version: 66.08
glider: 503
mission: 7
dive: 677
start: 1 11 111 4 35 57
data:
$ID,503
$MISSION,7
$DIVE,677
$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,-20375.361
$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,45
$R_STBD_OVSHOOT,28
$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
$GPS1,110111,042638,-7628.983,17601.943,33,1.2,33,123.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-69.4
$GPS2,110111,043526,-7628.958,17601.988,13,1.3,13,123.6
$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,201.9,52259,-18.2,-13.333
$D_GRID,376
$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,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-88.62,0.000,2,0.000,0.000,143,2776,3379,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.2,-6.9,15,137,8.90,1.62,-10.15,0.000,4,0.201,0.066,2514,3770,3855,0,0,0,0,0,0
$GC,389,-0.84,-219.0,60.6,-18.3,64,396,0.00,1.55,0.00,0.000,6,0.000,0.028,2514,2775,3858,0,0,0,0,0,0
$GC,531,-0.84,-219.0,86.0,-18.7,89,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3858,0,0,0,0,0,0
$GC,676,-0.84,-219.0,112.3,-18.0,109,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3859,0,0,0,0,0,0
$GC,804,-0.84,-219.0,135.2,-18.2,121,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3859,0,0,0,0,0,0
$GC,931,-0.84,-219.0,158.2,-18.0,133,934,0.00,1.60,0.00,0.000,4,0.000,0.049,2506,3756,3860,0,0,0,0,0,0
$GC,981,-0.84,-219.0,167.9,-19.2,137,989,0.00,1.50,0.00,0.000,6,0.000,0.030,2507,2790,3859,0,0,0,0,0,0
$GC,1116,-0.84,-219.0,192.8,-18.8,150,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,1243,-0.84,-219.0,217.2,-19.2,162,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3860,0,0,0,0,0,0
$GC,1371,-0.84,-219.0,241.0,-18.3,174,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,1499,-0.84,-219.0,264.2,-18.3,186,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2789,3859,0,0,0,0,0,0
$GC,1689,-0.84,-219.0,298.6,-17.7,204,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,1880,-0.84,-219.0,332.1,-17.3,222,1884,0.00,1.58,0.00,0.000,4,0.000,0.050,2499,3756,3859,0,0,0,0,0,0
$GC,1928,-0.84,-219.0,340.5,-18.5,226,1931,0.00,1.52,0.00,0.000,6,0.000,0.030,2499,2774,3859,0,0,0,0,0,0
$STATE,2131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2131,begin apogee
$GC,2137,-0.16,0.0,376.2,17.6,245,2320,0.75,0.00,175.88,0.973,4,0.122,0.000,2744,2684,2959,0,0,0,0,0,0
$STATE,2321,end apogee,CONTROL_FINISHED_OK
$STATE,2321,begin climb
$GC,2324,0.84,219.0,385.7,0.0,261,2529,0.98,2.35,193.73,0.920,4,0.073,0.032,3067,1313,2067,0,0,0,0,0,0
$GC,2681,0.89,263.5,355.6,11.5,292,2732,0.00,2.40,41.25,0.889,6,0.000,0.040,3067,2702,1885,0,0,0,0,0,0
$GC,2925,0.90,266.8,323.8,13.2,315,2929,0.00,2.30,0.00,0.000,4,0.000,0.034,3078,1316,1880,0,0,0,0,0,0
$GC,3090,0.92,287.1,302.4,12.5,329,3117,0.00,2.28,21.67,0.877,6,0.000,0.041,3078,2704,1790,0,0,0,0,0,0
$GC,3316,0.92,287.1,271.6,13.6,350,3319,0.00,1.70,0.00,0.000,4,0.000,0.048,3078,3766,1789,0,0,0,0,0,0
$GC,3355,0.92,287.1,265.4,15.7,353,3362,0.00,1.65,0.00,0.000,6,0.000,0.030,3086,2706,1789,0,0,0,0,0,0
$GC,3553,0.92,287.1,237.4,14.1,372,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,1788,0,0,0,0,0,0
$GC,3680,0.92,287.1,219.5,14.1,384,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,1788,0,0,0,0,0,0
$GC,3808,0.92,287.1,201.7,14.1,396,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,1787,0,0,0,0,0,0
$GC,3935,0.93,290.1,184.7,13.2,408,3945,0.00,0.00,4.12,0.637,6,0.000,0.000,3086,2706,1777,0,0,0,0,0,0
$GC,4073,0.93,290.1,166.1,13.7,421,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,1777,0,0,0,0,0,0
$GC,4201,0.93,290.1,148.5,13.7,433,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,1777,0,0,0,0,0,0
$GC,4328,0.93,290.1,130.6,14.2,445,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,1777,0,0,0,0,0,0
$GC,4455,0.93,290.1,112.5,14.3,457,4459,0.00,1.73,0.00,0.000,4,0.000,0.048,3086,3757,1777,0,0,0,0,0,0
$GC,4505,0.93,290.1,104.7,15.2,461,4512,0.00,1.62,0.00,0.000,6,0.000,0.031,3094,2718,1777,0,0,1,0,0,0
$GC,4645,0.93,290.1,84.6,14.7,483,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2717,1776,0,0,0,0,0,0
$GC,4786,0.93,290.1,64.6,14.4,508,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2717,1776,0,0,0,0,0,0
$GC,4928,0.93,290.1,44.7,14.3,533,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2717,1776,0,0,0,0,0,0
$GC,5069,0.93,290.1,24.7,13.6,558,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2717,1776,0,0,0,0,0,0
$FREEZE,8.88,-0.046,-1.895,2,1,0
$FREEZE,8.09,-0.047,-1.894,2,1,0
$FREEZE,7.29,-0.048,-1.893,2,1,0
$FREEZE,6.47,-0.048,-1.893,2,1,0
$FREEZE,5.48,-0.043,-1.892,2,1,0
$GC,5211,0.93,290.1,5.5,16.0,583,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2717,1776,0,0,0,0,0,0
$FREEZE,2.87,-0.047,-1.890,2,1,0
$STATE,5223,end climb,SURFACE_DEPTH_REACHED
$STATE,5223,begin surface coast
$FREEZE,2.13,-0.047,-1.889,2,1,0
$FREEZE,1.34,-0.047,-1.889,2,1,0
$FREEZE,0.18,-0.045,-1.888,2,1,0
$FINISH,0.2,1.027624
$STATE,5240,end surface coast,CONTROL_FINISHED_OK
$STATE,5240,begin surface
$SM_CCo,5259,14.18,0.104,0,0,1655,320.11
$SM_GC,0.56,0.00,0.00,14.18,0.000,0.000,0.104,183,2799,1655,-8.18,0.54,320.11
$IRIDIUM_FIX,-7545.40,17551.59,110111,040434
$TT8_MAMPS,0.027713
$HUMID,53.34
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,22.0,69.856
$10V_AH,9.8,27.027
$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,18.175,25.575,436.650,14.175,0.000,55.048,112.690,166.392,1.250,0.000,17.689,1421.781,2318.966,492.811,1360.877,219.737,0.000,1088.574,0.000,975.259,0.000,10.657,0.000
$DEVICE_MAMPS,201.195,100.215,973.080,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.298,753.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258232
$DATA_FILE_SIZE,37050,588
$CAP_FILE_SIZE,75088,0
$CFSIZE,260165632,221470720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.039,126.5,1
$GPS,110111,060507,-7628.283,17600.805,35,1.5,35,123.6