version: 66.08
glider: 503
mission: 7
dive: 638
start: 1 8 111 21 6 3
data:
$ID,503
$MISSION,7
$DIVE,638
$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,-20319.68
$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,41
$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
$GPS1,080111,205950,-7655.050,17650.873,13,1.9,13,124.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.2
$GPS2,080111,210532,-7655.030,17650.811,14,1.9,14,124.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$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,203.2,104982,-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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.18,0.000,2,0.000,0.000,172,2796,3451,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.3,-6.8,15,140,8.93,2.33,-8.27,0.000,4,0.208,0.045,2520,1367,3857,0,0,1,0,0,0
$GC,359,-0.84,-219.0,51.4,-16.0,58,366,0.00,2.28,0.00,0.000,6,0.000,0.044,2510,2767,3859,0,0,0,0,0,0
$GC,500,-0.84,-219.0,76.8,-18.5,83,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2766,3859,0,0,0,0,0,0
$GC,641,-0.84,-219.0,102.6,-17.8,107,645,0.00,1.62,0.00,0.000,4,0.000,0.050,2501,3790,3860,0,0,0,0,0,0
$GC,689,-0.84,-219.0,111.4,-18.8,111,693,0.00,1.60,0.00,0.000,6,0.000,0.030,2502,2774,3860,0,0,0,0,0,0
$GC,829,-0.84,-219.0,137.1,-18.1,124,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2774,3860,0,0,0,0,0,0
$GC,957,-0.84,-219.0,160.2,-18.2,136,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2774,3861,0,0,0,0,0,0
$GC,1087,-0.84,-219.0,183.2,-18.1,148,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2774,3860,0,0,0,0,0,0
$GC,1222,-0.84,-219.0,208.1,-18.5,161,1225,0.00,1.62,0.00,0.000,4,0.000,0.050,2494,3761,3860,0,0,0,0,0,0
$GC,1256,-0.84,-219.0,215.0,-20.2,164,1261,0.10,1.52,0.00,0.000,6,0.136,0.031,2528,2790,3860,0,0,0,0,0,0
$GC,1396,-0.84,-219.0,238.3,-16.1,177,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2790,3861,0,0,0,0,0,0
$GC,1523,-0.84,-219.0,258.4,-15.4,189,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2790,3860,0,0,0,0,0,0
$GC,1714,-0.84,-219.0,288.7,-16.0,207,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2790,3861,0,0,0,0,0,0
$STATE,1872,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1872,begin apogee
$GC,1879,-0.16,0.0,313.4,15.6,222,2058,0.65,0.00,174.60,0.934,4,0.116,0.000,2746,2686,2959,0,0,0,0,0,0
$STATE,2059,end apogee,CONTROL_FINISHED_OK
$STATE,2059,begin climb
$GC,2062,0.84,219.0,323.8,0.0,238,2262,0.98,2.38,191.00,0.881,4,0.073,0.034,3071,1311,2067,0,0,0,0,0,0
$GC,2418,0.89,262.3,294.7,11.6,269,2463,0.00,2.38,39.72,0.850,6,0.000,0.041,3071,2698,1890,0,0,0,0,0,0
$GC,2656,0.90,270.2,264.0,13.0,291,2669,0.00,2.38,8.02,0.762,4,0.000,0.034,3082,1312,1858,0,0,1,0,0,0
$GC,2820,0.93,295.0,243.2,12.3,305,2851,0.00,2.33,23.95,0.848,6,0.000,0.042,3082,2708,1757,0,0,0,0,0,0
$GC,2978,0.93,295.0,221.3,14.1,320,2982,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3763,1756,0,0,0,0,0,0
$GC,3017,0.93,295.0,214.9,15.7,323,3024,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2727,1755,0,0,1,0,0,0
$GC,3151,0.93,295.0,195.0,15.3,336,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2727,1755,0,0,0,0,0,0
$GC,3281,0.93,295.0,176.2,14.9,348,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2727,1755,0,0,0,0,0,0
$GC,3406,0.93,295.0,157.5,14.5,360,3409,0.00,1.67,0.00,0.000,4,0.000,0.048,3090,3767,1754,0,0,0,0,0,0
$GC,3451,0.93,295.0,150.3,16.0,364,3455,0.00,1.67,0.00,0.000,6,0.000,0.030,3098,2716,1754,0,0,0,0,0,0
$GC,3591,0.93,295.0,129.2,14.9,377,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2714,1754,0,0,0,0,0,0
$GC,3718,0.93,295.0,110.4,14.6,389,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2714,1753,0,0,0,0,0,0
$GC,3848,0.93,295.0,90.8,14.6,406,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2714,1753,0,0,0,0,0,0
$GC,3992,0.93,295.0,68.8,16.2,431,3998,0.00,1.73,0.00,0.000,4,0.000,0.049,3098,3763,1752,0,0,0,0,0,0
$GC,4049,0.93,295.0,59.1,16.5,441,4056,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2725,1752,0,0,0,0,0,0
$GC,4192,0.93,295.0,36.2,16.3,466,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2726,1753,0,0,0,0,0,0
$GC,4337,0.93,295.0,12.4,16.3,491,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2726,1752,0,0,0,0,0,0
$FREEZE,8.62,-0.225,-1.898,2,1,0
$FREEZE,7.77,-0.217,-1.897,2,1,0
$FREEZE,6.97,-0.222,-1.897,2,1,0
$FREEZE,6.11,-0.222,-1.896,2,1,0
$FREEZE,5.41,-0.204,-1.895,2,1,0
$FREEZE,4.49,-0.218,-1.895,2,1,0
$FREEZE,3.70,-0.197,-1.894,2,1,0
$FREEZE,2.94,-0.207,-1.893,2,1,0
$STATE,4396,end climb,SURFACE_DEPTH_REACHED
$STATE,4396,begin surface coast
$FREEZE,1.80,-0.205,-1.893,2,1,0
$FREEZE,0.94,-0.206,-1.892,2,1,0
$FREEZE,0.13,-0.207,-1.891,2,1,0
$FINISH,0.1,1.027679
$STATE,4416,end surface coast,CONTROL_FINISHED_OK
$STATE,4416,begin surface
$SM_CCo,4434,11.50,0.105,0,0,1654,320.11
$SM_GC,0.69,0.00,0.00,11.50,0.000,0.000,0.105,178,2808,1654,-8.20,0.79,320.11
$IRIDIUM_FIX,-7612.11,17650.26,080111,191937
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.2
$ALTIM_BOTTOM_PING,300.1,27.9
$24V_AH,22.2,65.015
$10V_AH,9.9,25.325
$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,18.300,30.700,437.300,11.500,0.000,30.357,36.396,148.787,1.000,0.000,16.693,1229.426,1779.068,479.052,1118.298,196.366,0.000,1016.881,0.000,854.550,0.000,8.824,0.000
$DEVICE_MAMPS,208.080,91.800,934.065,104.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.638,680.985,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,33669,505
$CAP_FILE_SIZE,68350,0
$CFSIZE,260165632,223109120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.037,319.1,1
$GPS,080111,222124,-7654.315,17649.227,18,1.8,34,124.2