version: 66.08
glider: 503
mission: 7
dive: 623
start: 1 8 111 0 10 37
data:
$ID,503
$MISSION,7
$DIVE,623
$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,-20295.869
$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,49
$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
$GPS1,080111,000420,-7654.506,17604.877,10,2.0,10,125.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.8
$GPS2,080111,001008,-7654.478,17604.848,14,2.0,14,125.2
$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,340.0,23142,-18.2,-13.333
$D_GRID,416
$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,-219.0,0.0,0.0,0,112,0.00,0.00,-92.68,0.000,2,0.000,0.000,177,2788,3529,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.8,-9.2,15,138,8.93,1.62,-6.40,0.000,4,0.208,0.063,2513,3764,3856,0,0,0,0,0,0
$GC,316,-0.84,-219.0,51.2,-18.6,50,323,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2776,3859,0,0,0,0,0,0
$GC,460,-0.84,-219.0,77.7,-18.1,75,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3859,0,0,0,0,0,0
$GC,605,-0.84,-219.0,103.8,-17.7,99,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3860,0,0,0,0,0,0
$GC,732,-0.84,-219.0,126.2,-17.4,111,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3860,0,0,0,0,0,0
$GC,860,-0.84,-219.0,148.8,-17.6,123,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2777,3861,0,0,0,0,0,0
$GC,987,-0.84,-219.0,171.5,-17.6,135,991,0.00,2.17,0.00,0.000,4,0.000,0.031,2513,1370,3860,0,0,0,0,0,0
$GC,1016,-0.84,-219.0,176.5,-17.6,137,1020,0.00,2.28,0.00,0.000,6,0.000,0.044,2503,2784,3861,0,0,0,0,0,0
$GC,1152,-0.84,-219.0,200.5,-18.2,149,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3861,0,0,0,0,0,0
$GC,1287,-0.84,-219.0,225.7,-18.6,162,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2783,3860,0,0,0,0,0,0
$GC,1414,-0.84,-219.0,249.1,-18.2,174,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2783,3860,0,0,0,0,0,0
$GC,1542,-0.84,-219.0,271.9,-17.6,186,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2783,3860,0,0,0,0,0,0
$GC,1732,-0.84,-219.0,305.3,-17.6,204,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2783,3860,0,0,0,0,0,0
$STATE,1837,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1837,begin apogee
$GC,1844,-0.16,0.0,323.7,17.4,214,2024,0.73,0.00,174.02,0.946,4,0.122,0.000,2742,2695,2960,0,0,0,0,0,0
$STATE,2024,end apogee,CONTROL_FINISHED_OK
$STATE,2025,begin climb
$GC,2027,0.84,219.0,332.9,0.0,230,2231,1.00,2.38,191.32,0.889,4,0.074,0.033,3073,1307,2066,0,0,0,0,0,0
$GC,2424,0.86,235.3,298.5,12.7,265,2448,0.00,2.38,14.98,0.829,6,0.000,0.041,3073,2700,2000,0,0,0,0,0,0
$GC,2641,0.87,240.9,270.7,13.1,285,2654,0.00,2.30,5.97,0.721,4,0.000,0.032,3084,1304,1977,0,0,0,0,0,0
$GC,2794,0.89,257.2,250.7,12.7,298,2816,0.00,2.33,16.20,0.843,6,0.000,0.041,3084,2712,1911,0,0,0,0,0,0
$GC,2951,0.89,257.2,229.0,14.4,313,2954,0.00,1.70,0.00,0.000,4,0.000,0.049,3084,3763,1909,0,0,0,0,0,0
$GC,3012,0.89,257.2,218.9,17.0,318,3020,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2732,1909,0,0,0,0,0,0
$GC,3147,0.89,257.2,198.9,15.2,331,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2732,1908,0,0,0,0,0,0
$GC,3275,0.89,257.2,180.1,14.4,343,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2732,1907,0,0,0,0,0,0
$GC,3401,0.89,257.2,161.6,14.8,355,3405,0.00,1.65,0.00,0.000,4,0.000,0.048,3092,3762,1907,0,0,0,0,0,0
$GC,3428,0.89,257.2,157.1,16.1,357,3435,0.00,1.62,0.00,0.000,6,0.000,0.031,3100,2733,1906,0,0,0,0,0,0
$GC,3563,0.89,257.2,136.9,14.9,370,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2733,1906,0,0,0,0,0,0
$GC,3691,0.89,257.2,117.9,15.0,382,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2734,1906,0,0,0,0,0,0
$GC,3818,0.89,257.2,99.5,14.5,394,3825,0.00,1.67,0.00,0.000,4,0.000,0.049,3101,3753,1906,0,0,0,0,0,0
$GC,3849,0.89,257.2,94.6,15.9,399,3856,0.00,1.60,0.00,0.000,6,0.000,0.031,3109,2738,1906,0,0,0,0,0,0
$GC,3993,0.89,257.2,72.6,14.9,424,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2738,1905,0,0,0,0,0,0
$GC,4135,0.89,257.2,50.3,14.9,449,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2738,1906,0,0,0,0,0,0
$GC,4277,0.89,257.2,28.0,15.5,474,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2738,1905,0,0,0,0,0,0
$FREEZE,8.34,0.054,-1.899,2,1,0
$FREEZE,7.57,0.057,-1.898,2,1,0
$FREEZE,6.61,0.060,-1.898,2,1,0
$FREEZE,5.95,0.070,-1.897,2,1,0
$GC,4421,0.89,257.2,6.0,15.3,499,4427,0.00,1.67,0.00,0.000,4,0.000,0.050,3109,3755,1905,0,0,0,0,0,0
$FREEZE,3.24,0.084,-1.895,2,1,0
$FREEZE,2.53,0.088,-1.894,2,1,0
$STATE,4438,end climb,SURFACE_DEPTH_REACHED
$STATE,4438,begin surface coast
$FREEZE,1.59,0.080,-1.894,2,1,0
$FREEZE,0.52,0.078,-1.893,2,1,0
$FREEZE,-0.15,0.083,-1.892,2,1,0
$FINISH,-0.2,1.027681
$STATE,4455,end surface coast,CONTROL_FINISHED_OK
$STATE,4456,begin surface
$SM_CCo,4475,29.95,0.101,0,0,1654,320.11
$SM_GC,0.90,0.00,0.00,29.95,0.000,0.000,0.101,182,2775,1654,-8.18,-0.14,320.11
$IRIDIUM_FIX,-7612.11,17552.83,070111,222245
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$ALTIM_BOTTOM_PING,301.6,36.9
$24V_AH,22.2,63.214
$10V_AH,9.8,24.678
$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,18.350,30.225,402.500,29.950,0.000,27.985,45.514,147.420,1.000,0.000,16.738,1226.880,1841.588,486.717,1115.095,195.768,0.000,1015.711,0.000,847.279,0.000,8.847,0.000
$DEVICE_MAMPS,208.080,79.560,946.305,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.637,673.141,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258232
$DATA_FILE_SIZE,33674,505
$CAP_FILE_SIZE,67978,0
$CFSIZE,260165632,223723520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,312.8,1
$GPS,080111,012706,-7654.617,17606.957,43,0.9,43,125.2