version: 66.08
glider: 503
mission: 7
dive: 588
start: 1 5 111 20 24 2
data:
$ID,503
$MISSION,7
$DIVE,588
$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,-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,320
$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,-20246.637
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,050111,201734,-7645.082,17517.100,12,5.5,31,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.8
$GPS2,050111,202333,-7645.019,17517.008,9,2.0,9,125.7
$SPEED_LIMITS,0.231,0.343
$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,52.5,19812,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-94.18,0.000,2,0.000,0.000,179,2787,3547,0,0,0,0,0,0
$GC,117,-0.84,-219.0,4.0,-10.5,16,139,8.98,1.62,-6.03,0.000,4,0.210,0.062,2514,3767,3856,0,0,0,0,0,0
$GC,390,-0.84,-219.0,63.8,-18.6,64,397,0.00,1.55,0.00,0.000,6,0.000,0.028,2514,2775,3860,0,0,0,0,0,0
$GC,532,-0.84,-219.0,90.0,-18.6,89,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,675,-0.84,-219.0,116.7,-18.5,107,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,803,-0.84,-219.0,140.1,-18.2,119,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,930,-0.84,-219.0,162.8,-17.8,131,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,1057,-0.84,-219.0,185.2,-17.8,143,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,1185,-0.84,-219.0,207.6,-18.0,155,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,1313,-0.84,-219.0,230.1,-17.2,167,1317,0.00,2.17,0.00,0.000,4,0.000,0.031,2514,1377,3861,0,0,0,0,0,0
$GC,1353,-0.84,-219.0,237.0,-16.1,170,1357,0.00,2.25,0.00,0.000,6,0.000,0.044,2504,2777,3861,0,0,0,0,0,0
$GC,1487,-0.84,-219.0,260.3,-17.4,182,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2777,3861,0,0,0,0,0,0
$GC,1678,-0.84,-219.0,293.5,-17.7,200,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2777,3861,0,0,0,0,0,0
$GC,1869,-0.84,-219.0,326.5,-17.1,218,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2778,3861,0,0,0,0,0,0
$STATE,1975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1975,begin apogee
$GC,1982,-0.16,0.0,344.6,17.2,228,2163,0.73,0.00,174.75,0.950,4,0.122,0.000,2742,2690,2959,0,0,0,0,0,0
$STATE,2164,end apogee,CONTROL_FINISHED_OK
$STATE,2164,begin climb
$GC,2167,0.84,219.0,355.4,0.0,244,2368,0.98,2.38,191.70,0.896,4,0.063,0.032,3074,1308,2066,0,0,0,0,0,0
$GC,2545,0.89,257.3,319.7,11.8,278,2590,0.00,2.38,35.33,0.861,6,0.000,0.040,3074,2701,1911,0,0,0,0,0,0
$GC,2781,0.89,257.3,287.2,13.4,300,2785,0.00,2.30,0.00,0.000,4,0.000,0.034,3084,1310,1907,0,0,0,0,0,0
$GC,2957,0.91,275.8,264.3,12.6,315,2981,0.00,2.30,17.27,0.848,6,0.000,0.041,3084,2706,1835,0,0,0,0,0,0
$GC,3172,0.91,275.8,234.8,13.8,335,3176,0.00,1.70,0.00,0.000,4,0.000,0.048,3084,3760,1834,0,0,0,0,0,0
$GC,3231,0.91,275.8,225.7,15.4,340,3234,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2703,1834,0,0,0,0,0,0
$GC,3371,0.91,275.8,205.6,14.1,353,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2703,1833,0,0,0,0,0,0
$GC,3499,0.91,275.8,187.6,13.8,365,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2703,1833,0,0,0,0,0,0
$GC,3625,0.91,275.8,169.8,13.9,377,3629,0.00,1.70,0.00,0.000,4,0.000,0.048,3092,3763,1833,0,0,0,0,0,0
$GC,3672,0.91,275.8,162.5,15.9,381,3675,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2697,1833,0,0,0,0,0,0
$GC,3812,0.91,275.8,141.8,14.6,394,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2696,1833,0,0,0,0,0,0
$GC,3939,0.91,275.8,123.2,14.7,406,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2696,1833,0,0,0,0,0,0
$GC,4066,0.91,275.8,104.0,15.0,418,4070,0.00,1.70,0.00,0.000,4,0.000,0.048,3100,3761,1832,0,0,0,0,0,0
$GC,4129,0.91,275.8,93.6,17.2,426,4136,0.00,1.65,0.00,0.000,6,0.000,0.031,3109,2722,1832,0,0,0,0,0,0
$GC,4272,0.91,275.8,71.1,15.6,451,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2722,1832,0,0,0,0,0,0
$GC,4413,0.91,275.8,48.7,15.7,476,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2722,1832,0,0,0,0,0,0
$GC,4555,0.91,275.8,25.5,16.3,501,4562,0.00,1.70,0.00,0.000,4,0.000,0.049,3109,3753,1832,0,0,0,0,0,0
$GC,4602,0.91,275.8,17.0,18.0,509,4609,0.00,1.62,0.00,0.000,6,0.000,0.031,3117,2728,1832,0,0,0,0,0,0
$FREEZE,8.47,-0.523,-1.898,2,1,0
$FREEZE,7.54,-0.519,-1.897,2,1,0
$FREEZE,6.66,-0.478,-1.897,2,1,0
$FREEZE,5.82,-0.439,-1.896,2,1,0
$FREEZE,4.95,-0.427,-1.895,2,1,0
$FREEZE,4.19,-0.424,-1.894,2,1,0
$FREEZE,3.31,-0.414,-1.894,2,1,0
$FREEZE,2.65,-0.410,-1.893,2,1,0
$STATE,4684,end climb,SURFACE_DEPTH_REACHED
$STATE,4687,begin surface coast
$FREEZE,1.28,-0.407,-1.893,2,1,0
$FREEZE,0.48,-0.417,-1.892,2,1,0
$FREEZE,-0.35,-0.392,-1.891,2,1,0
$FINISH,-0.3,1.027687
$STATE,4704,end surface coast,CONTROL_FINISHED_OK
$STATE,4704,begin surface
$SM_CCo,4721,21.17,0.102,0,0,1654,320.11
$SM_GC,1.01,0.00,0.00,21.17,0.000,0.000,0.102,186,2802,1654,-8.17,0.65,320.11
$IRIDIUM_FIX,-7603.11,17527.44,050111,181817
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,19.1
$ALTIM_BOTTOM_PING,300.9,57.1
$24V_AH,22.2,59.039
$10V_AH,9.9,23.117
$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,18.375,30.525,419.050,21.175,0.000,29.915,39.660,168.574,1.000,0.000,11.796,1284.758,1991.853,470.455,1176.584,190.746,0.000,1021.329,0.000,891.843,0.000,8.898,0.000
$DEVICE_MAMPS,209.610,94.860,950.130,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.616,690.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258256
$DATA_FILE_SIZE,33683,527
$CAP_FILE_SIZE,69596,0
$CFSIZE,260165632,225157120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255,345.2,1
$GPS,050111,214422,-7645.123,17516.088,16,2.8,35,125.8