version: 66.08
glider: 503
mission: 7
dive: 667
start: 1 10 111 12 31 13
data:
$ID,503
$MISSION,7
$DIVE,667
$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,-20359.445
$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,42
$R_STBD_OVSHOOT,41
$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
$GPS1,100111,122502,-7638.308,17621.174,18,1.2,18,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.5
$GPS2,100111,123044,-7638.288,17621.145,8,1.9,8,123.8
$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,204.9,71464,-18.2,-13.333
$D_GRID,434
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-92.70,0.000,2,0.000,0.000,178,2795,3535,0,0,0,0,0,0
$GC,117,-0.84,-219.0,4.1,-10.6,15,138,8.93,2.33,-6.15,0.000,4,0.210,0.044,2520,1366,3856,0,0,1,0,0,0
$GC,389,-0.84,-219.0,59.4,-16.6,63,396,0.00,2.28,0.00,0.000,6,0.000,0.044,2510,2767,3859,0,0,0,0,0,0
$GC,531,-0.84,-219.0,85.7,-18.9,88,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3859,0,0,0,0,0,0
$GC,674,-0.84,-219.0,113.0,-18.6,108,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3860,0,0,0,0,0,0
$GC,802,-0.84,-219.0,136.1,-18.0,120,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2767,3860,0,0,0,0,0,0
$GC,929,-0.84,-219.0,158.7,-17.5,132,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3860,0,0,0,0,0,0
$GC,1057,-0.84,-219.0,181.3,-17.9,144,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3860,0,0,0,0,0,0
$GC,1185,-0.84,-219.0,204.7,-18.3,156,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3861,0,0,0,0,0,0
$GC,1312,-0.84,-219.0,228.0,-18.7,168,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3860,0,0,0,0,0,0
$GC,1440,-0.84,-219.0,251.9,-18.6,180,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2767,3860,0,0,0,0,0,0
$GC,1631,-0.84,-219.0,287.1,-18.1,198,1635,0.00,1.60,0.00,0.000,4,0.000,0.050,2502,3762,3860,0,0,0,0,0,0
$GC,1692,-0.84,-219.0,299.2,-18.9,203,1704,0.00,1.55,0.00,0.000,6,0.000,0.029,2502,2771,3860,0,0,0,0,0,0
$GC,1892,-0.84,-219.0,335.4,-18.3,222,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$STATE,2028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2028,begin apogee
$GC,2035,-0.16,0.0,360.6,18.1,235,2217,0.73,0.00,175.65,0.965,4,0.122,0.000,2741,2685,2959,0,0,0,0,0,0
$STATE,2218,end apogee,CONTROL_FINISHED_OK
$STATE,2218,begin climb
$GC,2221,0.84,219.0,370.9,0.0,251,2423,1.00,2.38,193.20,0.911,4,0.074,0.032,3072,1307,2067,0,0,0,0,0,0
$GC,2621,0.89,258.0,336.5,11.7,286,2662,0.00,2.40,35.90,0.882,6,0.000,0.041,3072,2708,1907,0,0,0,0,0,0
$GC,2853,0.91,274.7,306.9,12.6,308,2876,0.00,2.35,16.20,0.851,4,0.000,0.032,3081,1309,1839,0,0,0,0,0,0
$GC,3028,0.93,296.3,284.2,12.4,323,3058,0.00,2.30,20.92,0.863,6,0.000,0.041,3082,2702,1752,0,0,0,0,0,0
$GC,3249,0.93,296.3,253.3,14.3,344,3253,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3759,1750,0,0,0,0,0,0
$GC,3296,0.93,296.3,246.1,15.0,348,3300,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2705,1750,0,0,0,0,0,0
$GC,3436,0.93,296.3,225.5,14.4,361,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,1749,0,0,0,0,0,0
$GC,3563,0.93,296.3,207.4,14.2,373,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,1749,0,0,0,0,0,0
$GC,3691,0.93,296.3,189.2,14.4,385,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,1748,0,0,0,0,0,0
$GC,3819,0.93,296.3,170.7,14.6,397,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,1748,0,0,0,0,0,0
$GC,3946,0.93,296.3,152.3,14.7,409,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,1748,0,0,0,0,0,0
$GC,4073,0.93,296.3,134.4,14.0,421,4077,0.00,1.75,0.00,0.000,4,0.000,0.049,3090,3762,1747,0,0,0,0,0,0
$GC,4123,0.93,296.3,126.6,15.1,425,4129,0.00,1.67,0.00,0.000,6,0.000,0.031,3098,2706,1748,0,0,0,0,0,0
$GC,4257,0.93,296.3,107.6,14.2,438,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2706,1748,0,0,0,0,0,0
$GC,4388,0.93,296.3,89.1,14.3,456,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2706,1747,0,0,0,0,0,0
$GC,4531,0.93,296.3,69.0,14.0,481,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2706,1747,0,0,0,0,0,0
$GC,4671,0.93,296.3,49.2,14.4,506,4677,0.00,1.73,0.00,0.000,4,0.000,0.050,3097,3751,1747,0,0,0,0,0,0
$GC,4723,0.93,296.3,40.9,15.0,515,4730,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2708,1747,0,0,0,0,0,0
$GC,4869,0.93,296.3,19.4,15.3,540,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2708,1747,0,0,0,0,0,0
$FREEZE,8.83,-0.287,-1.897,2,1,0
$FREEZE,8.12,-0.288,-1.897,2,1,0
$FREEZE,7.32,-0.286,-1.896,2,1,0
$FREEZE,6.58,-0.277,-1.895,2,1,0
$FREEZE,5.66,-0.278,-1.895,2,1,0
$FREEZE,4.95,-0.282,-1.894,2,1,0
$FREEZE,4.10,-0.282,-1.893,2,1,0
$FREEZE,3.34,-0.282,-1.893,2,1,0
$FREEZE,2.70,-0.285,-1.892,2,1,0
$STATE,4980,end climb,SURFACE_DEPTH_REACHED
$STATE,4980,begin surface coast
$FREEZE,1.51,-0.296,-1.892,2,1,0
$FREEZE,0.69,-0.294,-1.891,2,1,0
$FREEZE,-0.05,-0.292,-1.890,2,1,0
$FREEZE,-0.05,-0.313,-0.896,2,1,0
$FINISH,-0.1,1.013239
$STATE,5004,end surface coast,CONTROL_FINISHED_OK
$STATE,5004,begin surface
$SM_CCo,5022,10.65,0.105,0,0,1655,320.11
$SM_GC,0.78,0.00,0.00,10.65,0.000,0.000,0.105,174,2795,1655,-8.21,0.42,320.11
$IRIDIUM_FIX,-7554.21,17616.72,100111,101000
$TT8_MAMPS,0.027713
$HUMID,53.62
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.2
$ALTIM_BOTTOM_PING,350.9,24.0
$24V_AH,22.0,68.578
$10V_AH,9.8,26.550
$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,18.225,27.525,441.875,10.650,0.000,23.032,42.589,151.400,1.500,0.000,11.479,1369.341,2116.011,485.684,1205.216,210.777,0.000,1063.507,0.000,942.318,0.000,15.173,0.000
$DEVICE_MAMPS,209.610,97.920,964.665,104.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.486,733.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37135,564
$CAP_FILE_SIZE,72434,0
$CFSIZE,260165632,221913088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.050,356.0,1
$GPS,100111,135608,-7637.492,17619.674,19,1.6,20,123.8