version: 66.08
glider: 503
mission: 7
dive: 670
start: 1 10 111 17 12 8
data:
$ID,503
$MISSION,7
$DIVE,670
$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,-20364.809
$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,45
$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
$GPS1,100111,170527,-7635.625,17615.512,34,1.7,34,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-72.5
$GPS2,100111,171137,-7635.601,17615.369,35,1.1,35,123.8
$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,204.2,65869,-18.2,-13.333
$D_GRID,405
$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,-219.0,0.0,0.0,0,106,0.00,0.00,-88.20,0.000,2,0.000,0.000,177,2799,3402,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.1,-6.8,15,137,8.93,2.30,-9.62,0.000,4,0.208,0.044,2524,1362,3857,0,0,1,0,0,0
$GC,388,-0.84,-219.0,55.4,-15.9,64,395,0.00,2.28,0.00,0.000,6,0.000,0.043,2513,2762,3859,0,0,0,0,0,0
$GC,531,-0.84,-219.0,81.2,-19.5,89,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2763,3860,0,0,0,0,0,0
$GC,676,-0.84,-219.0,109.0,-18.9,111,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2762,3860,0,0,0,0,0,0
$GC,804,-0.84,-219.0,133.0,-19.1,123,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2763,3861,0,0,0,0,0,0
$GC,931,-0.84,-219.0,156.0,-18.1,135,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2762,3860,0,0,0,0,0,0
$GC,1058,-0.84,-219.0,177.6,-16.3,147,1062,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3756,3860,0,0,0,0,0,0
$GC,1104,-0.84,-219.0,185.6,-17.8,151,1107,0.00,1.52,0.00,0.000,6,0.000,0.030,2506,2780,3860,0,0,0,0,0,0
$GC,1244,-0.84,-219.0,210.4,-17.8,164,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3860,0,0,0,0,0,0
$GC,1371,-0.84,-219.0,233.2,-18.1,176,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3861,0,0,0,0,0,0
$GC,1499,-0.84,-219.0,255.8,-17.5,188,1503,0.00,1.62,0.00,0.000,4,0.000,0.051,2498,3765,3860,0,0,1,0,0,0
$GC,1545,-0.84,-219.0,264.8,-19.6,192,1549,0.08,1.52,0.00,0.000,6,0.144,0.030,2524,2792,3860,0,0,0,0,0,0
$GC,1749,-0.84,-219.0,298.6,-15.7,211,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2791,3861,0,0,0,0,0,0
$GC,1939,-0.84,-219.0,328.8,-15.5,229,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2792,3860,0,0,0,0,0,0
$GC,2129,-0.84,-219.0,358.2,-15.1,247,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2792,3860,0,0,0,0,0,0
$STATE,2319,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2319,begin apogee
$GC,2326,-0.16,0.0,388.8,15.6,265,2508,0.65,0.00,176.88,0.983,4,0.117,0.000,2743,2687,2960,0,0,0,0,0,0
$STATE,2509,end apogee,CONTROL_FINISHED_OK
$STATE,2509,begin climb
$GC,2512,0.84,219.0,398.6,0.0,281,2720,1.00,2.38,194.38,0.926,4,0.072,0.032,3073,1314,2066,0,0,0,0,0,0
$GC,2927,0.87,248.0,361.7,12.1,318,2959,0.00,2.38,26.90,0.888,6,0.000,0.041,3074,2704,1948,0,0,0,0,0,0
$GC,3158,0.87,248.0,330.6,13.5,340,3162,0.00,2.28,0.00,0.000,4,0.000,0.034,3084,1315,1944,0,0,0,0,0,0
$GC,3322,0.90,266.2,309.3,12.6,354,3345,0.00,2.28,16.70,0.879,6,0.000,0.041,3084,2710,1874,0,0,0,0,0,0
$GC,3540,0.90,266.2,280.0,13.8,374,3544,0.00,1.67,0.00,0.000,4,0.000,0.048,3084,3762,1872,0,0,0,0,0,0
$GC,3589,0.90,266.2,271.7,15.5,378,3596,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2726,1872,0,0,0,0,0,0
$GC,3788,0.90,266.7,244.8,13.3,397,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2726,1871,0,0,0,0,0,0
$GC,3915,0.90,266.7,227.3,14.0,409,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2726,1872,0,0,0,0,0,0
$GC,4042,0.90,266.7,209.2,14.0,421,4046,0.00,1.70,0.00,0.000,4,0.000,0.048,3092,3763,1871,0,0,0,0,0,0
$GC,4100,0.90,266.7,200.4,15.8,426,4104,0.00,1.65,0.00,0.000,6,0.000,0.030,3100,2692,1871,0,0,0,0,0,0
$GC,4240,0.90,266.7,179.2,14.8,439,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2690,1871,0,0,0,0,0,0
$GC,4368,0.90,266.7,160.7,14.2,451,4372,0.00,1.75,0.00,0.000,4,0.000,0.049,3101,3755,1870,0,0,0,0,0,0
$GC,4417,0.90,266.7,152.5,16.3,455,4424,0.00,1.62,0.00,0.000,6,0.000,0.031,3109,2727,1870,0,0,0,0,0,0
$GC,4552,0.90,266.7,132.2,14.9,468,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2727,1870,0,0,0,0,0,0
$GC,4679,0.90,266.7,113.1,15.0,480,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2727,1870,0,0,0,0,0,0
$GC,4809,0.90,266.7,93.8,15.3,495,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2727,1870,0,0,0,0,0,0
$GC,4949,0.90,266.7,72.5,14.8,520,4956,0.00,1.70,0.00,0.000,4,0.000,0.049,3109,3759,1870,0,0,0,0,0,0
$GC,5002,0.90,266.7,63.9,16.5,529,5010,0.00,1.65,0.00,0.000,6,0.000,0.032,3117,2723,1870,0,0,0,0,0,0
$GC,5147,0.90,266.7,41.0,16.3,554,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2723,1870,0,0,0,0,0,0
$GC,5289,0.90,266.7,17.5,15.7,579,5296,0.00,1.70,0.00,0.000,4,0.000,0.049,3117,3762,1869,0,0,0,0,0,0
$GC,5336,0.90,266.7,9.1,19.0,587,5344,0.10,1.62,0.00,0.000,6,0.138,0.031,3090,2734,1869,0,0,0,0,0,0
$FREEZE,6.35,-0.136,-1.895,2,1,0
$FREEZE,5.64,-0.126,-1.895,2,1,0
$FREEZE,4.74,-0.125,-1.894,2,1,0
$FREEZE,3.87,-0.130,-1.894,2,1,0
$FREEZE,3.12,-0.122,-1.893,2,1,0
$FREEZE,2.40,-0.119,-1.893,2,1,0
$STATE,5376,end climb,SURFACE_DEPTH_REACHED
$STATE,5376,begin surface coast
$FREEZE,1.63,-0.119,-1.892,2,1,0
$FREEZE,0.96,-0.124,-1.892,2,1,0
$FREEZE,0.46,-0.129,-1.891,2,1,0
$FINISH,0.5,1.027672
$STATE,5395,end surface coast,CONTROL_FINISHED_OK
$STATE,5395,begin surface
$SM_CCo,5412,26.15,0.102,0,0,1654,320.11
$SM_GC,1.35,0.00,0.00,26.15,0.000,0.000,0.102,175,2784,1654,-8.21,0.11,320.11
$IRIDIUM_FIX,-7554.21,17608.07,100111,151500
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.4
$ALTIM_BOTTOM_PING,350.0,52.7
$24V_AH,22.0,68.957
$10V_AH,9.9,26.693
$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,18.325,37.050,414.850,26.150,0.000,30.185,37.679,149.802,1.250,0.000,38.322,1463.265,2358.092,483.419,1293.383,224.502,0.000,1091.704,0.000,1003.177,0.000,10.604,0.000
$DEVICE_MAMPS,208.080,110.925,983.025,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.987,749.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258264
$DATA_FILE_SIZE,40429,597
$CAP_FILE_SIZE,78462,0
$CFSIZE,260165632,221777920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.112,319.9,1
$GPS,100111,184349,-7634.623,17612.848,14,1.9,19,123.8