version: 66.08
glider: 503
mission: 7
dive: 666
start: 1 10 111 11 1 12
data:
$ID,503
$MISSION,7
$DIVE,666
$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,-20358.189
$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
$GPS1,100111,105506,-7639.075,17622.389,33,0.8,33,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-72.8
$GPS2,100111,110043,-7639.060,17622.354,11,1.0,11,123.8
$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,208.5,72969,-18.2,-13.333
$D_GRID,438
$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,17,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-89.18,0.000,2,0.000,0.000,174,2801,3444,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.4,-7.2,15,141,8.95,1.60,-8.50,0.000,4,0.210,0.065,2517,3759,3857,0,0,0,0,0,0
$GC,370,-0.84,-219.0,59.1,-18.7,60,377,0.00,1.55,0.00,0.000,6,0.000,0.028,2517,2773,3859,0,0,0,0,0,0
$GC,514,-0.84,-219.0,84.8,-17.7,85,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,653,-0.84,-219.0,109.7,-17.6,105,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,781,-0.84,-219.0,132.5,-18.0,117,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,908,-0.84,-219.0,155.1,-17.6,129,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1036,-0.84,-219.0,177.2,-17.4,141,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1163,-0.84,-219.0,199.4,-17.5,153,1167,0.00,1.60,0.00,0.000,4,0.000,0.050,2509,3743,3860,0,0,0,0,0,0
$GC,1208,-0.84,-219.0,207.5,-18.1,157,1212,0.00,1.50,0.00,0.000,6,0.000,0.030,2509,2783,3860,0,0,0,0,0,0
$GC,1349,-0.84,-219.0,234.0,-18.6,170,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3861,0,0,0,0,0,0
$GC,1476,-0.84,-219.0,257.0,-18.3,182,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3860,0,0,0,0,0,0
$GC,1668,-0.84,-219.0,290.4,-17.1,200,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3861,0,0,0,0,0,0
$GC,1859,-0.84,-219.0,324.1,-17.6,218,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3860,0,0,0,0,0,0
$STATE,2009,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2009,begin apogee
$GC,2016,-0.16,0.0,350.3,17.4,232,2197,0.70,0.00,175.52,0.959,4,0.122,0.000,2741,2681,2959,0,0,0,0,0,0
$STATE,2198,end apogee,CONTROL_FINISHED_OK
$STATE,2198,begin climb
$GC,2201,0.84,219.0,360.8,0.0,248,2405,0.98,2.35,192.57,0.903,4,0.063,0.032,3074,1312,2067,0,0,0,0,0,0
$GC,2597,0.87,241.4,326.5,12.4,283,2624,0.00,2.33,20.80,0.860,6,0.000,0.040,3073,2684,1975,0,0,0,0,0,0
$GC,2823,0.87,243.7,296.8,13.2,304,2827,0.00,2.25,0.00,0.000,4,0.000,0.033,3084,1314,1970,0,0,0,0,0,0
$GC,2980,0.89,260.9,277.8,12.6,317,3003,0.00,2.30,18.02,0.861,6,0.000,0.041,3084,2717,1896,0,0,0,0,0,0
$GC,3197,0.90,271.0,248.8,12.9,337,3214,0.00,0.00,10.27,0.822,6,0.000,0.000,3084,2718,1855,0,0,0,0,0,0
$GC,3342,0.90,271.0,228.4,13.7,351,3345,0.00,1.67,0.00,0.000,4,0.000,0.048,3084,3766,1855,0,0,0,0,0,0
$GC,3380,0.90,271.0,222.5,14.9,354,3387,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2714,1854,0,0,1,0,0,0
$GC,3516,0.90,271.0,203.8,14.1,367,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2713,1854,0,0,0,0,0,0
$GC,3643,0.90,272.4,186.4,13.3,379,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2713,1853,0,0,0,0,0,0
$GC,3770,0.90,272.4,169.0,13.9,391,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2713,1853,0,0,0,0,0,0
$GC,3898,0.90,272.4,150.9,14.4,403,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2713,1852,0,0,0,0,0,0
$GC,4025,0.90,272.4,133.0,14.1,415,4028,0.00,1.67,0.00,0.000,4,0.000,0.049,3092,3765,1852,0,0,0,0,0,0
$GC,4063,0.90,272.4,126.9,15.2,418,4070,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2722,1853,0,0,0,0,0,0
$GC,4199,0.90,272.4,107.5,14.3,431,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2722,1853,0,0,0,0,0,0
$GC,4327,0.90,272.4,89.1,14.6,450,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2722,1852,0,0,0,0,0,0
$GC,4470,0.90,272.4,69.3,13.6,475,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2722,1851,0,0,0,0,0,0
$GC,4613,0.93,295.6,49.3,12.4,500,4645,0.00,1.73,23.30,0.784,4,0.000,0.048,3101,3754,1754,0,0,0,0,0,0
$GC,4691,0.93,295.6,37.5,15.4,513,4698,0.00,1.62,0.00,0.000,6,0.000,0.030,3109,2720,1754,0,0,1,0,0,0
$GC,4834,0.93,295.6,16.2,14.4,538,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2720,1753,0,0,0,0,0,0
$FREEZE,8.95,-0.276,-1.897,2,1,0
$FREEZE,8.07,-0.277,-1.896,2,1,0
$FREEZE,7.24,-0.276,-1.896,2,1,0
$FREEZE,6.52,-0.276,-1.895,2,1,0
$FREEZE,5.66,-0.277,-1.895,2,1,0
$FREEZE,4.89,-0.276,-1.894,2,1,0
$FREEZE,4.04,-0.275,-1.893,2,1,0
$FREEZE,3.33,-0.274,-1.893,2,1,0
$FREEZE,2.54,-0.274,-1.892,2,1,0
$STATE,4920,end climb,SURFACE_DEPTH_REACHED
$STATE,4920,begin surface coast
$FREEZE,1.63,-0.275,-1.892,2,1,0
$FREEZE,0.47,-0.276,-1.891,2,1,0
$FREEZE,-0.08,-0.300,-0.943,2,1,0
$FINISH,-0.1,1.013939
$STATE,4940,end surface coast,CONTROL_FINISHED_OK
$STATE,4940,begin surface
$SM_CCo,4958,12.18,0.105,0,0,1655,320.11
$SM_GC,0.83,0.00,0.00,12.18,0.000,0.000,0.105,179,2795,1655,-8.19,0.42,320.11
$IRIDIUM_FIX,-7554.21,17626.00,100111,090952
$TT8_MAMPS,0.027713
$HUMID,53.58
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,350.3,10.9
$24V_AH,22.0,68.451
$10V_AH,9.9,26.505
$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,18.325,25.675,440.500,12.175,0.000,27.519,38.195,144.176,1.250,0.000,14.005,1349.018,2094.647,486.896,1177.734,211.629,0.000,1053.748,0.000,922.227,0.000,10.494,0.000
$DEVICE_MAMPS,209.610,97.920,959.310,104.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.261,728.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,37024,557
$CAP_FILE_SIZE,72040,0
$CFSIZE,260165632,221954048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.009,  2.2,1
$GPS,100111,122502,-7638.308,17621.174,18,1.2,18,123.8