version: 66.08
glider: 503
mission: 7
dive: 385
start: 12 23 110 19 58 6
data:
$ID,503
$MISSION,7
$DIVE,385
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,180
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$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,320
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-19973.834
$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,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
$GPS1,231210,195306,-7631.163,17758.637,8,1.1,24,121.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-74.0
$GPS2,231210,195738,-7631.132,17758.580,8,1.7,8,121.0
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,STATION_O
$TGT_LATLONG,-7630.000,17600.000
$TGT_RADIUS,5000.000
$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,126.7,51310,-18.2,-13.333
$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,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.43,0.000,2,0.000,0.000,176,2787,3454,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-6.7,15,138,8.88,2.30,-8.57,0.000,4,0.214,0.045,2527,1367,3856,0,0,1,0,0,0
$GC,294,-0.84,-219.0,41.4,-16.4,47,301,0.00,2.30,0.00,0.000,6,0.000,0.044,2516,2774,3859,0,0,0,0,0,0
$GC,435,-0.84,-219.0,66.8,-18.0,72,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3859,0,0,0,0,0,0
$GC,578,-0.84,-219.0,92.3,-18.9,97,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3859,0,0,0,0,0,0
$GC,720,-0.84,-219.0,117.9,-18.0,114,724,0.00,1.60,0.00,0.000,4,0.000,0.050,2509,3765,3859,0,0,0,0,0,0
$GC,759,-0.84,-219.0,125.5,-18.7,117,767,0.00,1.55,0.00,0.000,6,0.000,0.030,2509,2772,3859,0,0,0,0,0,0
$GC,893,-0.84,-219.0,149.8,-18.2,130,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2772,3859,0,0,0,0,0,0
$GC,1021,-0.84,-219.0,173.0,-18.1,142,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2772,3859,0,0,0,0,0,0
$GC,1149,-0.84,-219.0,196.6,-18.7,154,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2772,3860,0,0,0,0,0,0
$GC,1276,-0.84,-219.0,220.1,-18.4,166,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2772,3860,0,0,0,0,0,0
$GC,1403,-0.84,-219.0,243.3,-18.3,178,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2772,3860,0,0,0,0,0,0
$GC,1531,-0.84,-219.0,266.6,-18.3,190,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2772,3860,0,0,0,0,0,0
$GC,1724,-0.84,-219.0,301.7,-18.3,208,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2772,3860,0,0,0,0,0,0
$STATE,1815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1815,begin apogee
$GC,1820,-0.16,0.0,318.9,17.8,217,2000,0.70,0.00,172.82,0.931,4,0.125,0.000,2741,2685,2960,0,0,0,0,0,0
$STATE,2000,end apogee,CONTROL_FINISHED_OK
$STATE,2001,begin climb
$GC,2002,0.84,219.0,328.4,0.0,233,2200,1.02,2.35,188.73,0.878,4,0.087,0.033,3070,1312,2066,0,0,0,0,0,0
$GC,2384,0.85,225.3,293.3,13.1,266,2395,0.00,2.38,5.85,0.698,6,0.000,0.041,3071,2703,2040,0,0,1,0,0,0
$GC,2594,0.85,225.3,264.4,13.9,286,2598,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1314,2037,0,0,0,0,0,0
$GC,2780,0.85,225.3,238.8,13.4,302,2784,0.00,2.30,0.00,0.000,6,0.000,0.041,3081,2706,2036,0,0,0,0,0,0
$GC,2920,0.85,225.3,218.6,14.5,315,2924,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3767,2035,0,0,0,0,0,0
$GC,2970,0.85,225.3,210.2,16.7,319,2977,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2722,2035,0,0,0,0,0,0
$GC,3104,0.85,225.3,189.9,15.2,332,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,2035,0,0,0,0,0,0
$GC,3231,0.85,225.3,170.8,14.8,344,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,2034,0,0,0,0,0,0
$GC,3359,0.85,225.3,152.3,14.5,356,3363,0.00,1.70,0.00,0.000,4,0.000,0.048,3089,3753,2034,0,0,0,0,0,0
$GC,3397,0.85,225.3,146.2,17.1,359,3404,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2700,2034,0,0,1,0,0,0
$GC,3531,0.85,225.3,126.5,14.4,372,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2700,2034,0,0,0,0,0,0
$GC,3658,0.85,225.3,107.8,14.9,384,3662,0.00,1.70,0.00,0.000,4,0.000,0.049,3098,3767,2033,0,0,0,0,0,0
$GC,3693,0.85,225.3,102.3,16.6,387,3698,0.12,1.62,0.00,0.000,6,0.164,0.031,3072,2701,2033,0,0,1,0,0,0
$GC,3833,0.85,228.0,83.8,13.2,410,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2701,2033,0,0,0,0,0,0
$GC,3977,0.87,247.7,65.5,12.5,435,4003,0.00,1.77,20.02,0.786,4,0.000,0.049,3071,3761,1950,0,0,0,0,0,0
$GC,4037,0.87,247.7,56.9,15.0,445,4044,0.00,1.65,0.00,0.000,6,0.000,0.031,3079,2728,1948,0,0,0,0,0,0
$GC,4179,0.87,247.7,36.7,13.9,470,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2727,1947,0,0,0,0,0,0
$GC,4320,0.87,247.7,16.9,13.8,495,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2727,1946,0,0,0,0,0,0
$FREEZE,8.54,-0.701,-1.898,2,1,0
$FREEZE,7.85,-0.699,-1.898,2,1,0
$FREEZE,7.19,-0.699,-1.897,2,1,0
$FREEZE,6.45,-0.698,-1.897,2,1,0
$FREEZE,5.92,-0.697,-1.896,2,1,0
$FREEZE,5.09,-0.697,-1.896,2,1,0
$FREEZE,4.32,-0.697,-1.895,2,1,0
$FREEZE,3.55,-0.699,-1.894,2,1,0
$FREEZE,2.98,-0.700,-1.894,2,1,0
$STATE,4417,end climb,SURFACE_DEPTH_REACHED
$STATE,4417,begin surface coast
$FREEZE,1.80,-0.699,-1.893,2,1,0
$FREEZE,1.28,-0.698,-1.893,2,1,0
$FREEZE,0.41,-0.697,-1.892,2,1,0
$FREEZE,0.01,-0.697,-1.253,2,1,0
$FINISH,0.0,1.018515
$STATE,4441,end surface coast,CONTROL_FINISHED_OK
$STATE,4441,begin surface
$SM_CCo,4457,35.25,0.103,0,0,1655,320.11
$SM_GC,0.83,0.00,0.00,35.25,0.000,0.000,0.103,183,2796,1655,-8.18,0.45,320.11
$IRIDIUM_FIX,-7545.40,17809.14,231210,181837
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.5
$ALTIM_BOTTOM_PING,301.7,31.1
$24V_AH,22.6,35.251
$10V_AH,9.8,13.846
$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,18.325,30.725,387.425,35.250,0.000,28.095,35.866,104.216,1.000,0.000,11.445,1262.167,1804.031,473.157,1098.782,141.392,0.000,1010.894,0.000,872.285,0.000,8.833,0.000
$DEVICE_MAMPS,214.200,100.215,931.005,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.399,702.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267184
$DATA_FILE_SIZE,33751,517
$CAP_FILE_SIZE,68718,0
$CFSIZE,260165632,233771008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.148,341.2,1
$GPS,231210,211420,-7631.023,17755.270,30,1.7,42,121.1