version: 66.08
glider: 503
mission: 7
dive: 602
start: 1 6 111 17 14 8
data:
$ID,503
$MISSION,7
$DIVE,602
$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,-20265.715
$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,41
$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
$GPS1,060111,170738,-7652.398,17505.705,30,1.3,30,126.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.8
$GPS2,060111,171337,-7652.390,17505.906,42,1.2,42,126.5
$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,109.6,5430,-18.2,-13.333
$D_GRID,376
$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,15,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-94.30,0.000,2,0.000,0.000,175,2789,3574,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.2,-11.1,16,137,8.98,1.62,-5.35,0.000,4,0.210,0.063,2514,3770,3857,0,0,0,0,0,0
$GC,371,-0.84,-219.0,60.8,-18.0,61,378,0.00,1.58,0.00,0.000,6,0.000,0.028,2514,2760,3860,0,0,0,0,0,0
$GC,513,-0.84,-219.0,86.3,-18.0,86,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3860,0,0,0,0,0,0
$GC,657,-0.84,-219.0,111.8,-17.8,106,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3860,0,0,0,0,0,0
$GC,785,-0.84,-219.0,134.5,-17.2,118,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3861,0,0,0,0,0,0
$GC,912,-0.84,-219.0,156.4,-17.2,130,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2760,3861,0,0,0,0,0,0
$GC,1040,-0.84,-219.0,178.3,-17.2,142,1043,0.00,1.62,0.00,0.000,4,0.000,0.050,2506,3779,3861,0,0,0,0,0,0
$GC,1078,-0.84,-219.0,185.6,-18.6,145,1085,0.00,1.55,0.00,0.000,6,0.000,0.030,2506,2788,3860,0,0,0,0,0,0
$GC,1213,-0.84,-219.0,209.1,-17.3,158,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2788,3861,0,0,0,0,0,0
$GC,1340,-0.84,-219.0,231.2,-17.4,170,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2788,3861,0,0,0,0,0,0
$GC,1468,-0.84,-219.0,253.4,-17.5,182,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2788,3861,0,0,0,0,0,0
$GC,1659,-0.84,-219.0,286.9,-17.4,200,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2788,3861,0,0,0,0,0,0
$GC,1850,-0.84,-219.0,319.9,-17.1,218,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2788,3860,0,0,0,0,0,0
$STATE,2009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2009,begin apogee
$GC,2016,-0.16,0.0,347.2,16.8,233,2197,0.73,0.00,174.82,0.952,4,0.122,0.000,2745,2685,2960,0,0,0,0,0,0
$STATE,2197,end apogee,CONTROL_FINISHED_OK
$STATE,2197,begin climb
$GC,2200,0.84,219.0,357.5,0.0,249,2405,0.98,2.38,191.57,0.902,4,0.070,0.032,3071,1301,2068,0,0,0,0,0,0
$GC,2586,0.87,248.8,322.8,12.1,283,2620,0.00,2.38,27.95,0.864,6,0.000,0.041,3071,2695,1945,0,0,0,0,0,0
$GC,2810,0.87,248.8,291.2,14.2,304,2814,0.00,2.28,0.00,0.000,4,0.000,0.033,3082,1314,1940,0,0,0,0,0,0
$GC,2985,0.88,251.9,268.0,13.2,319,2989,0.00,2.30,0.00,0.000,6,0.000,0.041,3082,2712,1939,0,0,0,0,0,0
$GC,3183,0.88,251.9,239.5,14.1,337,3187,0.00,1.67,0.00,0.000,4,0.000,0.048,3081,3761,1938,0,0,0,0,0,0
$GC,3244,0.88,251.9,229.1,17.0,342,3253,0.00,1.65,0.00,0.000,6,0.000,0.030,3089,2723,1937,0,0,0,0,0,0
$GC,3380,0.88,251.9,208.6,15.4,355,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2723,1937,0,0,0,0,0,0
$GC,3507,0.88,251.9,189.8,14.7,367,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2723,1936,0,0,0,0,0,0
$GC,3634,0.88,251.9,171.0,14.8,379,3638,0.00,1.70,0.00,0.000,4,0.000,0.048,3090,3753,1936,0,0,0,0,0,0
$GC,3691,0.88,251.9,161.7,16.2,384,3695,0.00,1.65,0.00,0.000,6,0.000,0.030,3098,2681,1936,0,0,0,0,0,0
$GC,3832,0.88,251.9,140.2,15.3,397,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2680,1936,0,0,0,0,0,0
$GC,3959,0.88,251.9,120.8,14.6,409,3963,0.00,1.77,0.00,0.000,4,0.000,0.048,3098,3759,1936,0,0,0,0,0,0
$GC,4005,0.88,251.9,113.0,17.5,413,4008,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2688,1936,0,0,0,0,0,0
$GC,4142,0.88,251.9,91.2,15.5,430,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2688,1936,0,0,0,0,0,0
$GC,4284,0.88,251.9,69.3,16.1,455,4291,0.00,1.75,0.00,0.000,4,0.000,0.049,3106,3774,1936,0,0,0,0,0,0
$GC,4333,0.88,251.9,61.2,17.6,463,4340,0.08,1.65,0.00,0.000,6,0.149,0.030,3088,2731,1935,0,0,0,0,0,0
$GC,4477,0.88,251.9,40.4,13.8,488,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2731,1935,0,0,0,0,0,0
$GC,4619,0.88,251.9,20.4,13.7,513,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2730,1935,0,0,0,0,0,0
$FREEZE,8.82,-0.093,-1.897,2,1,0
$FREEZE,8.10,-0.099,-1.896,2,1,0
$FREEZE,7.20,-0.096,-1.896,2,1,0
$FREEZE,6.61,-0.090,-1.895,2,1,0
$FREEZE,5.81,-0.088,-1.895,2,1,0
$FREEZE,5.17,-0.083,-1.894,2,1,0
$FREEZE,4.31,-0.078,-1.893,2,1,0
$FREEZE,3.54,-0.075,-1.893,2,1,0
$FREEZE,2.72,-0.068,-1.892,2,1,0
$STATE,4742,end climb,SURFACE_DEPTH_REACHED
$STATE,4743,begin surface coast
$FREEZE,1.89,-0.079,-1.892,2,1,0
$FREEZE,1.17,-0.068,-1.891,2,1,0
$FREEZE,0.47,-0.070,-1.890,2,1,0
$FREEZE,-0.24,-0.081,-1.884,2,1,0
$FINISH,-0.2,1.027576
$STATE,4765,end surface coast,CONTROL_FINISHED_OK
$STATE,4765,begin surface
$SM_CCo,4783,33.88,0.101,0,0,1655,320.11
$SM_GC,0.70,0.00,0.00,33.88,0.000,0.000,0.101,181,2787,1655,-8.18,0.20,320.11
$IRIDIUM_FIX,-7612.11,17514.97,060111,151552
$TT8_MAMPS,0.027713
$HUMID,53.15
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$ALTIM_BOTTOM_PING,301.6,59.4
$24V_AH,22.2,60.698
$10V_AH,9.9,23.746
$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,18.375,29.375,394.350,33.875,0.000,24.894,36.943,145.510,1.000,0.000,45.359,1319.185,2013.084,472.974,1191.953,194.571,0.000,1028.005,0.000,908.015,0.000,8.905,0.000
$DEVICE_MAMPS,210.375,114.750,951.660,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.198,706.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258208
$DATA_FILE_SIZE,33628,539
$CAP_FILE_SIZE,70519,0
$CFSIZE,260165632,224579584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179, 77.3,1
$GPS,060111,183520,-7652.593,17504.859,13,1.7,13,126.5