version: 66.08
glider: 503
mission: 7
dive: 347
start: 12 21 110 20 5 1
data:
$ID,503
$MISSION,7
$DIVE,347
$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,-19926.082
$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,41
$R_STBD_OVSHOOT,42
$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
$GPS1,211210,195630,-7629.688,17901.117,44,1.1,49,119.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.7
$GPS2,211210,200432,-7629.576,17901.035,11,1.3,11,119.5
$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,104.9,78273,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,105,0.00,0.00,-86.85,0.000,2,0.000,0.000,186,2806,3362,0,0,0,0,0,0
$GC,108,-0.84,-219.0,3.1,-6.5,15,135,8.88,1.52,-10.88,0.000,4,0.216,0.066,2514,3755,3854,0,0,0,0,0,0
$GC,226,-0.84,-219.0,32.2,-20.5,35,233,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2769,3857,0,0,0,0,0,0
$GC,367,-0.84,-219.0,61.1,-20.4,60,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3858,0,0,0,0,0,0
$GC,508,-0.84,-219.0,88.8,-19.8,85,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3858,0,0,0,0,0,0
$GC,651,-0.84,-219.0,116.9,-20.1,103,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3858,0,0,0,0,0,0
$GC,779,-0.84,-219.0,141.3,-19.3,115,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3858,0,0,0,0,0,0
$GC,907,-0.84,-219.0,165.2,-18.3,127,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3858,0,0,0,0,0,0
$GC,1034,-0.84,-219.0,188.8,-19.0,139,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3858,0,0,0,0,0,0
$GC,1161,-0.84,-219.0,212.9,-18.9,151,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3858,0,0,0,0,0,0
$GC,1289,-0.84,-219.0,236.7,-18.7,163,1293,0.00,1.58,0.00,0.000,4,0.000,0.050,2506,3738,3858,0,0,0,0,0,0
$GC,1349,-0.84,-219.0,249.0,-19.5,168,1356,0.00,1.45,0.00,0.000,6,0.000,0.030,2506,2791,3858,0,0,1,0,0,0
$GC,1483,-0.84,-219.0,274.5,-20.1,181,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2790,3858,0,0,0,0,0,0
$GC,1675,-0.84,-219.0,302.0,0.1,199,1679,0.00,2.20,0.00,0.000,4,0.000,0.034,2506,1370,3858,0,0,0,0,0,0
$STATE,1785,end dive,NO_VERTICAL_VELOCITY
$STATE,1785,begin apogee
$GC,1792,-0.16,0.0,302.1,0.0,208,1973,0.65,0.00,171.52,0.919,4,0.077,0.000,2749,2689,2959,0,0,0,0,0,0
$STATE,1974,end apogee,CONTROL_FINISHED_OK
$STATE,1974,begin climb
$GC,1976,0.84,219.0,302.0,0.0,225,2172,0.95,2.38,187.50,0.864,4,0.067,0.033,3072,1296,2067,0,0,1,0,0,0
$GC,2221,0.88,249.6,285.6,12.1,246,2255,0.00,2.45,28.70,0.823,6,0.000,0.041,3073,2697,1942,0,0,1,0,0,0
$GC,2445,0.88,250.0,253.2,13.3,267,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2697,1934,0,0,0,0,0,0
$GC,2636,0.88,250.0,226.8,13.3,285,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2697,1932,0,0,0,0,0,0
$GC,2764,0.88,250.0,209.3,13.5,297,2767,0.00,1.75,0.00,0.000,4,0.000,0.050,3072,3772,1932,0,0,0,0,0,0
$GC,2813,0.88,250.0,201.7,15.2,301,2822,0.00,1.70,0.00,0.000,6,0.000,0.029,3080,2703,1931,0,0,1,0,0,0
$GC,2948,0.88,250.0,182.8,14.5,314,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2703,1930,0,0,0,0,0,0
$GC,3076,0.88,250.0,164.6,13.9,326,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2703,1930,0,0,0,0,0,0
$GC,3203,0.88,250.0,146.6,14.1,338,3206,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3766,1930,0,0,0,0,0,0
$GC,3259,0.88,250.0,137.7,16.5,343,3263,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2699,1929,0,0,0,0,0,0
$GC,3399,0.88,250.0,116.7,14.8,356,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2699,1929,0,0,0,0,0,0
$GC,3527,0.88,250.0,98.1,14.1,369,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2699,1929,0,0,0,0,0,0
$GC,3667,0.88,250.0,78.1,14.3,394,3674,0.00,1.73,0.00,0.000,4,0.000,0.049,3087,3756,1929,0,0,0,0,0,0
$GC,3725,0.88,250.0,69.0,16.9,404,3732,0.00,1.62,0.00,0.000,6,0.000,0.031,3096,2722,1929,0,0,0,0,0,0
$GC,3867,0.88,250.0,47.8,14.4,429,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2722,1929,0,0,0,0,0,0
$GC,4009,0.88,250.0,26.8,14.7,454,4016,0.00,1.70,0.00,0.000,4,0.000,0.049,3096,3765,1929,0,0,0,0,0,0
$GC,4067,0.88,250.0,17.1,16.8,464,4073,0.00,1.62,0.00,0.000,6,0.000,0.031,3104,2730,1927,0,0,0,0,0,0
$FREEZE,8.82,-1.268,-1.898,2,1,0
$FREEZE,7.96,-1.249,-1.897,2,1,0
$FREEZE,7.18,-1.213,-1.896,2,1,0
$FREEZE,6.26,-1.091,-1.894,2,1,0
$FREEZE,5.68,-0.988,-1.893,2,1,0
$FREEZE,5.13,-0.783,-1.892,2,1,0
$FREEZE,4.18,-0.536,-1.889,2,1,0
$FREEZE,3.23,-0.510,-1.890,2,1,0
$FREEZE,2.51,-0.431,-1.890,2,1,0
$STATE,4161,end climb,SURFACE_DEPTH_REACHED
$STATE,4161,begin surface coast
$FREEZE,1.41,-0.459,-1.890,2,1,0
$FREEZE,0.65,-0.411,-1.889,2,1,0
$FREEZE,-0.08,-0.394,-1.889,2,1,0
$FINISH,-0.1,1.027663
$STATE,4179,end surface coast,CONTROL_FINISHED_OK
$STATE,4179,begin surface
$SM_CCo,4195,32.75,0.102,0,0,1654,320.11
$SM_GC,0.98,0.00,0.00,32.75,0.000,0.000,0.102,177,2800,1654,-8.20,0.57,320.11
$IRIDIUM_FIX,-7545.40,17855.66,211210,191905
$TT8_MAMPS,0.027713
$HUMID,52.04
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$24V_AH,22.6,31.042
$10V_AH,9.9,12.344
$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,18.175,28.875,387.725,32.750,0.000,56.037,78.749,148.239,1.250,0.000,14.440,1173.041,1773.976,471.261,1170.451,137.632,0.000,975.528,0.000,800.124,0.000,12.812,0.000
$DEVICE_MAMPS,216.495,100.215,918.765,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.912,662.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267728
$DATA_FILE_SIZE,30446,484
$CAP_FILE_SIZE,68032,0
$CFSIZE,260165632,235307008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.288,338.5,1
$GPS,211210,211636,-7629.479,17858.004,17,0.9,28,119.5