version: 66.08
glider: 503
mission: 7
dive: 681
start: 1 11 111 11 37 38
data:
$ID,503
$MISSION,7
$DIVE,681
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,220
$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,250
$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,-20380.393
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,110111,113044,-7626.069,17556.371,17,1.2,17,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-69.9
$GPS2,110111,113707,-7626.049,17556.270,14,1.2,14,123.6
$SPEED_LIMITS,0.197,0.325
$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,201.0,46345,-15.8,-11.364
$D_GRID,375
$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,-0.76,-219.0,0.0,0.0,0,99,0.00,0.00,-80.62,0.000,2,0.000,0.000,151,2804,3448,0,0,0,0,0,0
$GC,103,-0.76,-219.0,3.7,-7.6,13,124,9.18,1.58,-8.07,0.000,4,0.207,0.063,2543,3744,3856,0,0,0,0,0,0
$GC,378,-0.76,-219.0,58.4,-15.9,61,385,0.00,1.52,0.00,0.000,6,0.000,0.028,2542,2774,3859,0,0,0,0,0,0
$GC,522,-0.76,-219.0,80.8,-15.4,86,529,0.00,1.58,0.00,0.000,4,0.000,0.049,2534,3728,3860,0,0,0,0,0,0
$GC,565,-0.76,-219.0,87.9,-16.1,93,571,0.00,1.45,0.00,0.000,6,0.000,0.029,2535,2788,3860,0,0,1,0,0,0
$GC,704,-0.76,-219.0,110.7,-16.2,112,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2788,3860,0,0,0,0,0,0
$GC,831,-0.76,-219.0,131.5,-16.5,124,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2788,3861,0,0,0,0,0,0
$GC,958,-0.76,-219.0,152.4,-16.5,136,962,0.00,1.55,0.00,0.000,4,0.000,0.048,2528,3734,3859,0,0,0,0,0,0
$GC,998,-0.76,-219.0,159.2,-17.3,139,1005,0.00,1.45,0.00,0.000,6,0.000,0.030,2528,2795,3861,0,0,1,0,0,0
$GC,1132,-0.76,-219.0,181.2,-16.3,152,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2796,3861,0,0,0,0,0,0
$GC,1260,-0.76,-219.0,201.6,-15.1,164,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2796,3860,0,0,0,0,0,0
$GC,1388,-0.76,-219.0,221.9,-15.9,176,1392,0.00,1.55,0.00,0.000,4,0.000,0.049,2520,3744,3861,0,0,0,0,0,0
$GC,1434,-0.76,-219.0,229.5,-16.3,180,1438,0.08,1.50,0.00,0.000,6,0.135,0.029,2548,2781,3861,0,0,0,0,0,0
$GC,1573,-0.76,-219.0,248.9,-13.2,193,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2781,3861,0,0,0,0,0,0
$GC,1701,-0.76,-219.0,266.0,-13.5,205,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2781,3861,0,0,0,0,0,0
$GC,1892,-0.76,-219.0,291.6,-13.6,223,1896,0.00,1.58,0.00,0.000,4,0.000,0.050,2542,3743,3861,0,0,0,0,0,0
$GC,1930,-0.76,-219.0,297.4,-14.8,226,1937,0.00,1.48,0.00,0.000,6,0.000,0.029,2542,2797,3860,0,0,0,0,0,0
$GC,2129,-0.76,-219.0,325.8,-14.4,245,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2797,3861,0,0,0,0,0,0
$GC,2321,-0.76,-219.0,353.7,-14.6,263,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2797,3860,0,0,0,0,0,0
$STATE,2465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2465,begin apogee
$GC,2472,-0.16,0.0,375.3,14.8,277,2654,0.60,0.00,176.60,0.978,4,0.116,0.000,2743,2675,2960,0,0,0,0,0,0
$STATE,2655,end apogee,CONTROL_FINISHED_OK
$STATE,2655,begin climb
$GC,2658,0.76,219.0,385.0,0.0,293,2863,0.93,2.35,195.00,0.919,4,0.073,0.032,3047,1309,2067,0,0,0,0,0,0
$GC,3003,0.80,253.8,360.8,10.1,323,3045,0.00,2.38,32.45,0.889,6,0.000,0.041,3047,2684,1925,0,0,0,0,0,0
$GC,3234,0.80,253.8,334.3,11.6,345,3238,0.00,2.28,0.00,0.000,4,0.000,0.034,3057,1316,1921,0,0,0,0,0,0
$GC,3389,0.81,260.5,316.9,11.1,358,3403,0.00,2.30,6.55,0.769,6,0.000,0.041,3057,2709,1898,0,0,0,0,0,0
$GC,3596,0.81,260.5,291.5,11.9,377,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2709,1897,0,0,0,0,0,0
$GC,3794,0.81,260.5,267.4,12.0,396,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2709,1896,0,0,0,0,0,0
$GC,3985,0.81,260.5,244.5,11.9,414,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2709,1896,0,0,0,0,0,0
$GC,4113,0.82,263.1,229.6,11.3,426,4123,0.00,0.00,3.50,0.578,6,0.000,0.000,3057,2709,1889,0,0,0,0,0,0
$GC,4251,0.82,263.1,213.6,11.7,439,4255,0.00,1.67,0.00,0.000,4,0.000,0.049,3057,3766,1888,0,0,0,0,0,0
$GC,4290,0.82,263.1,208.3,13.1,442,4298,0.00,1.65,0.00,0.000,6,0.000,0.030,3063,2721,1888,0,0,0,0,0,0
$GC,4426,0.82,263.1,192.0,11.9,455,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2721,1888,0,0,0,0,0,0
$GC,4552,0.82,263.1,176.4,12.4,467,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1888,0,0,0,0,0,0
$GC,4679,0.82,263.1,160.6,12.2,479,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2721,1888,0,0,0,0,0,0
$GC,4809,0.82,263.1,144.8,12.2,491,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1888,0,0,0,0,0,0
$GC,4943,0.82,263.1,127.9,12.0,504,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1888,0,0,0,0,0,0
$GC,5071,0.82,263.1,112.7,11.8,516,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2721,1887,0,0,0,0,0,0
$GC,5199,0.82,263.3,97.3,11.4,530,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1887,0,0,0,0,0,0
$GC,5343,0.82,263.3,80.9,11.9,555,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1887,0,0,0,0,0,0
$GC,5485,0.82,263.3,64.2,11.8,580,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1887,0,0,0,0,0,0
$GC,5626,0.82,263.3,47.7,12.0,605,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2721,1887,0,0,0,0,0,0
$GC,5767,0.82,263.3,31.0,11.5,630,5775,0.00,1.70,0.00,0.000,4,0.000,0.050,3063,3752,1887,0,0,0,0,0,0
$GC,5811,0.82,263.3,25.7,13.1,637,5818,0.00,1.65,0.00,0.000,6,0.000,0.029,3071,2704,1887,0,0,0,0,0,0
$FREEZE,8.03,-0.273,-1.894,2,1,0
$GC,5955,0.82,263.3,8.0,13.7,662,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2702,1887,0,0,0,0,0,0
$FREEZE,5.60,-0.297,-1.892,2,1,0
$FREEZE,4.87,-0.320,-1.892,2,1,0
$FREEZE,4.13,-0.302,-1.891,2,1,0
$FREEZE,3.39,-0.292,-1.891,2,1,0
$FREEZE,2.88,-0.278,-1.890,2,1,0
$STATE,5988,end climb,SURFACE_DEPTH_REACHED
$STATE,5988,begin surface coast
$FREEZE,2.09,-0.281,-1.890,2,1,0
$FREEZE,1.41,-0.274,-1.889,2,1,0
$FREEZE,0.85,-0.281,-1.889,2,1,0
$FREEZE,0.37,-0.284,-1.889,2,1,0
$FINISH,0.4,1.027641
$STATE,6010,end surface coast,CONTROL_FINISHED_OK
$STATE,6013,begin surface
$SM_CCo,6091,0.00,0.000,0,0,1884,263.94
$SM_GC,0.88,7.55,0.00,0.00,0.042,0.000,0.000,176,2804,1884,-8.09,0.68,263.94
$IRIDIUM_FIX,-7545.40,17551.59,110111,090937
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.7
$24V_AH,21.9,70.343
$10V_AH,9.8,27.238
$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,18.325,31.450,414.100,0.000,0.000,30.486,36.677,174.199,1.000,0.000,16.990,1637.125,2742.661,475.079,1381.122,244.842,0.000,1123.760,0.000,1086.150,0.000,7.760,0.000
$DEVICE_MAMPS,207.315,81.090,977.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.192,859.053,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43739,672
$CAP_FILE_SIZE,83575,0
$CFSIZE,260165632,221265920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.020,165.6,1
$GPS,110111,132036,-7625.235,17554.740,48,1.1,49,123.6