version: 66.08
glider: 503
mission: 7
dive: 639
start: 1 8 111 22 27 55
data:
$ID,503
$MISSION,7
$DIVE,639
$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,-20320.938
$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,46
$R_STBD_OVSHOOT,49
$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
$GPS1,080111,222124,-7654.315,17649.227,18,1.8,34,124.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-72.8
$GPS2,080111,222725,-7654.306,17649.139,41,1.0,41,124.2
$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,209.2,103448,-18.2,-13.333
$D_GRID,380
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-92.65,0.000,2,0.000,0.000,177,2808,3535,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.8,-9.3,16,136,8.88,1.58,-6.28,0.000,4,0.207,0.064,2515,3751,3857,0,0,0,0,0,0
$GC,322,-0.84,-219.0,50.6,-17.2,52,329,0.00,1.52,0.00,0.000,6,0.000,0.028,2515,2775,3860,0,0,0,0,0,0
$GC,464,-0.84,-219.0,75.4,-17.2,77,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3860,0,0,0,0,0,0
$GC,606,-0.84,-219.0,100.3,-17.3,102,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3861,0,0,0,0,0,0
$GC,735,-0.84,-219.0,122.3,-17.2,114,738,0.00,1.58,0.00,0.000,4,0.000,0.049,2507,3730,3861,0,0,0,0,0,0
$GC,796,-0.84,-219.0,133.7,-17.8,119,803,0.00,1.45,0.00,0.000,6,0.000,0.028,2507,2786,3860,0,0,1,0,0,0
$GC,930,-0.84,-219.0,156.3,-16.9,132,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2786,3861,0,0,0,0,0,0
$GC,1058,-0.84,-219.0,178.4,-17.7,144,1062,0.00,1.58,0.00,0.000,4,0.000,0.050,2500,3742,3860,0,0,0,0,0,0
$GC,1097,-0.84,-219.0,186.1,-19.3,147,1104,0.00,1.45,0.00,0.000,6,0.000,0.030,2500,2803,3861,0,0,1,0,0,0
$GC,1231,-0.84,-219.0,210.0,-18.0,160,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2803,3861,0,0,0,0,0,0
$GC,1359,-0.84,-219.0,233.3,-18.2,172,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2802,3861,0,0,0,0,0,0
$GC,1486,-0.84,-219.0,256.0,-17.6,184,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2802,3861,0,0,0,0,0,0
$GC,1677,-0.84,-219.0,290.4,-17.8,202,1681,0.00,1.52,0.00,0.000,4,0.000,0.051,2493,3730,3861,0,0,0,0,0,0
$GC,1735,-0.84,-219.0,301.0,-18.8,207,1739,0.08,1.48,0.00,0.000,6,0.142,0.030,2520,2786,3861,0,0,0,0,0,0
$STATE,1787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1787,begin apogee
$GC,1793,-0.16,0.0,310.7,16.6,212,1973,0.68,0.00,174.40,0.934,4,0.119,0.000,2745,2686,2959,0,0,0,0,0,0
$STATE,1974,end apogee,CONTROL_FINISHED_OK
$STATE,1974,begin climb
$GC,1976,0.84,219.0,320.5,0.0,228,2182,0.98,2.35,190.88,0.881,4,0.072,0.034,3070,1311,2066,0,0,0,0,0,0
$GC,2343,0.89,260.1,290.7,11.7,260,2387,0.00,2.35,37.67,0.851,6,0.000,0.041,3070,2677,1899,0,0,0,0,0,0
$GC,2586,0.89,260.1,259.4,13.4,283,2590,0.00,2.28,0.00,0.000,4,0.000,0.035,3080,1307,1894,0,0,0,0,0,0
$GC,2749,0.89,265.1,238.7,13.1,297,2763,0.00,2.33,4.80,0.663,6,0.000,0.042,3081,2713,1879,0,0,0,0,0,0
$GC,2889,0.89,265.1,219.6,13.6,310,2893,0.00,1.67,0.00,0.000,4,0.000,0.048,3081,3762,1879,0,0,0,0,0,0
$GC,2939,0.89,265.1,211.8,15.8,314,2946,0.00,1.62,0.00,0.000,6,0.000,0.030,3089,2731,1878,0,0,1,0,0,0
$GC,3074,0.89,265.1,192.7,14.6,327,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2731,1878,0,0,0,0,0,0
$GC,3201,0.89,265.1,174.2,14.7,339,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2731,1877,0,0,0,0,0,0
$GC,3330,0.89,265.1,155.0,15.0,351,3333,0.00,1.65,0.00,0.000,4,0.000,0.047,3089,3762,1877,0,0,0,0,0,0
$GC,3368,0.89,265.1,148.3,16.8,354,3375,0.00,1.65,0.00,0.000,6,0.000,0.030,3097,2724,1877,0,0,0,0,0,0
$GC,3503,0.89,265.1,127.5,15.1,367,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2724,1876,0,0,0,0,0,0
$GC,3630,0.89,265.1,108.6,14.9,379,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2724,1876,0,0,0,0,0,0
$GC,3761,0.89,265.1,89.8,14.8,397,3768,0.00,1.70,0.00,0.000,4,0.000,0.048,3097,3759,1876,0,0,0,0,0,0
$GC,3798,0.89,265.1,84.0,16.3,403,3805,0.00,1.65,0.00,0.000,6,0.000,0.031,3105,2720,1876,0,0,0,0,0,0
$GC,3941,0.89,265.1,62.6,15.7,428,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2719,1876,0,0,0,0,0,0
$GC,4083,0.89,265.1,40.8,14.9,453,4091,0.00,1.70,0.00,0.000,4,0.000,0.049,3105,3755,1876,0,0,0,0,0,0
$GC,4125,0.89,265.1,33.5,16.9,460,4132,0.00,1.60,0.00,0.000,6,0.000,0.031,3114,2730,1876,0,0,1,0,0,0
$GC,4268,0.89,265.1,9.8,18.1,485,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2730,1876,0,0,0,0,0,0
$FREEZE,6.92,-0.157,-1.897,2,1,0
$FREEZE,6.08,-0.154,-1.897,2,1,0
$FREEZE,5.29,-0.156,-1.896,2,1,0
$FREEZE,4.41,-0.156,-1.895,2,1,0
$FREEZE,3.25,-0.157,-1.894,2,1,0
$FREEZE,2.44,-0.157,-1.894,2,1,0
$STATE,4307,end climb,SURFACE_DEPTH_REACHED
$STATE,4307,begin surface coast
$FREEZE,1.58,-0.157,-1.893,2,1,0
$FREEZE,0.75,-0.158,-1.893,2,1,0
$FREEZE,-0.02,-0.156,-1.892,2,1,0
$FINISH,-0.0,1.027687
$STATE,4325,end surface coast,CONTROL_FINISHED_OK
$STATE,4325,begin surface
$SM_CCo,4343,27.38,0.103,0,0,1655,320.11
$SM_GC,1.03,0.00,0.00,27.38,0.000,0.000,0.103,183,2801,1655,-8.18,0.59,320.11
$IRIDIUM_FIX,-7603.11,17650.26,080111,212143
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.5
$ALTIM_BOTTOM_PING,300.1,25.1
$24V_AH,22.2,65.130
$10V_AH,9.9,25.368
$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,18.225,34.875,407.750,27.375,0.000,27.621,36.649,142.851,1.000,0.000,44.410,1206.310,1723.112,486.778,1129.211,200.643,0.000,1024.838,0.000,851.232,0.000,8.818,0.000
$DEVICE_MAMPS,206.550,103.275,934.065,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.403,670.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,33777,495
$CAP_FILE_SIZE,70052,0
$CFSIZE,260165632,223064064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.025,285.9,1
$GPS,080111,234138,-7653.636,17647.936,10,1.4,10,124.2