version: 66.08
glider: 503
mission: 7
dive: 663
start: 1 10 111 6 53 42
data:
$ID,503
$MISSION,7
$DIVE,663
$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,-20354.424
$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,47
$R_STBD_OVSHOOT,55
$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
$GPS1,100111,064731,-7641.152,17625.697,45,1.4,45,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-71.3
$GPS2,100111,065313,-7641.147,17625.717,9,1.6,9,123.9
$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,216.6,77067,-18.2,-13.333
$D_GRID,454
$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,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,118,0.00,0.00,-97.53,0.000,2,0.000,0.000,156,2810,3559,0,0,0,0,0,0
$GC,122,-0.84,-219.0,4.2,-10.5,17,143,8.93,1.55,-5.68,0.000,4,0.206,0.064,2515,3737,3857,0,0,0,0,0,0
$GC,394,-0.84,-219.0,66.8,-18.4,65,401,0.00,1.48,0.00,0.000,6,0.000,0.030,2515,2776,3860,0,0,1,0,0,0
$GC,537,-0.84,-219.0,92.7,-17.9,90,544,0.00,1.58,0.00,0.000,4,0.000,0.050,2508,3728,3861,0,0,0,0,0,0
$GC,588,-0.84,-219.0,102.8,-17.2,98,596,0.00,1.45,0.00,0.000,6,0.000,0.029,2508,2789,3861,0,0,1,0,0,0
$GC,723,-0.84,-219.0,127.0,-18.0,111,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3861,0,0,0,0,0,0
$GC,850,-0.84,-219.0,150.1,-17.8,123,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3861,0,0,0,0,0,0
$GC,977,-0.84,-219.0,173.2,-18.1,135,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3862,0,0,0,0,0,0
$GC,1106,-0.84,-219.0,196.2,-17.9,147,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3862,0,0,0,0,0,0
$GC,1232,-0.84,-219.0,219.8,-18.9,159,1236,0.00,1.55,0.00,0.000,4,0.000,0.050,2501,3731,3861,0,0,0,0,0,0
$GC,1278,-0.84,-219.0,228.6,-19.1,163,1282,0.00,1.45,0.00,0.000,6,0.000,0.031,2501,2792,3861,0,0,1,0,0,0
$GC,1419,-0.84,-219.0,255.9,-19.3,176,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2792,3861,0,0,0,0,0,0
$GC,1608,-0.84,-219.0,292.1,-18.7,194,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2792,3862,0,0,0,0,0,0
$STATE,1755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1755,begin apogee
$GC,1762,-0.16,0.0,320.0,18.1,208,1943,0.73,0.00,174.73,0.938,4,0.123,0.000,2739,2685,2959,0,0,0,0,0,0
$STATE,1944,end apogee,CONTROL_FINISHED_OK
$STATE,1944,begin climb
$GC,1947,0.84,219.0,329.9,0.0,224,2146,1.00,2.38,191.18,0.883,4,0.077,0.032,3068,1307,2067,0,0,0,0,0,0
$GC,2170,0.91,275.5,316.2,11.0,244,2233,0.00,2.42,53.28,0.851,6,0.000,0.040,3068,2669,1836,0,0,1,0,0,0
$GC,2424,0.93,293.6,284.4,12.6,268,2448,0.00,1.95,17.27,0.822,4,0.000,0.048,3068,3771,1762,0,0,0,0,0,0
$GC,2498,0.93,293.6,274.0,14.8,274,2505,0.00,1.73,0.00,0.000,6,0.000,0.029,3076,2722,1762,0,0,1,0,0,0
$GC,2696,0.94,302.2,248.1,13.0,293,2707,0.00,0.00,8.77,0.778,6,0.000,0.000,3076,2722,1728,0,0,0,0,0,0
$GC,2834,0.95,307.0,230.0,13.1,306,2844,0.00,0.00,6.32,0.726,6,0.000,0.000,3076,2722,1708,0,0,0,0,0,0
$GC,2972,0.96,316.9,212.3,12.9,319,2984,0.00,0.00,10.35,0.800,6,0.000,0.000,3076,2722,1668,0,0,0,0,0,0
$GC,3109,0.96,320.4,194.1,13.2,332,3119,0.10,0.00,5.05,0.673,6,0.099,0.000,3128,2721,1653,0,0,0,0,0,0
$GC,3246,0.96,320.4,171.1,17.2,345,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2721,1653,0,0,0,0,0,0
$GC,3373,0.96,320.4,149.3,16.8,357,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2721,1653,0,0,0,0,0,0
$GC,3501,0.96,320.4,127.6,16.8,369,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2721,1653,0,0,0,0,0,0
$GC,3628,0.96,320.4,105.3,17.5,381,3632,0.00,1.73,0.00,0.000,4,0.000,0.049,3129,3764,1652,0,0,0,0,0,0
$GC,3680,0.96,320.4,95.8,19.3,387,3688,0.00,1.70,0.00,0.000,6,0.000,0.031,3137,2697,1652,0,0,0,0,0,0
$GC,3824,0.96,320.4,70.5,16.8,412,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2697,1652,0,0,0,0,0,0
$GC,3967,0.96,320.4,45.3,17.0,437,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2697,1652,0,0,0,0,0,0
$GC,4107,0.96,320.4,21.1,16.5,462,4115,0.00,1.75,0.00,0.000,4,0.000,0.049,3137,3779,1652,0,0,0,0,0,0
$GC,4140,0.96,320.4,15.2,18.4,467,4148,0.08,1.70,0.00,0.000,6,0.141,0.032,3107,2712,1652,0,0,0,0,0,0
$FREEZE,8.50,-0.144,-1.897,2,1,0
$FREEZE,7.77,-0.141,-1.897,2,1,0
$FREEZE,6.99,-0.140,-1.896,2,1,0
$FREEZE,6.24,-0.140,-1.896,2,1,0
$FREEZE,5.35,-0.140,-1.895,2,1,0
$FREEZE,4.55,-0.140,-1.894,2,1,0
$FREEZE,3.71,-0.139,-1.894,2,1,0
$FREEZE,3.01,-0.132,-1.893,2,1,0
$FREEZE,2.26,-0.134,-1.893,2,1,0
$STATE,4219,end climb,SURFACE_DEPTH_REACHED
$STATE,4219,begin surface coast
$FREEZE,1.09,-0.145,-1.892,2,1,0
$FREEZE,0.23,-0.134,-1.891,2,1,0
$FREEZE,-0.12,-0.133,-1.890,2,1,0
$FINISH,-0.1,1.027666
$STATE,4237,end surface coast,CONTROL_FINISHED_OK
$STATE,4237,begin surface
$SM_CCo,4315,0.00,0.000,0,0,1649,321.58
$SM_GC,0.90,7.60,0.00,0.00,0.040,0.000,0.000,174,2809,1649,-8.10,0.82,321.58
$IRIDIUM_FIX,-7554.21,17615.51,100111,050545
$TT8_MAMPS,0.026964
$HUMID,53.26
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,251.7,81.8
$24V_AH,22.1,68.072
$10V_AH,9.8,26.375
$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,18.425,24.625,466.950,0.000,0.000,31.367,38.834,148.540,0.750,0.000,11.910,1153.969,1789.328,492.455,1037.376,194.946,0.000,1004.654,0.000,784.151,0.000,7.249,0.000
$DEVICE_MAMPS,205.785,81.090,937.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.940,647.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30363,484
$CAP_FILE_SIZE,65646,0
$CFSIZE,260165632,222089216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.071,194.5,1
$GPS,100111,080626,-7640.541,17624.656,9,1.2,9,123.9