version: 66.08
glider: 503
mission: 7
dive: 343
start: 12 21 110 14 58 25
data:
$ID,503
$MISSION,7
$DIVE,343
$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,-5
$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,9
$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,-19921.047
$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,47
$R_STBD_OVSHOOT,41
$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
$GPS1,211210,145326,-7631.084,17905.850,8,1.6,8,119.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-75.2
$GPS2,211210,145756,-7631.030,17905.945,8,1.5,8,119.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,STATION_O
$TGT_LATLONG,-7630.000,17600.000
$TGT_RADIUS,5000.000
$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,116.0,80414,-18.2,-13.333
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.82,0.000,2,0.000,0.000,185,2794,3530,0,0,0,0,0,0
$GC,113,-0.84,-219.0,4.1,-10.7,16,134,8.88,1.60,-6.47,0.000,4,0.217,0.065,2518,3758,3856,0,0,0,0,0,0
$GC,213,-0.84,-219.0,32.2,-19.6,33,220,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2773,3859,0,0,0,0,0,0
$GC,355,-0.84,-219.0,59.8,-19.2,58,362,0.00,2.20,0.00,0.000,4,0.000,0.031,2518,1380,3859,0,0,0,0,0,0
$GC,392,-0.84,-219.0,66.4,-16.9,64,399,0.00,2.28,0.00,0.000,6,0.000,0.044,2508,2773,3859,0,0,0,0,0,0
$GC,533,-0.84,-219.0,94.1,-19.4,89,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3859,0,0,0,0,0,0
$GC,675,-0.84,-219.0,122.3,-20.4,105,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2774,3860,0,0,0,0,0,0
$GC,802,-0.84,-219.0,147.6,-19.8,117,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2774,3861,0,0,0,0,0,0
$GC,929,-0.84,-219.0,172.3,-19.3,129,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3860,0,0,0,0,0,0
$GC,1057,-0.84,-219.0,196.4,-18.4,141,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3860,0,0,0,0,0,0
$GC,1185,-0.84,-219.0,219.9,-18.2,153,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3860,0,0,0,0,0,0
$GC,1312,-0.84,-219.0,243.3,-18.7,165,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3860,0,0,0,0,0,0
$GC,1441,-0.84,-219.0,267.7,-18.9,177,1445,0.00,2.17,0.00,0.000,4,0.000,0.032,2508,1384,3860,0,0,0,0,0,0
$GC,1481,-0.84,-219.0,275.0,-16.9,180,1486,0.10,2.25,0.00,0.000,6,0.172,0.044,2525,2783,3860,0,0,0,0,0,0
$STATE,1519,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1519,begin apogee
$GC,1524,-0.16,0.0,281.4,16.5,183,1704,0.65,0.00,171.95,0.907,4,0.125,0.000,2741,2699,2959,0,0,0,0,0,0
$STATE,1704,end apogee,CONTROL_FINISHED_OK
$STATE,1704,begin climb
$GC,1706,0.84,219.0,290.8,0.0,199,1902,1.02,2.38,187.55,0.854,4,0.087,0.033,3072,1301,2067,0,0,0,0,0,0
$GC,2093,0.85,229.6,255.1,12.9,233,2108,0.00,2.40,9.52,0.763,6,0.000,0.041,3072,2702,2023,0,0,0,0,0,0
$GC,2308,0.85,229.6,226.2,14.1,253,2312,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1303,2020,0,0,0,0,0,0
$GC,2482,0.85,229.6,201.7,14.2,268,2486,0.00,2.33,0.00,0.000,6,0.000,0.042,3083,2709,2018,0,0,0,0,0,0
$GC,2616,0.85,229.6,181.3,15.6,280,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2709,2018,0,0,0,0,0,0
$GC,2743,0.85,229.6,161.9,15.2,292,2747,0.00,1.67,0.00,0.000,4,0.000,0.049,3083,3763,2018,0,0,0,0,0,0
$GC,2781,0.85,229.6,155.2,17.1,295,2789,0.00,1.67,0.00,0.000,6,0.000,0.030,3091,2714,2017,0,0,0,0,0,0
$GC,2916,0.85,229.6,133.9,16.0,308,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2714,2017,0,0,0,0,0,0
$GC,3043,0.85,229.6,114.4,15.2,320,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2714,2017,0,0,0,0,0,0
$GC,3173,0.85,229.6,94.8,14.4,335,3180,0.00,1.73,0.00,0.000,4,0.000,0.049,3091,3763,2016,0,0,0,0,0,0
$GC,3231,0.85,229.6,85.0,17.3,345,3238,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2723,2016,0,0,0,0,0,0
$GC,3375,0.85,229.6,62.6,15.3,370,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2723,2016,0,0,0,0,0,0
$GC,3519,0.85,229.6,40.8,16.7,395,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2722,2016,0,0,0,0,0,0
$GC,3661,0.85,229.6,19.9,14.8,420,3668,0.00,1.70,0.00,0.000,4,0.000,0.050,3099,3762,2016,0,0,0,0,0,0
$GC,3719,0.85,229.6,10.2,17.2,430,3727,0.10,1.65,0.00,0.000,6,0.145,0.031,3063,2721,2015,0,0,0,0,0,0
$FREEZE,7.78,-0.780,-1.896,2,1,0
$FREEZE,7.09,-0.690,-1.895,2,1,0
$FREEZE,6.43,-0.646,-1.894,2,1,0
$FREEZE,5.85,-0.627,-1.894,2,1,0
$FREEZE,5.16,-0.592,-1.894,2,1,0
$FREEZE,4.48,-0.583,-1.894,2,1,0
$FREEZE,3.72,-0.554,-1.893,2,1,0
$FREEZE,3.16,-0.497,-1.892,2,1,0
$FREEZE,2.49,-0.480,-1.893,2,1,0
$STATE,3774,end climb,SURFACE_DEPTH_REACHED
$STATE,3774,begin surface coast
$FREEZE,1.66,-0.466,-1.892,2,1,0
$FREEZE,0.99,-0.458,-1.892,2,1,0
$FREEZE,0.41,-0.441,-1.892,2,1,0
$FREEZE,-0.02,-0.430,-1.261,2,1,0
$FINISH,-0.0,1.018622
$STATE,3797,end surface coast,CONTROL_FINISHED_OK
$STATE,3798,begin surface
$SM_CCo,3813,43.08,0.101,0,0,1655,320.11
$SM_GC,0.83,0.00,0.00,43.08,0.000,0.000,0.101,186,2795,1655,-8.17,0.42,320.11
$IRIDIUM_FIX,-7545.40,17913.80,211210,131327
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$ALTIM_BOTTOM_PING,251.6,44.2
$24V_AH,22.6,30.611
$10V_AH,10.0,12.182
$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,18.300,31.725,369.025,43.075,0.000,30.615,37.212,101.985,0.750,0.000,11.354,1089.943,1490.164,463.219,980.714,120.753,0.000,944.480,0.000,757.806,0.000,7.153,0.000
$DEVICE_MAMPS,217.260,95.625,906.525,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.821,624.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267808
$DATA_FILE_SIZE,27038,444
$CAP_FILE_SIZE,62480,0
$CFSIZE,260165632,235479040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.370, 34.4,1
$GPS,211210,160406,-7630.709,17905.758,44,0.9,44,119.4