version: 66.08
glider: 503
mission: 7
dive: 658
start: 1 10 111 0 6 55
data:
$ID,503
$MISSION,7
$DIVE,658
$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,-20346.424
$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,43
$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
$GPS1,100111,000052,-7644.204,17632.025,9,2.1,28,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-74.3
$GPS2,100111,000626,-7644.195,17631.984,8,2.0,8,123.9
$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,213.0,83354,-18.2,-13.333
$D_GRID,467
$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,-219.0,0.0,0.0,0,109,0.00,0.00,-89.50,0.000,2,0.000,0.000,158,2802,3465,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.6,-8.1,14,135,8.93,1.60,-7.85,0.000,4,0.205,0.065,2513,3755,3856,0,0,0,0,0,0
$GC,354,-0.84,-219.0,58.5,-19.5,56,360,0.00,1.52,0.00,0.000,6,0.000,0.029,2513,2779,3859,0,0,0,0,0,0
$GC,496,-0.84,-219.0,85.6,-19.5,81,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3860,0,0,0,0,0,0
$GC,636,-0.84,-219.0,112.0,-19.3,100,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3860,0,0,0,0,0,0
$GC,764,-0.84,-219.0,135.7,-18.0,112,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3860,0,0,0,0,0,0
$GC,891,-0.84,-219.0,158.9,-17.9,124,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3861,0,0,0,0,0,0
$GC,1018,-0.84,-219.0,181.8,-17.8,136,1022,0.00,1.60,0.00,0.000,4,0.000,0.051,2505,3748,3860,0,0,0,0,0,0
$GC,1057,-0.84,-219.0,189.4,-19.2,139,1065,0.00,1.50,0.00,0.000,6,0.000,0.029,2505,2790,3860,0,0,0,0,0,0
$GC,1193,-0.84,-219.0,213.6,-17.8,152,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3860,0,0,0,0,0,0
$GC,1320,-0.84,-219.0,237.0,-18.3,164,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3860,0,0,0,0,0,0
$GC,1447,-0.84,-219.0,260.2,-18.2,176,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3861,0,0,0,0,0,0
$GC,1638,-0.84,-219.0,294.6,-18.4,194,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2789,3861,0,0,0,0,0,0
$STATE,1731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1731,begin apogee
$GC,1737,-0.16,0.0,311.8,18.3,203,1918,0.73,0.00,174.52,0.935,4,0.123,0.000,2743,2686,2959,0,0,0,0,0,0
$STATE,1919,end apogee,CONTROL_FINISHED_OK
$STATE,1919,begin climb
$GC,1922,0.84,219.0,322.1,0.0,219,2126,1.00,2.38,191.48,0.881,4,0.076,0.031,3073,1309,2066,0,0,0,0,0,0
$GC,2167,0.89,264.8,306.9,11.5,240,2220,0.00,2.45,42.83,0.851,6,0.000,0.040,3073,2685,1881,0,0,0,0,0,0
$GC,2411,0.90,272.3,275.5,13.0,263,2424,0.00,1.90,7.65,0.748,4,0.000,0.048,3073,3766,1849,0,0,0,0,0,0
$GC,2497,0.90,272.3,262.5,14.9,270,2505,0.00,1.70,0.00,0.000,6,0.000,0.028,3081,2721,1848,0,0,1,0,0,0
$GC,2696,0.90,272.3,235.8,13.4,289,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2721,1846,0,0,0,0,0,0
$GC,2823,0.90,272.3,218.9,13.6,301,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2721,1845,0,0,0,0,0,0
$GC,2950,0.91,276.4,202.1,13.2,313,2960,0.00,0.00,4.88,0.675,6,0.000,0.000,3081,2721,1833,0,0,0,0,0,0
$GC,3088,0.93,291.5,184.3,12.7,326,3112,0.00,1.73,15.32,0.822,4,0.000,0.049,3081,3759,1771,0,0,1,0,0,0
$GC,3148,0.93,291.5,175.5,14.6,331,3152,0.00,1.62,0.00,0.000,6,0.000,0.030,3089,2704,1771,0,0,1,0,0,0
$GC,3289,0.93,291.5,155.7,14.2,344,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2703,1771,0,0,0,0,0,0
$GC,3416,0.93,291.5,138.0,13.7,356,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2703,1770,0,0,0,0,0,0
$GC,3543,0.93,291.5,120.5,13.7,368,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2703,1770,0,0,0,0,0,0
$GC,3671,0.93,291.5,103.3,13.8,380,3674,0.00,1.70,0.00,0.000,4,0.000,0.049,3089,3764,1769,0,0,0,0,0,0
$GC,3711,0.93,291.5,97.5,15.0,385,3718,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2723,1770,0,0,0,0,0,0
$GC,3857,0.93,291.5,77.4,14.1,410,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2723,1769,0,0,0,0,0,0
$GC,4000,0.93,291.5,57.2,13.8,435,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2723,1769,0,0,0,0,0,0
$GC,4141,0.93,291.5,37.4,14.8,460,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2723,1769,0,0,0,0,0,0
$GC,4282,0.93,291.5,17.9,14.4,485,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2723,1769,0,0,0,0,0,0
$FREEZE,8.85,-0.171,-1.897,2,1,0
$FREEZE,8.13,-0.138,-1.896,2,1,0
$FREEZE,7.37,-0.142,-1.896,2,1,0
$FREEZE,6.66,-0.124,-1.895,2,1,0
$FREEZE,5.97,-0.119,-1.894,2,1,0
$FREEZE,5.28,-0.111,-1.894,2,1,0
$FREEZE,4.49,-0.086,-1.893,2,1,0
$FREEZE,3.80,-0.094,-1.892,2,1,0
$FREEZE,3.01,-0.069,-1.891,2,1,0
$FREEZE,2.33,-0.027,-1.891,2,1,0
$STATE,4391,end climb,SURFACE_DEPTH_REACHED
$STATE,4392,begin surface coast
$FREEZE,1.29,0.047,-1.889,2,1,0
$FREEZE,0.54,0.119,-1.888,2,1,0
$FREEZE,-0.08,0.495,-1.887,2,1,0
$FREEZE,-0.03,0.158,-1.897,2,1,0
$FINISH,-0.0,1.027739
$STATE,4414,end surface coast,CONTROL_FINISHED_OK
$STATE,4414,begin surface
$SM_CCo,4432,13.70,0.104,0,0,1655,320.11
$SM_GC,0.44,0.00,0.00,13.70,0.000,0.000,0.104,182,2803,1655,-8.18,0.68,320.11
$IRIDIUM_FIX,-7603.11,17700.72,090111,222220
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.9
$ALTIM_BOTTOM_PING,250.6,75.6
$24V_AH,22.1,67.418
$10V_AH,9.9,26.165
$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,18.250,21.550,436.675,13.700,0.000,25.836,36.937,149.773,0.750,0.000,10.867,1226.323,1803.771,490.263,1073.814,199.168,0.000,1011.002,0.000,824.534,0.000,7.234,0.000
$DEVICE_MAMPS,205.020,97.155,934.830,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.435,691.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33733,509
$CAP_FILE_SIZE,66702,0
$CFSIZE,260165632,222289920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.076,257.0,1
$GPS,100111,012225,-7643.453,17630.338,41,1.0,41,123.9