version: 66.08
glider: 503
mission: 7
dive: 659
start: 1 10 111 1 31 39
data:
$ID,503
$MISSION,7
$DIVE,659
$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,-20349.406
$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,48
$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
$GPS1,100111,012225,-7643.453,17630.338,41,1.0,41,123.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.1
$GPS2,100111,013108,-7643.464,17630.264,9,1.2,9,123.9
$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,219.0,81798,-18.2,-13.333
$D_GRID,466
$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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,106,0.00,0.00,-88.20,0.000,2,0.000,0.000,180,2805,3421,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.1,-5.9,15,137,8.98,2.33,-9.18,0.000,4,0.210,0.044,2524,1368,3857,0,0,1,0,0,0
$GC,178,-0.84,-219.0,21.5,-18.1,26,185,0.00,2.28,0.00,0.000,6,0.000,0.042,2514,2761,3859,0,0,0,0,0,0
$GC,320,-0.84,-219.0,47.7,-18.5,51,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2761,3859,0,0,0,0,0,0
$GC,462,-0.84,-219.0,74.0,-18.3,76,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2761,3860,0,0,0,0,0,0
$GC,603,-0.84,-219.0,100.6,-18.0,101,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3860,0,0,0,0,0,0
$GC,730,-0.84,-219.0,124.2,-19.0,113,734,0.00,1.62,0.00,0.000,4,0.000,0.050,2506,3781,3860,0,0,0,0,0,0
$GC,776,-0.84,-219.0,133.1,-19.7,117,780,0.00,1.58,0.00,0.000,6,0.000,0.030,2506,2776,3860,0,0,0,0,0,0
$GC,917,-0.84,-219.0,160.1,-18.7,130,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$GC,1043,-0.84,-219.0,184.3,-18.8,142,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$GC,1171,-0.84,-219.0,208.3,-19.0,154,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$GC,1298,-0.84,-219.0,232.1,-18.8,166,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$GC,1426,-0.84,-219.0,255.6,-19.2,178,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3861,0,0,0,0,0,0
$GC,1616,-0.84,-219.0,290.4,-18.3,196,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$STATE,1731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1731,begin apogee
$GC,1738,-0.16,0.0,311.6,18.3,207,1919,0.73,0.00,174.40,0.933,4,0.125,0.000,2743,2686,2959,0,0,0,0,0,0
$STATE,1920,end apogee,CONTROL_FINISHED_OK
$STATE,1920,begin climb
$GC,1923,0.84,219.0,321.6,0.0,223,2124,1.00,2.35,191.40,0.879,4,0.076,0.031,3073,1315,2066,0,0,0,0,0,0
$GC,2136,0.92,283.8,310.0,10.7,242,2203,0.00,2.47,61.25,0.848,6,0.000,0.039,3073,2696,1802,0,0,1,0,0,0
$GC,2396,0.94,302.3,276.7,12.6,266,2419,0.00,1.90,17.65,0.819,4,0.000,0.048,3073,3766,1727,0,0,0,0,0,0
$GC,2470,0.94,302.3,266.2,14.3,272,2478,0.00,1.73,0.00,0.000,6,0.000,0.028,3081,2722,1727,0,0,1,0,0,0
$GC,2669,0.95,312.1,240.3,12.9,291,2681,0.00,0.00,10.07,0.789,6,0.000,0.000,3081,2721,1687,0,0,0,0,0,0
$GC,2807,0.97,327.4,222.5,12.7,304,2826,0.00,0.00,15.12,0.818,6,0.000,0.000,3081,2721,1625,0,0,0,0,0,0
$GC,2954,0.98,330.6,203.0,13.2,318,2964,0.10,0.00,4.75,0.649,6,0.100,0.000,3131,2721,1612,0,0,0,0,0,0
$GC,3091,0.98,330.6,179.7,17.3,331,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2721,1612,0,0,0,0,0,0
$GC,3220,0.98,330.6,157.7,17.5,343,3224,0.00,1.70,0.00,0.000,4,0.000,0.049,3131,3771,1611,0,0,0,0,0,0
$GC,3255,0.98,330.6,150.9,18.9,346,3259,0.00,1.62,0.00,0.000,6,0.000,0.031,3140,2705,1611,0,0,1,0,0,0
$GC,3395,0.98,330.6,125.6,18.0,359,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2705,1611,0,0,0,0,0,0
$GC,3522,0.98,330.6,103.1,17.4,371,3526,0.00,1.73,0.00,0.000,4,0.000,0.050,3140,3773,1610,0,0,0,0,0,0
$GC,3564,0.98,330.6,95.3,19.0,376,3573,0.08,1.65,0.00,0.000,6,0.140,0.031,3112,2721,1610,0,0,1,0,0,0
$GC,3709,0.98,330.6,72.4,15.6,401,3716,0.00,2.28,0.00,0.000,4,0.000,0.034,3121,1291,1610,0,0,0,0,0,0
$GC,3740,0.98,330.6,67.2,15.3,406,3747,0.00,2.30,0.00,0.000,6,0.000,0.042,3121,2715,1610,0,0,0,0,0,0
$GC,3884,0.98,330.6,44.5,16.0,431,3891,0.00,1.70,0.00,0.000,4,0.000,0.050,3122,3758,1610,0,0,0,0,0,0
$GC,3936,0.98,330.6,34.9,18.2,440,3944,0.00,1.65,0.00,0.000,6,0.000,0.031,3130,2717,1610,0,0,0,0,0,0
$GC,4081,0.98,330.6,10.6,17.2,465,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2717,1609,0,0,0,0,0,0
$FREEZE,7.93,-0.159,-1.896,2,1,0
$FREEZE,6.94,-0.157,-1.896,2,1,0
$FREEZE,6.14,-0.159,-1.895,2,1,0
$FREEZE,5.23,-0.162,-1.894,2,1,0
$FREEZE,4.35,-0.130,-1.893,2,1,0
$FREEZE,3.40,-0.071,-1.892,2,1,0
$FREEZE,2.54,-0.005,-1.891,2,1,0
$STATE,4126,end climb,SURFACE_DEPTH_REACHED
$STATE,4126,begin surface coast
$FREEZE,1.27,0.119,-1.900,2,1,0
$FREEZE,0.37,0.212,-1.890,2,1,0
$FREEZE,-0.06,0.423,-1.814,2,1,0
$FINISH,-0.1,1.026556
$STATE,4145,end surface coast,CONTROL_FINISHED_OK
$STATE,4145,begin surface
$SM_CCo,4223,0.00,0.000,0,0,1606,331.89
$SM_GC,0.75,7.72,0.00,0.00,0.042,0.000,0.000,172,2796,1606,-8.10,0.45,331.89
$IRIDIUM_FIX,-7603.11,17614.90,100111,010121
$TT8_MAMPS,0.026964
$HUMID,52.40
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.3
$ALTIM_BOTTOM_PING,301.9,24.1
$24V_AH,22.1,67.553
$10V_AH,9.8,26.207
$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,18.600,31.050,474.650,0.000,0.000,57.804,113.315,165.080,1.000,0.000,13.643,1139.846,1769.316,501.042,1148.995,198.620,0.000,1012.215,0.000,776.601,0.000,8.813,0.000
$DEVICE_MAMPS,209.610,100.215,932.535,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.285,644.394,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,30383,476
$CAP_FILE_SIZE,67425,0
$CFSIZE,260165632,222253056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.101,245.6,1
$GPS,100111,024250,-7642.774,17628.727,9,1.5,9,123.9