version: 66.08
glider: 503
mission: 7
dive: 668
start: 1 10 111 14 2 55
data:
$ID,503
$MISSION,7
$DIVE,668
$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,-20360.705
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,100111,135608,-7637.492,17619.674,19,1.6,20,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.3
$GPS2,100111,140224,-7637.470,17619.641,42,0.8,42,123.8
$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,202.0,69817,-18.2,-13.333
$D_GRID,423
$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,-219.0,0.0,0.0,0,111,0.00,0.00,-92.45,0.000,2,0.000,0.000,172,2796,3535,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-10.1,16,136,8.93,2.33,-6.18,0.000,4,0.207,0.044,2520,1369,3856,0,0,1,0,0,0
$GC,361,-0.84,-219.0,55.3,-16.3,59,368,0.00,2.28,0.00,0.000,6,0.000,0.043,2510,2771,3860,0,0,0,0,0,0
$GC,504,-0.84,-219.0,81.6,-19.2,84,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2772,3860,0,0,0,0,0,0
$GC,644,-0.84,-219.0,108.4,-18.9,105,648,0.00,1.60,0.00,0.000,4,0.000,0.050,2502,3763,3860,0,0,0,0,0,0
$GC,691,-0.84,-219.0,117.5,-19.8,109,694,0.00,1.52,0.00,0.000,6,0.000,0.030,2502,2791,3860,0,0,0,0,0,0
$GC,831,-0.84,-219.0,144.6,-19.2,122,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2790,3861,0,0,0,0,0,0
$GC,958,-0.84,-219.0,169.1,-19.5,134,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2790,3861,0,0,0,0,0,0
$GC,1086,-0.84,-219.0,193.4,-19.2,146,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2790,3861,0,0,0,0,0,0
$GC,1213,-0.84,-219.0,217.8,-19.1,158,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2790,3861,0,0,0,0,0,0
$GC,1340,-0.84,-219.0,241.5,-18.8,170,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2790,3861,0,0,0,0,0,0
$GC,1468,-0.84,-219.0,264.7,-17.9,182,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2790,3861,0,0,0,0,0,0
$GC,1659,-0.84,-219.0,299.0,-17.8,200,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2790,3861,0,0,0,0,0,0
$GC,1852,-0.84,-219.0,333.6,-17.8,218,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2789,3861,0,0,0,0,0,0
$GC,2042,-0.84,-219.0,367.7,-17.9,236,2045,0.00,1.60,0.00,0.000,4,0.000,0.049,2495,3764,3861,0,0,0,0,0,0
$STATE,2052,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2052,begin apogee
$GC,2060,-0.16,0.0,370.1,17.8,237,2241,0.75,0.00,176.40,0.970,4,0.122,0.000,2742,2691,2960,0,0,0,0,0,0
$STATE,2242,end apogee,CONTROL_FINISHED_OK
$STATE,2242,begin climb
$GC,2245,0.84,219.0,379.9,0.0,253,2450,0.98,2.42,193.45,0.915,4,0.061,0.033,3075,1291,2067,0,0,0,0,0,0
$GC,2623,0.89,263.2,349.3,11.5,286,2674,0.00,2.42,40.60,0.885,6,0.000,0.040,3075,2699,1887,0,0,0,0,0,0
$GC,2867,0.90,271.0,318.1,13.0,309,2880,0.00,2.40,7.88,0.788,4,0.000,0.034,3085,1294,1855,0,0,1,0,0,0
$GC,3043,0.93,289.7,295.4,12.6,324,3067,0.00,2.35,18.67,0.870,6,0.000,0.041,3085,2710,1779,0,0,0,0,0,0
$GC,3259,0.93,289.7,265.3,13.8,344,3262,0.00,1.70,0.00,0.000,4,0.000,0.048,3085,3767,1777,0,0,0,0,0,0
$GC,3294,0.93,289.7,260.0,15.7,347,3297,0.00,1.67,0.00,0.000,6,0.000,0.031,3094,2696,1777,0,0,0,0,0,0
$GC,3498,0.93,289.7,229.9,14.4,366,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2696,1777,0,0,0,0,0,0
$GC,3625,0.93,289.7,211.7,13.9,378,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2696,1776,0,0,0,0,0,0
$GC,3753,0.93,289.7,193.3,14.5,390,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2696,1776,0,0,0,0,0,0
$GC,3880,0.93,289.7,174.9,14.7,402,3884,0.00,1.75,0.00,0.000,4,0.000,0.048,3094,3759,1776,0,0,0,0,0,0
$GC,3915,0.93,289.7,169.5,16.7,405,3919,0.00,1.65,0.00,0.000,6,0.000,0.032,3101,2721,1776,0,0,0,0,0,0
$GC,4054,0.93,289.7,148.4,15.0,418,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2721,1775,0,0,0,0,0,0
$GC,4183,0.93,289.7,129.2,15.1,430,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2721,1775,0,0,0,0,0,0
$GC,4311,0.93,289.7,110.3,15.1,442,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2720,1775,0,0,0,0,0,0
$GC,4439,0.93,289.7,91.4,14.1,459,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2721,1775,0,0,0,0,0,0
$GC,4580,0.93,289.7,71.1,14.7,484,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2721,1775,0,0,0,0,0,0
$GC,4724,0.93,289.7,50.2,14.0,509,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2720,1775,0,0,0,0,0,0
$GC,4866,0.93,289.7,29.3,14.7,534,4872,0.00,1.70,0.00,0.000,4,0.000,0.048,3102,3755,1774,0,0,0,0,0,0
$GC,4918,0.93,289.7,20.5,17.1,543,4926,0.00,1.65,0.00,0.000,6,0.000,0.031,3110,2709,1774,0,0,0,0,0,0
$FREEZE,8.61,-0.271,-1.897,2,1,0
$FREEZE,7.82,-0.273,-1.896,2,1,0
$FREEZE,7.00,-0.276,-1.896,2,1,0
$FREEZE,6.27,-0.276,-1.895,2,1,0
$FREEZE,5.48,-0.275,-1.895,2,1,0
$FREEZE,4.63,-0.274,-1.894,2,1,0
$FREEZE,3.50,-0.274,-1.893,2,1,0
$FREEZE,2.67,-0.274,-1.893,2,1,0
$STATE,5031,end climb,SURFACE_DEPTH_REACHED
$STATE,5031,begin surface coast
$FREEZE,1.85,-0.278,-1.892,2,1,0
$FREEZE,1.15,-0.282,-1.891,2,1,0
$FREEZE,0.36,-0.286,-1.891,2,1,0
$FINISH,0.4,1.027675
$STATE,5048,end surface coast,CONTROL_FINISHED_OK
$STATE,5048,begin surface
$SM_CCo,5066,14.43,0.103,0,0,1655,320.11
$SM_GC,0.42,0.00,0.00,14.43,0.000,0.000,0.103,170,2803,1655,-8.22,0.65,320.11
$IRIDIUM_FIX,-7545.40,17531.83,100111,121256
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.2
$ALTIM_BOTTOM_PING,300.9,83.4
$24V_AH,22.0,68.705
$10V_AH,9.8,26.596
$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,18.250,30.875,437.000,14.425,0.000,24.695,37.492,154.524,1.000,0.000,45.814,1381.197,2164.812,477.964,1234.955,211.544,0.000,1056.662,0.000,940.604,0.000,8.967,0.000
$DEVICE_MAMPS,207.315,84.150,970.020,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.107,725.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,37128,566
$CAP_FILE_SIZE,72840,0
$CFSIZE,260165632,221872128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.061,355.8,1
$GPS,100111,152837,-7636.620,17617.713,8,1.2,19,123.8