version: 66.08
glider: 503
mission: 7
dive: 664
start: 1 10 111 8 12 25
data:
$ID,503
$MISSION,7
$DIVE,664
$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,-20355.678
$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,43
$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
$GPS1,100111,080626,-7640.541,17624.656,9,1.2,9,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.7
$GPS2,100111,081156,-7640.530,17624.650,10,1.5,10,123.9
$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,214.5,75839,-18.2,-13.333
$D_GRID,449
$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,-219.0,0.0,0.0,0,108,0.00,0.00,-88.40,0.000,2,0.000,0.000,170,2811,3407,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.2,-6.8,15,139,8.82,2.35,-9.45,0.000,4,0.203,0.043,2525,1364,3856,0,0,0,0,0,0
$GC,335,-0.84,-219.0,47.5,-15.2,54,341,0.00,2.28,0.00,0.000,6,0.000,0.042,2514,2766,3859,0,0,0,0,0,0
$GC,477,-0.84,-219.0,72.4,-17.8,79,484,0.00,1.62,0.00,0.000,4,0.000,0.051,2506,3759,3858,0,0,0,0,0,0
$GC,520,-0.84,-219.0,80.7,-19.3,86,527,0.00,1.55,0.00,0.000,6,0.000,0.030,2506,2774,3859,0,0,0,0,0,0
$GC,661,-0.84,-219.0,106.9,-18.9,108,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3860,0,0,0,0,0,0
$GC,787,-0.84,-219.0,130.2,-18.4,120,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,915,-0.84,-219.0,153.5,-18.2,132,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3860,0,0,0,0,0,0
$GC,1042,-0.84,-219.0,176.6,-17.9,144,1046,0.00,1.62,0.00,0.000,4,0.000,0.050,2499,3764,3859,0,0,0,0,0,0
$GC,1078,-0.84,-219.0,183.3,-19.0,147,1082,0.00,1.52,0.00,0.000,6,0.000,0.030,2498,2792,3860,0,0,0,0,0,0
$GC,1217,-0.84,-219.0,209.3,-18.3,160,1219,0.10,0.00,0.00,0.000,6,0.180,0.000,2525,2792,3860,0,0,0,0,0,0
$GC,1345,-0.84,-219.0,230.5,-16.4,172,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2792,3860,0,0,0,0,0,0
$GC,1475,-0.84,-219.0,251.6,-16.4,184,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2792,3860,0,0,0,0,0,0
$GC,1673,-0.84,-219.0,284.0,-15.9,203,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2792,3859,0,0,0,0,0,0
$GC,1865,-0.84,-219.0,314.9,-16.2,221,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2793,3859,0,0,0,0,0,0
$STATE,1884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1884,begin apogee
$GC,1890,-0.16,0.0,318.3,16.2,223,2070,0.65,0.00,174.65,0.937,4,0.119,0.000,2742,2685,2960,0,0,0,0,0,0
$STATE,2070,end apogee,CONTROL_FINISHED_OK
$STATE,2071,begin climb
$GC,2074,0.84,219.0,327.7,0.0,239,2278,1.00,2.35,191.15,0.882,4,0.074,0.032,3073,1315,2067,0,0,0,0,0,0
$GC,2316,0.91,276.6,313.0,11.0,260,2375,0.00,2.42,54.17,0.855,6,0.000,0.039,3074,2699,1832,0,0,1,0,0,0
$GC,2574,0.91,276.6,278.2,13.8,284,2578,0.00,1.77,0.00,0.000,4,0.000,0.049,3073,3760,1826,0,0,0,0,0,0
$GC,2613,0.91,276.6,271.7,16.3,287,2620,0.00,1.70,0.00,0.000,6,0.000,0.029,3081,2725,1825,0,0,1,0,0,0
$GC,2811,0.91,276.6,243.7,13.6,306,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2725,1824,0,0,0,0,0,0
$GC,2939,0.91,276.6,226.5,13.6,318,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2725,1823,0,0,0,0,0,0
$GC,3066,0.91,278.0,209.2,13.3,330,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2724,1823,0,0,0,0,0,0
$GC,3196,0.91,278.0,192.0,13.8,342,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2725,1823,0,0,0,0,0,0
$GC,3332,0.91,278.0,173.5,13.5,355,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2724,1822,0,0,0,0,0,0
$GC,3459,0.94,298.0,156.8,12.5,367,3479,0.00,0.00,18.67,0.828,6,0.000,0.000,3081,2724,1745,0,0,0,0,0,0
$GC,3605,0.94,298.0,137.3,13.7,381,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2724,1744,0,0,0,0,0,0
$GC,3735,0.94,298.0,120.3,13.8,393,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2724,1744,0,0,0,0,0,0
$GC,3869,0.94,298.0,102.1,13.6,406,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2724,1743,0,0,0,0,0,0
$GC,4003,0.95,309.4,84.3,12.9,428,4022,0.00,0.00,11.68,0.779,6,0.000,0.000,3081,2724,1698,0,0,0,0,0,0
$GC,4161,0.96,317.1,63.6,13.0,455,4174,0.00,1.77,8.73,0.741,4,0.000,0.048,3081,3770,1667,0,0,0,0,0,0
$GC,4204,0.96,317.1,57.1,14.4,462,4212,0.00,1.70,0.00,0.000,6,0.000,0.030,3090,2705,1667,0,0,0,0,0,0
$GC,4349,0.97,322.7,37.3,13.1,487,4363,0.00,0.00,6.60,0.698,6,0.000,0.000,3090,2705,1644,0,0,0,0,0,0
$GC,4497,0.97,322.7,16.6,13.7,513,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2705,1644,0,0,0,0,0,0
$FREEZE,8.46,-0.225,-1.897,2,1,0
$FREEZE,7.72,-0.225,-1.896,2,1,0
$FREEZE,7.00,-0.223,-1.896,2,1,0
$FREEZE,6.23,-0.224,-1.895,2,1,0
$FREEZE,5.50,-0.222,-1.895,2,1,0
$FREEZE,4.79,-0.220,-1.894,2,1,0
$FREEZE,4.02,-0.222,-1.894,2,1,0
$FREEZE,3.28,-0.220,-1.893,2,1,0
$FREEZE,2.59,-0.221,-1.892,2,1,0
$STATE,4596,end climb,SURFACE_DEPTH_REACHED
$STATE,4596,begin surface coast
$FREEZE,1.27,-0.220,-1.891,2,1,0
$FREEZE,0.53,-0.218,-1.891,2,1,0
$FREEZE,-0.18,-0.218,-1.890,2,1,0
$FREEZE,-0.18,-0.128,-1.883,2,1,0
$FINISH,-0.2,1.027566
$STATE,4621,end surface coast,CONTROL_FINISHED_OK
$STATE,4621,begin surface
$SM_CCo,4699,0.00,0.000,0,0,1641,323.55
$SM_GC,0.86,7.57,0.00,0.00,0.040,0.000,0.000,173,2799,1641,-8.09,0.54,323.55
$IRIDIUM_FIX,-7554.21,17625.42,100111,060626
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.5
$ALTIM_BOTTOM_PING,301.2,30.4
$24V_AH,22.1,68.199
$10V_AH,9.8,26.417
$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,18.150,22.900,465.650,0.000,0.000,23.744,37.138,144.676,1.000,0.000,12.813,1277.721,1964.554,494.920,1094.692,206.832,0.000,1034.034,0.000,846.680,0.000,8.832,0.000
$DEVICE_MAMPS,203.490,83.385,937.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.181,725.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258260
$DATA_FILE_SIZE,33618,535
$CAP_FILE_SIZE,68904,0
$CFSIZE,260165632,222044160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.046,203.7,1
$GPS,100111,093156,-7639.825,17623.326,33,1.5,33,123.8