version: 66.08
glider: 503
mission: 7
dive: 621
start: 1 7 111 21 22 29
data:
$ID,503
$MISSION,7
$DIVE,621
$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,-20293.354
$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,29
$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
$GPS1,070111,211326,-7654.331,17600.379,11,1.4,11,125.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-72.4
$GPS2,070111,212158,-7654.281,17600.385,11,2.1,30,125.3
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_SE
$TGT_LATLONG,-7655.000,17700.000
$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,351.1,25028,-18.2,-13.333
$D_GRID,402
$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,-219.0,0.0,0.0,0,113,0.00,0.00,-94.93,0.000,2,0.000,0.000,182,2794,3596,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.2,-10.2,16,138,8.90,1.62,-4.93,0.000,4,0.207,0.063,2515,3771,3856,0,0,0,0,0,0
$GC,373,-0.84,-219.0,61.9,-17.4,61,380,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2777,3859,0,0,0,0,0,0
$GC,516,-0.84,-219.0,87.3,-17.5,86,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3860,0,0,0,0,0,0
$GC,656,-0.84,-219.0,111.9,-18.1,105,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3860,0,0,0,0,0,0
$GC,784,-0.84,-219.0,134.9,-17.8,117,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3861,0,0,0,0,0,0
$GC,911,-0.84,-219.0,157.2,-17.6,129,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3861,0,0,0,0,0,0
$GC,1039,-0.84,-219.0,180.0,-17.6,141,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3861,0,0,0,0,0,0
$GC,1167,-0.84,-219.0,202.5,-17.4,153,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3861,0,0,0,0,0,0
$GC,1293,-0.84,-219.0,224.5,-17.0,165,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3860,0,0,0,0,0,0
$GC,1421,-0.84,-219.0,246.1,-16.9,177,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3861,0,0,0,0,0,0
$GC,1549,-0.84,-219.0,268.0,-17.0,189,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3861,0,0,0,0,0,0
$GC,1744,-0.84,-219.0,300.2,-16.7,207,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3861,0,0,0,0,0,0
$STATE,1910,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1910,begin apogee
$GC,1917,-0.16,0.0,328.6,16.2,223,2097,0.70,0.00,174.48,0.949,4,0.120,0.000,2746,2688,2960,0,0,0,0,0,0
$STATE,2098,end apogee,CONTROL_FINISHED_OK
$STATE,2098,begin climb
$GC,2100,0.84,219.0,338.3,0.0,239,2301,0.98,2.35,191.25,0.891,4,0.071,0.032,3072,1315,2066,0,0,0,0,0,0
$GC,2503,0.91,275.3,303.2,11.0,275,2560,0.00,2.35,51.28,0.863,6,0.000,0.040,3072,2699,1837,0,0,0,0,0,0
$GC,2752,0.91,275.3,270.6,13.7,298,2756,0.00,2.28,0.00,0.000,4,0.000,0.033,3083,1318,1833,0,0,0,0,0,0
$GC,2899,0.92,288.7,251.7,12.8,310,2918,0.00,2.30,12.25,0.821,6,0.000,0.041,3083,2707,1782,0,0,0,0,0,0
$GC,3110,0.92,288.7,222.0,13.6,330,3113,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3761,1781,0,0,0,0,0,0
$GC,3170,0.92,288.7,212.3,15.8,335,3178,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2732,1782,0,0,1,0,0,0
$GC,3305,0.92,288.7,193.2,14.5,348,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2732,1781,0,0,0,0,0,0
$GC,3434,0.92,288.7,174.8,14.6,360,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2733,1780,0,0,0,0,0,0
$GC,3560,0.92,288.7,156.6,14.0,372,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2732,1780,0,0,0,0,0,0
$GC,3688,0.92,288.7,138.9,14.0,384,3692,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3759,1779,0,0,0,0,0,0
$GC,3722,0.92,288.7,133.6,15.3,387,3726,0.00,1.65,0.00,0.000,6,0.000,0.032,3098,2724,1779,0,0,0,0,0,0
$GC,3863,0.92,288.7,113.3,14.6,400,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2723,1779,0,0,0,0,0,0
$GC,3991,0.92,288.7,94.8,14.3,415,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2723,1779,0,0,0,0,0,0
$GC,4135,0.92,288.7,74.0,14.9,440,4142,0.00,1.70,0.00,0.000,4,0.000,0.049,3098,3755,1779,0,0,0,0,0,0
$GC,4160,0.92,288.7,69.8,15.8,444,4167,0.00,1.62,0.00,0.000,6,0.000,0.032,3106,2730,1779,0,0,0,0,0,0
$GC,4302,0.92,288.7,47.3,15.6,469,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2730,1779,0,0,0,0,0,0
$GC,4446,0.92,288.7,24.1,16.2,494,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2730,1779,0,0,0,0,0,0
$FREEZE,8.91,-0.234,-1.898,2,1,0
$FREEZE,8.15,-0.234,-1.898,2,1,0
$FREEZE,7.20,-0.229,-1.897,2,1,0
$FREEZE,6.42,-0.229,-1.896,2,1,0
$FREEZE,5.59,-0.230,-1.896,2,1,0
$FREEZE,4.73,-0.227,-1.895,2,1,0
$FREEZE,3.69,-0.221,-1.894,2,1,0
$FREEZE,2.91,-0.213,-1.893,2,1,0
$STATE,4578,end climb,SURFACE_DEPTH_REACHED
$STATE,4578,begin surface coast
$FREEZE,2.20,-0.200,-1.893,2,1,0
$FREEZE,1.33,-0.192,-1.892,2,1,0
$FREEZE,0.54,-0.194,-1.891,2,1,0
$FINISH,0.5,1.027676
$STATE,4595,end surface coast,CONTROL_FINISHED_OK
$STATE,4595,begin surface
$SM_CCo,4613,14.90,0.104,0,0,1655,320.11
$SM_GC,0.46,0.00,0.00,14.90,0.000,0.000,0.104,175,2789,1655,-8.21,0.25,320.11
$IRIDIUM_FIX,-7603.11,17553.51,070111,212113
$TT8_MAMPS,0.026215
$HUMID,53.07
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.5
$ALTIM_BOTTOM_PING,300.2,42.6
$24V_AH,22.2,62.982
$10V_AH,9.8,24.593
$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,18.275,22.600,429.250,14.900,0.000,48.985,114.677,142.037,1.000,0.000,35.634,1253.373,1992.852,472.306,1244.264,192.295,0.000,1012.877,0.000,872.049,0.000,8.862,0.000
$DEVICE_MAMPS,207.315,113.985,949.365,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.976,694.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258140
$DATA_FILE_SIZE,33597,521
$CAP_FILE_SIZE,67561,0
$CFSIZE,260165632,223805440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.140,345.0,1
$GPS,070111,224054,-7654.403,17602.645,35,1.7,35,125.3