version: 66.08
glider: 503
mission: 7
dive: 634
start: 1 8 111 15 39 32
data:
$ID,503
$MISSION,7
$DIVE,634
$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,-20314.65
$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,42
$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
$GPS1,080111,153114,-7655.453,17637.295,11,1.5,11,124.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-75.1
$GPS2,080111,153902,-7655.451,17637.326,12,1.6,12,124.5
$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,317.7,9542,-18.2,-13.333
$D_GRID,419
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.05,0.000,2,0.000,0.000,166,2789,3461,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.5,-8.5,15,133,8.85,1.65,-8.07,0.000,4,0.204,0.065,2516,3768,3855,0,0,0,0,0,0
$GC,191,-0.84,-219.0,25.6,-18.7,28,197,0.00,1.58,0.00,0.000,6,0.000,0.028,2516,2765,3858,0,0,0,0,0,0
$GC,333,-0.84,-219.0,50.4,-17.8,53,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2764,3858,0,0,0,0,0,0
$GC,477,-0.84,-219.0,75.2,-17.1,78,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2764,3858,0,0,0,0,0,0
$GC,618,-0.84,-219.0,99.2,-18.0,103,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2765,3859,0,0,0,0,0,0
$GC,752,-0.84,-219.0,123.3,-18.5,116,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2765,3859,0,0,0,0,0,0
$GC,879,-0.84,-219.0,146.9,-18.2,128,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2764,3860,0,0,0,0,0,0
$GC,1007,-0.84,-219.0,170.3,-17.8,140,1010,0.00,1.62,0.00,0.000,4,0.000,0.050,2508,3780,3860,0,0,0,0,0,0
$GC,1042,-0.84,-219.0,176.7,-18.9,143,1046,0.00,1.55,0.00,0.000,6,0.000,0.030,2508,2791,3860,0,0,0,0,0,0
$GC,1182,-0.84,-219.0,201.3,-16.9,156,1183,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1310,-0.84,-219.0,223.4,-17.3,168,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3859,0,0,0,0,0,0
$GC,1437,-0.84,-219.0,245.6,-17.3,180,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1564,-0.84,-219.0,267.4,-16.9,192,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3859,0,0,0,0,0,0
$GC,1756,-0.84,-219.0,299.8,-17.1,210,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3859,0,0,0,0,0,0
$STATE,1828,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1828,begin apogee
$GC,1835,-0.16,0.0,312.5,16.9,217,2016,0.73,0.00,173.82,0.934,4,0.124,0.000,2746,2687,2958,0,0,0,0,0,0
$STATE,2017,end apogee,CONTROL_FINISHED_OK
$STATE,2017,begin climb
$GC,2020,0.84,219.0,321.5,0.0,233,2225,0.98,2.38,190.68,0.879,4,0.076,0.033,3068,1305,2066,0,0,0,0,0,0
$GC,2410,0.89,257.8,288.9,11.7,267,2451,0.00,2.38,35.25,0.848,6,0.000,0.041,3068,2695,1909,0,0,0,0,0,0
$GC,2640,0.89,257.8,258.3,13.7,289,2645,0.00,2.28,0.00,0.000,4,0.000,0.034,3079,1316,1905,0,0,0,0,0,0
$GC,2770,0.90,269.4,241.1,12.9,300,2787,0.00,2.30,11.18,0.808,6,0.000,0.041,3079,2711,1861,0,0,0,0,0,0
$GC,2916,0.90,269.4,220.8,14.8,313,2920,0.00,1.70,0.00,0.000,4,0.000,0.049,3079,3764,1860,0,0,0,0,0,0
$GC,2962,0.90,269.4,213.8,16.7,317,2966,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2706,1860,0,0,0,0,0,0
$GC,3102,0.90,269.4,193.8,14.3,330,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2705,1859,0,0,0,0,0,0
$GC,3230,0.90,269.4,176.4,13.7,342,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2705,1859,0,0,0,0,0,0
$GC,3357,0.90,269.4,159.0,13.7,354,3361,0.00,1.70,0.00,0.000,4,0.000,0.049,3087,3762,1858,0,0,0,0,0,0
$GC,3405,0.90,269.4,152.0,15.9,358,3408,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2697,1858,0,0,0,0,0,0
$GC,3546,0.90,269.4,131.6,14.2,371,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2696,1858,0,0,0,0,0,0
$GC,3672,0.90,269.4,113.0,14.7,383,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2696,1858,0,0,0,0,0,0
$GC,3801,0.90,269.4,93.6,14.9,398,3810,0.00,1.75,0.00,0.000,4,0.000,0.049,3095,3781,1857,0,0,0,0,0,0
$GC,3850,0.90,269.4,85.7,16.7,406,3858,0.00,1.67,0.00,0.000,6,0.000,0.031,3103,2723,1857,0,0,0,0,0,0
$GC,3996,0.90,269.4,63.4,15.4,431,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2723,1857,0,0,0,0,0,0
$GC,4137,0.90,269.4,41.8,15.3,456,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2723,1857,0,0,0,0,0,0
$GC,4278,0.90,269.4,20.6,14.9,481,4285,0.00,1.70,0.00,0.000,4,0.000,0.049,3104,3755,1857,0,0,0,0,0,0
$GC,4316,0.90,269.4,14.6,16.2,487,4322,0.00,1.62,0.00,0.000,6,0.000,0.031,3111,2730,1857,0,0,0,0,0,0
$FREEZE,8.53,-0.126,-1.899,2,1,0
$FREEZE,7.74,-0.126,-1.899,2,1,0
$FREEZE,6.95,-0.126,-1.898,2,1,0
$FREEZE,6.02,-0.144,-1.897,2,1,0
$FREEZE,5.24,-0.142,-1.897,2,1,0
$FREEZE,4.51,-0.130,-1.896,2,1,0
$FREEZE,3.50,-0.156,-1.896,2,1,0
$FREEZE,2.69,-0.146,-1.895,2,1,0
$STATE,4387,end climb,SURFACE_DEPTH_REACHED
$STATE,4387,begin surface coast
$FREEZE,1.84,-0.149,-1.894,2,1,0
$FREEZE,0.74,-0.150,-1.893,2,1,0
$FREEZE,-0.06,-0.148,-1.893,2,1,0
$FINISH,-0.1,1.027696
$STATE,4407,end surface coast,CONTROL_FINISHED_OK
$STATE,4407,begin surface
$SM_CCo,4424,24.20,0.103,0,0,1654,320.11
$SM_GC,1.07,0.00,0.00,24.20,0.000,0.000,0.103,170,2787,1654,-8.22,0.23,320.11
$IRIDIUM_FIX,-7612.11,17640.80,080111,151541
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$ALTIM_BOTTOM_PING,301.6,24.7
$24V_AH,22.2,64.531
$10V_AH,9.8,25.156
$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,18.200,29.350,410.925,24.200,0.000,58.065,78.667,143.621,1.000,0.000,16.339,1227.381,1857.927,478.160,1171.665,195.466,0.000,1011.976,0.000,846.079,0.000,8.812,0.000
$DEVICE_MAMPS,204.255,113.220,934.065,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.363,681.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33819,503
$CAP_FILE_SIZE,69550,0
$CFSIZE,260165632,223272960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098, 71.2,1
$GPS,080111,165438,-7655.349,17641.037,15,1.4,15,124.5