version: 66.08
glider: 503
mission: 7
dive: 660
start: 1 10 111 2 54 50
data:
$ID,503
$MISSION,7
$DIVE,660
$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,-20350.66
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,100111,024250,-7642.774,17628.727,9,1.5,9,123.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-74.4
$GPS2,100111,025421,-7642.817,17628.650,13,2.0,32,123.9
$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,223.7,80402,-18.2,-13.333
$D_GRID,464
$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,-219.0,0.0,0.0,0,112,0.00,0.00,-93.10,0.000,2,0.000,0.000,171,2796,3525,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-9.9,16,137,8.95,2.35,-6.47,0.000,4,0.208,0.044,2521,1360,3856,0,0,1,0,0,0
$GC,189,-0.84,-219.0,25.6,-17.8,28,197,0.00,2.28,0.00,0.000,6,0.000,0.042,2510,2764,3858,0,0,0,0,0,0
$GC,332,-0.84,-219.0,53.0,-19.2,53,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2765,3859,0,0,0,0,0,0
$GC,475,-0.84,-219.0,80.2,-19.0,78,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2765,3859,0,0,0,0,0,0
$GC,616,-0.84,-219.0,106.8,-18.3,100,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2765,3860,0,0,0,0,0,0
$GC,744,-0.84,-219.0,130.5,-18.6,112,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2764,3860,0,0,0,0,0,0
$GC,871,-0.84,-219.0,153.8,-18.0,124,875,0.00,1.62,0.00,0.000,4,0.000,0.050,2502,3788,3860,0,0,0,0,0,0
$GC,921,-0.84,-219.0,163.7,-19.2,128,928,0.00,1.58,0.00,0.000,6,0.000,0.029,2502,2779,3860,0,0,0,0,0,0
$GC,1056,-0.84,-219.0,188.7,-18.8,141,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2778,3860,0,0,0,0,0,0
$GC,1183,-0.84,-219.0,212.6,-18.4,153,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2778,3860,0,0,0,0,0,0
$GC,1310,-0.84,-219.0,236.4,-18.4,165,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2778,3860,0,0,0,0,0,0
$GC,1438,-0.84,-219.0,260.3,-18.8,177,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2779,3860,0,0,0,0,0,0
$GC,1631,-0.84,-219.0,295.1,-17.7,195,1634,0.00,1.62,0.00,0.000,4,0.000,0.050,2494,3793,3860,0,0,0,0,0,0
$GC,1666,-0.84,-219.0,301.9,-19.3,198,1670,0.08,1.58,0.00,0.000,6,0.141,0.030,2529,2785,3860,0,0,0,0,0,0
$STATE,1720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1720,begin apogee
$GC,1727,-0.16,0.0,311.6,16.3,203,1906,0.62,0.00,174.38,0.929,4,0.118,0.000,2740,2686,2960,0,0,0,0,0,0
$STATE,1907,end apogee,CONTROL_FINISHED_OK
$STATE,1907,begin climb
$GC,1910,0.84,219.0,321.3,0.0,219,2115,1.00,2.38,191.18,0.877,4,0.075,0.032,3071,1303,2066,0,0,0,0,0,0
$GC,2121,0.90,272.9,310.0,11.1,237,2178,0.00,2.53,51.08,0.844,6,0.000,0.040,3071,2702,1847,0,0,1,0,0,0
$GC,2377,0.91,276.7,276.1,13.2,261,2380,0.00,1.77,0.00,0.000,4,0.000,0.049,3071,3762,1840,0,0,0,0,0,0
$GC,2446,0.91,276.7,265.7,14.9,267,2450,0.00,1.65,0.00,0.000,6,0.000,0.030,3079,2716,1839,0,0,1,0,0,0
$GC,2650,0.91,276.7,236.9,13.8,286,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2715,1838,0,0,0,0,0,0
$GC,2777,0.91,276.7,219.3,13.8,298,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2714,1838,0,0,0,0,0,0
$GC,2906,0.92,286.6,202.5,12.9,310,2924,0.00,0.00,12.25,0.814,6,0.000,0.000,3079,2714,1790,0,0,0,0,0,0
$GC,3052,0.92,286.6,183.3,13.4,324,3056,0.00,1.70,0.00,0.000,4,0.000,0.049,3079,3763,1789,0,0,0,0,0,0
$GC,3098,0.92,286.6,176.6,15.1,328,3101,0.00,1.62,0.00,0.000,6,0.000,0.031,3087,2703,1789,0,0,1,0,0,0
$GC,3238,0.92,286.6,157.0,13.7,341,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2702,1789,0,0,0,0,0,0
$GC,3365,0.92,286.6,139.2,13.7,353,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2702,1789,0,0,0,0,0,0
$GC,3492,0.92,286.6,121.6,13.5,365,3496,0.00,1.70,0.00,0.000,4,0.000,0.050,3087,3763,1788,0,0,0,0,0,0
$GC,3527,0.92,286.6,116.6,14.6,368,3531,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2699,1788,0,0,0,0,0,0
$GC,3663,0.92,286.6,97.0,14.0,382,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2698,1788,0,0,0,0,0,0
$GC,3802,0.92,286.6,77.1,13.8,407,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2698,1788,0,0,0,0,0,0
$GC,3943,0.92,286.6,57.1,13.8,432,3950,0.00,1.75,0.00,0.000,4,0.000,0.049,3095,3762,1788,0,0,0,0,0,0
$GC,3975,0.92,286.6,52.1,16.4,437,3983,0.00,1.65,0.00,0.000,6,0.000,0.031,3103,2720,1788,0,0,0,0,0,0
$GC,4122,0.92,286.6,30.3,14.9,462,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2719,1787,0,0,0,0,0,0
$GC,4264,0.92,286.6,9.0,14.5,487,4271,0.00,1.70,0.00,0.000,4,0.000,0.050,3104,3753,1787,0,0,0,0,0,0
$FREEZE,6.73,-0.026,-1.895,2,1,0
$FREEZE,5.74,-0.047,-1.895,2,1,0
$FREEZE,4.82,0.001,-1.894,2,1,0
$FREEZE,3.92,0.030,-1.893,2,1,0
$FREEZE,2.99,0.113,-1.892,2,1,0
$STATE,4299,end climb,SURFACE_DEPTH_REACHED
$STATE,4299,begin surface coast
$FREEZE,1.85,0.113,-1.892,2,1,0
$FREEZE,0.87,0.095,-1.891,2,1,0
$FREEZE,0.08,0.106,-1.891,2,1,0
$FINISH,0.1,1.027656
$STATE,4316,end surface coast,CONTROL_FINISHED_OK
$STATE,4319,begin surface
$SM_CCo,4337,15.68,0.103,0,0,1655,320.11
$SM_GC,0.51,0.00,0.00,15.68,0.000,0.000,0.103,166,2775,1655,-8.23,-0.14,320.11
$IRIDIUM_FIX,-7603.11,17527.44,100111,020247
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,300.9,25.2
$24V_AH,22.1,67.685
$10V_AH,9.8,26.251
$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,18.275,32.775,428.875,15.675,0.000,53.117,92.797,299.548,1.000,0.000,34.610,1200.730,1816.546,485.388,1331.275,223.067,0.000,1008.658,0.000,811.363,0.000,8.815,0.000
$DEVICE_MAMPS,208.080,81.855,928.710,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.049,674.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258204
$DATA_FILE_SIZE,33772,496
$CAP_FILE_SIZE,71869,0
$CFSIZE,260165632,222203904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.108,215.4,1
$GPS,100111,040814,-7642.166,17627.363,9,1.7,9,123.9