version: 66.08
glider: 503
mission: 7
dive: 669
start: 1 10 111 15 37 21
data:
$ID,503
$MISSION,7
$DIVE,669
$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,-20363.551
$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,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
$GPS1,100111,152837,-7636.620,17617.713,8,1.2,19,123.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-72.8
$GPS2,100111,153650,-7636.573,17617.643,13,1.4,13,123.8
$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,201.0,67935,-18.2,-13.333
$D_GRID,416
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-89.60,0.000,2,0.000,0.000,169,2804,3444,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-7.1,15,138,8.95,2.33,-8.52,0.000,4,0.207,0.044,2525,1382,3857,0,0,0,0,0,0
$GC,390,-0.84,-219.0,56.2,-15.5,64,397,0.00,2.25,0.00,0.000,6,0.000,0.043,2515,2764,3859,0,0,0,0,0,0
$GC,532,-0.84,-219.0,81.8,-18.7,89,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2764,3860,0,0,0,0,0,0
$GC,678,-0.84,-219.0,108.1,-18.0,111,682,0.00,1.60,0.00,0.000,4,0.000,0.049,2507,3756,3860,0,0,0,0,0,0
$GC,726,-0.84,-219.0,116.9,-19.0,115,729,0.00,1.52,0.00,0.000,6,0.000,0.030,2507,2778,3860,0,0,0,0,0,0
$GC,865,-0.84,-219.0,142.8,-18.5,128,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2778,3860,0,0,0,0,0,0
$GC,993,-0.84,-219.0,166.1,-18.4,140,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2778,3860,0,0,0,0,0,0
$GC,1123,-0.84,-219.0,189.5,-19.0,152,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2778,3860,0,0,0,0,0,0
$GC,1257,-0.84,-219.0,215.4,-19.5,165,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2778,3860,0,0,0,0,0,0
$GC,1385,-0.84,-219.0,239.4,-18.4,177,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2778,3860,0,0,0,0,0,0
$GC,1514,-0.84,-219.0,262.8,-18.2,189,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2778,3860,0,0,0,0,0,0
$GC,1712,-0.84,-219.0,298.7,-18.0,208,1716,0.00,1.62,0.00,0.000,4,0.000,0.050,2499,3791,3860,0,0,0,0,0,0
$GC,1763,-0.84,-219.0,308.6,-18.9,212,1771,0.08,1.58,0.00,0.000,6,0.144,0.029,2525,2782,3860,0,0,0,0,0,0
$GC,1962,-0.84,-219.0,339.9,-16.2,231,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2782,3860,0,0,0,0,0,0
$GC,2153,-0.84,-219.0,370.0,-15.7,249,2157,0.00,1.60,0.00,0.000,4,0.000,0.050,2518,3753,3860,0,0,0,0,0,0
$STATE,2166,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2166,begin apogee
$GC,2174,-0.16,0.0,372.1,15.3,250,2356,0.68,0.00,176.50,0.970,4,0.118,0.000,2743,2697,2959,0,0,0,0,0,0
$STATE,2356,end apogee,CONTROL_FINISHED_OK
$STATE,2357,begin climb
$GC,2360,0.84,219.0,382.5,0.0,266,2567,1.00,2.42,193.60,0.916,4,0.073,0.032,3074,1297,2067,0,0,0,0,0,0
$GC,2760,0.87,245.6,347.6,12.2,302,2794,0.00,2.40,24.75,0.873,6,0.000,0.040,3074,2708,1957,0,0,0,0,0,0
$GC,2985,0.89,264.4,318.7,12.6,323,3009,0.00,2.42,17.92,0.864,4,0.000,0.034,3085,1291,1881,0,0,1,0,0,0
$GC,3171,0.92,287.8,295.1,12.4,339,3201,0.00,2.33,22.50,0.871,6,0.000,0.041,3085,2706,1786,0,0,0,0,0,0
$GC,3391,0.92,287.8,265.5,13.5,360,3394,0.00,1.70,0.00,0.000,4,0.000,0.048,3084,3763,1784,0,0,0,0,0,0
$GC,3429,0.92,287.8,259.1,15.9,363,3436,0.00,1.70,0.00,0.000,6,0.000,0.030,3093,2703,1784,0,0,0,0,0,0
$GC,3629,0.92,287.8,229.9,15.0,382,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2702,1783,0,0,0,0,0,0
$GC,3755,0.92,287.8,211.4,14.5,394,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2703,1783,0,0,0,0,0,0
$GC,3882,0.92,287.8,193.1,14.1,406,3886,0.00,1.70,0.00,0.000,4,0.000,0.050,3093,3762,1783,0,0,0,0,0,0
$GC,3921,0.92,287.8,186.6,16.1,409,3929,0.00,1.67,0.00,0.000,6,0.000,0.031,3101,2709,1783,0,0,0,0,0,0
$GC,4056,0.92,287.8,167.0,14.6,422,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2710,1782,0,0,0,0,0,0
$GC,4183,0.92,287.8,148.1,15.0,434,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2710,1782,0,0,0,0,0,0
$GC,4312,0.92,287.8,129.5,14.5,446,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2710,1782,0,0,0,0,0,0
$GC,4438,0.92,287.8,111.4,14.4,458,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2710,1782,0,0,0,0,0,0
$GC,4567,0.92,287.8,93.2,14.0,474,4574,0.00,1.73,0.00,0.000,4,0.000,0.050,3101,3757,1781,0,0,0,0,0,0
$GC,4603,0.92,287.8,87.5,15.5,480,4610,0.00,1.67,0.00,0.000,6,0.000,0.031,3110,2702,1781,0,0,0,0,0,0
$GC,4744,0.92,287.8,66.8,14.9,505,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2703,1781,0,0,0,0,0,0
$GC,4887,0.92,287.8,45.7,15.3,530,4893,0.00,1.73,0.00,0.000,4,0.000,0.050,3110,3752,1781,0,0,0,0,0,0
$GC,4929,0.92,287.8,38.9,17.5,537,4936,0.00,1.62,0.00,0.000,6,0.000,0.031,3118,2713,1781,0,0,1,0,0,0
$GC,5075,0.92,287.8,16.1,14.5,562,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2712,1781,0,0,0,0,0,0
$FREEZE,8.23,-0.289,-1.897,2,1,0
$FREEZE,7.32,-0.291,-1.896,2,1,0
$FREEZE,6.52,-0.291,-1.895,2,1,0
$FREEZE,5.76,-0.290,-1.895,2,1,0
$FREEZE,4.94,-0.291,-1.894,2,1,0
$FREEZE,4.05,-0.287,-1.894,2,1,0
$FREEZE,3.17,-0.292,-1.893,2,1,0
$FREEZE,2.33,-0.287,-1.892,2,1,0
$STATE,5157,end climb,SURFACE_DEPTH_REACHED
$STATE,5158,begin surface coast
$FREEZE,1.18,-0.292,-1.891,2,1,0
$FREEZE,0.30,-0.293,-1.891,2,1,0
$FREEZE,-0.11,-0.435,-0.979,2,1,0
$FINISH,-0.1,1.014473
$STATE,5177,end surface coast,CONTROL_FINISHED_OK
$STATE,5177,begin surface
$SM_CCo,5195,14.88,0.103,0,0,1655,320.11
$SM_GC,0.77,0.00,0.00,14.88,0.000,0.000,0.103,180,2798,1655,-8.19,0.51,320.11
$IRIDIUM_FIX,-7545.40,17617.92,100111,151535
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,351.6,34.7
$24V_AH,22.0,68.834
$10V_AH,9.8,26.644
$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,18.275,37.375,435.275,14.875,0.000,55.183,95.371,149.345,1.500,0.000,17.386,1410.046,2256.574,506.731,1323.830,219.184,0.000,1104.646,0.000,970.893,0.000,13.490,0.000
$DEVICE_MAMPS,207.315,91.800,970.020,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.228,740.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258228
$DATA_FILE_SIZE,37061,580
$CAP_FILE_SIZE,76891,0
$CFSIZE,260165632,221827072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.082,335.6,1
$GPS,100111,170527,-7635.625,17615.512,34,1.7,34,123.8