-13.2,205,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2788,3663,0,0,0,0,0,0
$GC,1784,-0.71,-170.3,254.2,-13.0,217,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2788,3663,0,0,0,0,0,0
$GC,1977,-0.71,-170.3,279.3,-12.9,235,1980,0.00,1.60,0.00,0.000,4,0.000,0.048,2562,3750,3662,0,0,0,0,0,0
$GC,2024,-0.71,-170.3,285.6,-13.2,239,2028,0.00,1.50,0.00,0.000,6,0.000,0.028,2562,2788,3662,0,0,0,0,0,0
$GC,2227,-0.71,-170.3,311.9,-12.4,258,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3662,0,0,0,0,0,0
$GC,2419,-0.71,-170.3,335.0,-12.1,276,2423,0.00,1.60,0.00,0.000,4,0.000,0.047,2556,3753,3662,0,0,0,0,0,0
$GC,2477,-0.71,-170.3,342.5,-12.5,281,2481,0.00,1.48,0.00,0.000,6,0.000,0.028,2555,2809,3662,0,0,0,0,0,0
$GC,2684,-0.71,-170.3,368.9,-12.9,300,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2808,3662,0,0,0,0,0,0
$STATE,2731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2731,begin apogee
$GC,2738,-0.16,0.0,375.8,12.8,305,2885,0.55,0.00,140.38,0.976,4,0.114,0.000,2741,2689,2959,0,0,0,0,0,0
$STATE,2886,end apogee,CONTROL_FINISHED_OK
$STATE,2886,begin climb
$GC,2890,0.71,170.3,383.3,0.0,318,3051,0.85,2.33,152.77,0.927,4,0.073,0.032,3027,1310,2264,0,0,0,0,0,0
$GC,3065,0.79,235.6,377.6,7.4,333,3135,0.00,2.47,64.00,0.894,6,0.000,0.040,3027,2696,1998,0,0,1,0,0,0
$GC,3334,0.80,242.9,351.6,9.7,358,3347,0.00,1.90,7.80,0.786,4,0.000,0.047,3027,3765,1969,0,0,0,0,0,0
$GC,3421,0.80,242.9,341.8,11.0,365,3428,0.00,1.67,0.00,0.000,6,0.000,0.029,3035,2716,1969,0,0,1,0,0,0
$GC,3622,0.81,248.6,321.1,9.8,384,3630,0.00,0.00,6.72,0.782,6,0.000,0.000,3035,2716,1946,0,0,0,0,0,0
$GC,3821,0.81,248.6,299.8,11.0,403,3825,0.00,1.73,0.00,0.000,4,0.000,0.047,3035,3775,1946,0,0,0,0,0,0
$GC,3860,0.81,248.6,295.0,12.2,406,3866,0.00,1.70,0.00,0.000,6,0.000,0.029,3042,2716,1946,0,0,0,0,0,0
$GC,4058,0.81,248.6,272.7,11.1,425,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2715,1946,0,0,0,0,0,0
$GC,4253,0.81,248.6,251.4,11.2,443,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2715,1946,0,0,0,0,0,0
$GC,4451,0.81,248.6,229.1,11.1,462,4455,0.00,1.70,0.00,0.000,4,0.000,0.047,3042,3768,1945,0,0,0,0,0,0
$GC,4489,0.81,248.6,224.0,12.6,465,4496,0.00,1.67,0.00,0.000,6,0.000,0.029,3050,2712,1945,0,0,0,0,0,0
$GC,4625,0.81,248.6,208.2,11.8,478,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2711,1945,0,0,0,0,0,0
$GC,4751,0.81,248.6,193.7,11.1,490,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2711,1944,0,0,0,0,0,0
$GC,4878,0.81,248.6,179.4,11.2,502,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2711,1944,0,0,0,0,0,0
$GC,5007,0.81,248.6,165.3,11.1,514,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2711,1944,0,0,0,0,0,0
$GC,5133,0.81,248.6,151.2,11.3,526,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2711,1943,0,0,0,0,0,0
$GC,5261,0.81,248.6,136.9,11.3,538,5265,0.00,1.75,0.00,0.000,4,0.000,0.047,3050,3766,1944,0,0,0,0,0,0
$GC,5312,0.81,248.6,130.4,12.5,542,5318,0.00,1.67,0.00,0.000,6,0.000,0.029,3057,2711,1944,0,0,0,0,0,0
$GC,5447,0.81,248.6,114.7,11.8,555,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2712,1944,0,0,0,0,0,0
$GC,5574,0.81,248.6,100.0,11.4,567,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2712,1944,0,0,0,0,0,0
$GC,5709,0.81,248.6,85.1,10.7,590,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2711,1944,0,0,0,0,0,0
$GC,5852,0.81,248.6,69.3,11.0,615,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2712,1943,0,0,0,0,0,0
$GC,5995,0.81,248.6,53.4,11.7,640,6002,0.00,1.75,0.00,0.000,4,0.000,0.047,3057,3786,1943,0,0,0,0,0,0
$GC,6038,0.81,248.6,47.7,13.7,647,6046,0.00,1.70,0.00,0.000,6,0.000,0.030,3065,2717,1943,0,0,0,0,0,0
$GC,6182,0.81,248.6,30.7,12.9,672,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2717,1943,0,0,0,0,0,0
$GC,6326,0.81,248.6,13.6,11.8,697,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2717,1943,0,0,0,0,0,0
$FREEZE,8.64,0.094,-1.892,2,1,0
$FREEZE,8.07,0.105,-1.891,2,1,0
$FREEZE,7.41,0.128,-1.890,2,1,0
$FREEZE,6.82,0.151,-1.889,2,1,0
$FREEZE,6.20,0.181,-1.888,2,1,0
$FREEZE,5.66,0.198,-1.887,2,1,0
$FREEZE,5.11,0.207,-1.887,2,1,0
$FREEZE,4.45,0.208,-1.886,2,1,0
$FREEZE,4.02,0.208,-1.886,2,1,0
$FREEZE,3.26,0.210,-1.886,2,1,0
$FREEZE,2.61,0.210,-1.885,2,1,0
$STATE,6420,end climb,SURFACE_DEPTH_REACHED
$STATE,6420,begin surface coast
$FREEZE,1.62,0.214,-1.884,2,1,0
$FREEZE,1.04,0.208,-1.884,2,1,0
$FREEZE,0.44,0.212,-1.884,2,1,0
$FREEZE,0.04,0.211,-1.883,2,1,0
$FINISH,0.0,1.027542
$STATE,6442,end surface coast,CONTROL_FINISHED_OK
$STATE,6442,begin surface
$SM_CCo,6462,-0.15,0.000,0,0,1940,250.20
$SM_GC,1.70,0.00,0.00,-0.15,0.000,0.000,0.000,188,2807,1940,-8.16,0.76,250.20
$IRIDIUM_FIX,-7528.04,17350.51,280111,151546
$TT8_MAMPS,0.027713
$HUMID,53.22
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.9
$24V_AH,21.4,95.212
$10V_AH,9.7,39.260
$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,18.425,42.425,371.675,0.000,0.000,57.938,121.953,182.772,1.250,0.000,13.657,1783.741,2967.699,439.107,1542.907,319.826,0.000,1113.244,0.000,1134.466,0.000,7.759,0.000
$DEVICE_MAMPS,211.905,85.680,976.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.098,919.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47041,718
$CAP_FILE_SIZE,92149,0
$CFSIZE,260165632,210378752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.073,222.5,1
$GPS,280111,170036,-7617.711,17529.732,43,0.9,50,123.7