version: 66.08
glider: 503
mission: 7
dive: 649
start: 1 9 111 11 57 0
data:
$ID,503
$MISSION,7
$DIVE,649
$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,-20333.514
$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,45
$R_STBD_OVSHOOT,40
$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
$GPS1,090111,115007,-7650.090,17642.750,30,1.4,30,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.7
$GPS2,090111,115629,-7650.078,17642.867,14,3.5,33,124.1
$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,192.6,95231,-18.2,-13.333
$D_GRID,414
$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,-92.70,0.000,2,0.000,0.000,174,2802,3553,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.9,-9.4,16,137,8.90,2.33,-5.82,0.000,4,0.207,0.044,2520,1368,3856,0,0,1,0,0,0
$GC,388,-0.84,-219.0,57.7,-15.5,64,395,0.00,2.28,0.00,0.000,6,0.000,0.043,2510,2768,3859,0,0,0,0,0,0
$GC,531,-0.84,-219.0,83.0,-17.7,89,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3860,0,0,0,0,0,0
$GC,670,-0.84,-219.0,108.0,-18.2,110,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3860,0,0,0,0,0,0
$GC,798,-0.84,-219.0,130.6,-17.5,122,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2768,3861,0,0,0,0,0,0
$GC,925,-0.84,-219.0,152.6,-17.2,134,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2768,3860,0,0,0,0,0,0
$GC,1052,-0.84,-219.0,174.1,-16.5,146,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3861,0,0,0,0,0,0
$GC,1180,-0.84,-219.0,195.7,-17.0,158,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2768,3861,0,0,0,0,0,0
$GC,1307,-0.84,-219.0,217.1,-16.6,170,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2768,3860,0,0,0,0,0,0
$GC,1434,-0.84,-219.0,238.3,-16.7,182,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2768,3860,0,0,0,0,0,0
$GC,1562,-0.84,-219.0,259.2,-16.4,194,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2768,3861,0,0,0,0,0,0
$GC,1754,-0.84,-219.0,291.0,-16.6,212,1757,0.00,1.62,0.00,0.000,4,0.000,0.052,2502,3766,3860,0,0,0,0,0,0
$GC,1811,-0.84,-219.0,301.4,-17.8,217,1814,0.00,1.55,0.00,0.000,6,0.000,0.030,2502,2773,3860,0,0,0,0,0,0
$STATE,1842,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1842,begin apogee
$GC,1849,-0.16,0.0,307.5,18.3,220,2029,0.73,0.00,174.45,0.926,4,0.122,0.000,2741,2695,2959,0,0,0,0,0,0
$STATE,2030,end apogee,CONTROL_FINISHED_OK
$STATE,2030,begin climb
$GC,2033,0.84,219.0,317.6,0.0,236,2232,0.95,1.90,191.12,0.875,4,0.079,0.052,3070,3753,2067,0,0,1,0,0,0
$GC,2379,0.84,219.0,281.0,15.5,266,2383,0.00,1.70,0.00,0.000,6,0.000,0.028,3078,2707,2059,0,0,1,0,0,0
$GC,2585,0.84,220.6,253.6,13.3,285,2589,0.00,2.30,0.00,0.000,4,0.000,0.033,3089,1296,2056,0,0,0,0,0,0
$GC,2783,0.87,241.8,228.4,12.5,302,2809,0.00,2.30,19.90,0.842,6,0.000,0.041,3089,2707,1973,0,0,0,0,0,0
$GC,2945,0.87,241.8,205.6,14.2,317,2948,0.00,1.70,0.00,0.000,4,0.000,0.049,3089,3763,1972,0,0,0,0,0,0
$GC,2992,0.87,241.8,198.4,16.1,321,2996,0.00,1.70,0.00,0.000,6,0.000,0.031,3098,2705,1971,0,0,0,0,0,0
$GC,3131,0.87,241.8,178.1,14.4,334,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2704,1970,0,0,0,0,0,0
$GC,3259,0.87,241.8,159.9,14.5,346,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2705,1970,0,0,0,0,0,0
$GC,3387,0.87,241.8,141.4,14.9,358,3391,0.00,1.75,0.00,0.000,4,0.000,0.050,3097,3761,1970,0,0,0,0,0,0
$GC,3444,0.87,241.8,132.0,17.2,363,3447,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2697,1969,0,0,0,0,0,0
$GC,3583,0.87,241.8,110.5,15.2,376,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2697,1969,0,0,0,0,0,0
$GC,3715,0.87,241.8,90.6,15.0,393,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2697,1968,0,0,0,0,0,0
$GC,3858,0.87,241.8,68.4,14.6,418,3865,0.00,1.75,0.00,0.000,4,0.000,0.050,3106,3779,1968,0,0,0,0,0,0
$GC,3905,0.87,241.8,61.0,16.5,426,3913,0.10,1.67,0.00,0.000,6,0.142,0.032,3081,2711,1968,0,0,1,0,0,0
$GC,4050,0.88,252.2,41.8,12.9,451,4064,0.00,0.00,9.90,0.759,6,0.000,0.000,3081,2710,1930,0,0,0,0,0,0
$GC,4203,0.89,263.2,21.7,12.9,477,4223,0.00,1.75,11.07,0.750,4,0.000,0.050,3080,3765,1887,0,0,1,0,0,0
$GC,4247,0.90,265.6,15.4,13.2,484,4256,0.00,1.67,4.10,0.567,6,0.000,0.031,3086,2716,1877,0,0,0,0,0,0
$FREEZE,8.23,-0.044,-1.895,2,1,0
$FREEZE,7.69,-0.042,-1.895,2,1,0
$FREEZE,6.89,-0.041,-1.894,2,1,0
$FREEZE,6.16,-0.035,-1.894,2,1,0
$FREEZE,5.45,-0.033,-1.893,2,1,0
$FREEZE,4.71,-0.033,-1.893,2,1,0
$FREEZE,4.05,-0.034,-1.892,2,1,0
$FREEZE,3.33,-0.034,-1.892,2,1,0
$FREEZE,2.49,-0.033,-1.891,2,1,0
$STATE,4340,end climb,SURFACE_DEPTH_REACHED
$STATE,4340,begin surface coast
$FREEZE,1.30,-0.035,-1.890,2,1,0
$FREEZE,0.63,-0.038,-1.890,2,1,0
$FREEZE,-0.12,-0.037,-1.889,2,1,0
$FREEZE,-0.05,-0.145,-1.896,2,1,0
$FINISH,-0.0,1.027747
$STATE,4362,end surface coast,CONTROL_FINISHED_OK
$STATE,4363,begin surface
$SM_CCo,4380,27.38,0.102,0,0,1655,320.11
$SM_GC,1.37,0.00,0.00,27.38,0.000,0.000,0.102,166,2793,1655,-8.23,0.37,320.11
$IRIDIUM_FIX,-7603.11,17641.34,090111,101048
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$ALTIM_BOTTOM_PING,300.4,21.1
$24V_AH,22.2,66.333
$10V_AH,9.9,25.788
$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,18.350,29.800,410.550,27.375,0.000,40.649,44.612,149.173,1.000,0.000,36.882,1237.949,1754.310,460.947,1153.222,198.442,0.000,991.876,0.000,852.152,0.000,8.802,0.000
$DEVICE_MAMPS,207.315,98.685,926.415,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.331,693.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,33736,504
$CAP_FILE_SIZE,68510,0
$CFSIZE,260165632,222658560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.175,102.0,1
$GPS,090111,131136,-7649.671,17642.754,26,0.9,26,124.0