version: 66.08
glider: 503
mission: 7
dive: 600
start: 1 6 111 14 20 26
data:
$ID,503
$MISSION,7
$DIVE,600
$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,-20263.201
$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,48
$R_STBD_OVSHOOT,49
$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
$GPS1,060111,141407,-7651.660,17507.305,37,0.8,37,126.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.4
$GPS2,060111,141955,-7651.662,17507.410,11,1.5,28,126.4
$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,114.6,6919,-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,16,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-90.03,0.000,2,0.000,0.000,178,2806,3441,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.2,-7.2,15,140,8.93,2.33,-8.68,0.000,4,0.209,0.044,2521,1376,3858,0,0,0,0,0,0
$GC,391,-0.84,-219.0,55.6,-15.2,64,398,0.00,2.25,0.00,0.000,6,0.000,0.043,2511,2759,3861,0,0,0,0,0,0
$GC,533,-0.84,-219.0,80.9,-18.2,89,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2759,3861,0,0,0,0,0,0
$GC,679,-0.84,-219.0,107.6,-17.8,111,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2759,3861,0,0,0,0,0,0
$GC,807,-0.84,-219.0,130.5,-17.7,123,811,0.00,1.60,0.00,0.000,4,0.000,0.049,2503,3752,3861,0,0,0,0,0,0
$GC,846,-0.84,-219.0,138.2,-18.8,126,853,0.00,1.50,0.00,0.000,6,0.000,0.029,2503,2788,3861,0,0,0,0,0,0
$GC,980,-0.84,-219.0,162.1,-18.4,139,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2788,3861,0,0,0,0,0,0
$GC,1110,-0.84,-219.0,185.4,-18.4,151,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2788,3862,0,0,0,0,0,0
$GC,1235,-0.84,-219.0,208.0,-17.8,163,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2788,3861,0,0,0,0,0,0
$GC,1362,-0.84,-219.0,231.0,-18.2,175,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2788,3861,0,0,0,0,0,0
$GC,1490,-0.84,-219.0,254.0,-18.3,187,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2788,3862,0,0,0,0,0,0
$GC,1682,-0.84,-219.0,288.1,-17.6,205,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2788,3862,0,0,0,0,0,0
$GC,1871,-0.84,-219.0,321.0,-17.4,223,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2787,3862,0,0,0,0,0,0
$STATE,2018,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2018,begin apogee
$GC,2025,-0.16,0.0,347.2,17.6,237,2206,0.73,0.00,174.88,0.951,4,0.121,0.000,2743,2685,2959,0,0,0,0,0,0
$STATE,2207,end apogee,CONTROL_FINISHED_OK
$STATE,2207,begin climb
$GC,2210,0.84,219.0,356.8,0.0,253,2415,1.00,2.35,191.57,0.900,4,0.071,0.031,3076,1311,2066,0,0,0,0,0,0
$GC,2533,0.87,247.4,328.8,12.2,281,2566,0.00,2.40,26.83,0.855,6,0.000,0.039,3076,2698,1950,0,0,0,0,0,0
$GC,2766,0.87,247.4,296.6,14.3,303,2770,0.00,2.30,0.00,0.000,4,0.000,0.033,3086,1315,1946,0,0,0,0,0,0
$GC,2953,0.88,253.5,271.3,13.1,319,2965,0.00,2.33,5.68,0.717,6,0.000,0.041,3086,2710,1926,0,0,0,0,0,0
$GC,3158,0.88,253.5,241.5,14.7,338,3161,0.00,1.67,0.00,0.000,4,0.000,0.047,3086,3762,1925,0,0,0,0,0,0
$GC,3241,0.88,253.5,226.9,16.8,345,3248,0.00,1.65,0.00,0.000,6,0.000,0.030,3094,2726,1925,0,0,0,0,0,0
$GC,3375,0.88,253.5,205.9,15.6,358,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2726,1924,0,0,0,0,0,0
$GC,3503,0.88,253.5,186.4,15.1,370,3507,0.00,1.70,0.00,0.000,4,0.000,0.048,3095,3758,1924,0,0,0,0,0,0
$GC,3541,0.88,253.5,179.8,17.3,373,3548,0.00,1.62,0.00,0.000,6,0.000,0.031,3103,2733,1924,0,0,0,0,0,0
$GC,3676,0.88,253.5,158.4,15.7,386,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2732,1924,0,0,0,0,0,0
$GC,3804,0.88,253.5,138.1,15.7,398,3807,0.00,1.65,0.00,0.000,4,0.000,0.049,3103,3763,1923,0,0,0,0,0,0
$GC,3842,0.88,253.5,131.2,17.6,401,3849,0.00,1.62,0.00,0.000,6,0.000,0.031,3111,2739,1923,0,0,0,0,0,0
$GC,3977,0.88,253.5,109.5,16.4,414,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2739,1923,0,0,0,0,0,0
$GC,4107,0.88,253.5,88.6,16.6,432,4114,0.00,1.67,0.00,0.000,4,0.000,0.050,3111,3760,1923,0,0,0,0,0,0
$GC,4160,0.88,253.5,79.4,18.5,441,4167,0.10,1.60,0.00,0.000,6,0.139,0.031,3084,2751,1923,0,0,0,0,0,0
$GC,4304,0.88,253.5,59.3,13.7,466,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2750,1922,0,0,0,0,0,0
$GC,4445,0.88,253.5,39.7,13.7,491,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2750,1923,0,0,0,0,0,0
$GC,4588,0.88,253.5,19.9,14.1,516,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2751,1922,0,0,0,0,0,0
$FREEZE,8.60,-0.140,-1.897,2,1,0
$FREEZE,7.90,-0.037,-1.895,2,1,0
$FREEZE,7.19,-0.011,-1.894,2,1,0
$FREEZE,6.49,-0.055,-1.895,2,1,0
$FREEZE,5.77,-0.004,-1.893,2,1,0
$FREEZE,5.10,0.003,-1.893,2,1,0
$FREEZE,4.30,-0.005,-1.893,2,1,0
$FREEZE,3.66,-0.015,-1.893,2,1,0
$FREEZE,2.87,-0.007,-1.892,2,1,0
$STATE,4708,end climb,SURFACE_DEPTH_REACHED
$STATE,4709,begin surface coast
$FREEZE,1.76,0.003,-1.891,2,1,0
$FREEZE,0.87,0.006,-1.890,2,1,0
$FREEZE,0.23,0.005,-1.890,2,1,0
$FREEZE,0.02,-0.009,-1.890,2,1,0
$FINISH,0.0,1.027655
$STATE,4731,end surface coast,CONTROL_FINISHED_OK
$STATE,4732,begin surface
$SM_CCo,4748,31.88,0.100,0,0,1655,320.11
$SM_GC,0.77,0.00,0.00,31.88,0.000,0.000,0.100,181,2750,1655,-8.18,-0.85,320.11
$IRIDIUM_FIX,-7603.11,17516.53,060111,121240
$TT8_MAMPS,0.027713
$HUMID,53.26
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,300.9,60.0
$24V_AH,22.2,60.468
$10V_AH,9.9,23.659
$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,18.325,30.350,398.950,31.875,0.000,26.305,37.652,144.220,1.000,0.000,31.175,1320.725,1966.487,483.753,1176.765,195.940,0.000,1038.683,0.000,906.802,0.000,8.909,0.000
$DEVICE_MAMPS,208.845,80.325,950.895,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.994,713.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,37107,542
$CAP_FILE_SIZE,70356,0
$CFSIZE,260165632,224657408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195, 88.1,1
$GPS,060111,154102,-7652.005,17506.824,13,1.3,13,126.4