version: 66.08
glider: 503
mission: 7
dive: 366
start: 12 22 110 19 39 36
data:
$ID,503
$MISSION,7
$DIVE,366
$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,-19949.953
$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,24
$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
$GPS1,221210,193414,-7631.044,17833.791,10,1.6,10,120.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.6
$GPS2,221210,193907,-7631.017,17833.869,32,0.9,32,120.2
$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,111.6,66550,-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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.50,0.000,2,0.000,0.000,177,2776,3444,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.1,-6.5,15,138,8.82,1.62,-8.85,0.000,4,0.213,0.068,2516,3764,3856,0,0,1,0,0,0
$GC,211,-0.84,-219.0,29.2,-19.2,32,218,0.00,1.55,0.00,0.000,6,0.000,0.031,2516,2780,3859,0,0,0,0,0,0
$GC,353,-0.84,-219.0,56.7,-19.4,57,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,496,-0.84,-219.0,83.9,-18.7,82,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,642,-0.84,-219.0,110.3,-18.1,103,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,768,-0.84,-219.0,133.5,-18.2,115,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3861,0,0,0,0,0,0
$GC,895,-0.84,-219.0,156.0,-17.5,127,899,0.00,1.62,0.00,0.000,4,0.000,0.052,2509,3769,3860,0,0,1,0,0,0
$GC,963,-0.84,-219.0,168.7,-18.7,133,966,0.00,1.55,0.00,0.000,6,0.000,0.031,2509,2776,3860,0,0,0,0,0,0
$GC,1103,-0.84,-219.0,194.2,-18.6,146,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2776,3860,0,0,0,0,0,0
$GC,1230,-0.84,-219.0,218.0,-18.6,158,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2776,3860,0,0,0,0,0,0
$GC,1357,-0.84,-219.0,241.6,-18.9,170,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2776,3860,0,0,0,0,0,0
$GC,1485,-0.84,-219.0,265.4,-18.3,182,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2776,3860,0,0,0,0,0,0
$STATE,1644,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1644,begin apogee
$GC,1649,-0.16,0.0,294.1,16.8,197,1828,0.70,0.00,171.82,0.923,4,0.130,0.000,2739,2698,2959,0,0,0,0,0,0
$STATE,1829,end apogee,CONTROL_FINISHED_OK
$STATE,1829,begin climb
$GC,1831,0.84,219.0,303.8,0.0,213,2033,1.00,2.40,187.90,0.868,4,0.074,0.033,3073,1300,2066,0,0,0,0,0,0
$GC,2124,0.84,219.0,281.5,13.7,239,2128,0.00,2.45,0.00,0.000,6,0.000,0.041,3073,2704,2060,0,0,0,0,0,0
$GC,2322,0.84,219.0,254.0,14.3,257,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2703,2056,0,0,0,0,0,0
$GC,2512,0.85,228.3,228.1,13.0,275,2525,0.00,1.83,7.35,0.760,4,0.000,0.049,3073,3772,2029,0,0,0,0,0,0
$GC,2563,0.85,228.3,220.2,15.6,279,2571,0.00,1.70,0.00,0.000,6,0.000,0.030,3081,2710,2028,0,0,1,0,0,0
$GC,2699,0.85,228.3,201.0,14.2,292,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2710,2028,0,0,0,0,0,0
$GC,2825,0.85,228.3,182.7,14.4,304,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2710,2027,0,0,0,0,0,0
$GC,2953,0.85,228.3,164.4,14.6,316,2957,0.00,1.75,0.00,0.000,4,0.000,0.050,3081,3763,2027,0,0,0,0,0,0
$GC,3013,0.85,228.3,154.6,16.2,321,3021,0.00,1.67,0.00,0.000,6,0.000,0.031,3088,2704,2027,0,0,1,0,0,0
$GC,3148,0.85,228.3,134.5,14.8,334,3151,0.00,1.70,0.00,0.000,4,0.000,0.049,3088,3766,2027,0,0,0,0,0,0
$GC,3182,0.85,228.3,129.0,16.5,337,3186,0.00,1.62,0.00,0.000,6,0.000,0.032,3097,2702,2026,0,0,1,0,0,0
$GC,3323,0.85,228.3,107.1,15.2,350,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2702,2026,0,0,0,0,0,0
$GC,3452,0.85,228.3,86.8,15.6,369,3460,0.00,1.75,0.00,0.000,4,0.000,0.050,3097,3786,2025,0,0,0,0,0,0
$GC,3494,0.85,228.3,79.7,17.4,376,3501,0.08,1.65,0.00,0.000,6,0.155,0.033,3072,2735,2025,0,0,1,0,0,0
$GC,3638,0.87,243.4,60.2,12.7,401,3657,0.00,0.00,14.60,0.784,6,0.000,0.000,3072,2735,1967,0,0,0,0,0,0
$GC,3792,0.87,243.4,40.0,13.4,428,3799,0.00,1.70,0.00,0.000,4,0.000,0.050,3072,3763,1965,0,0,0,0,0,0
$GC,3832,0.87,243.4,34.1,14.3,435,3839,0.00,1.62,0.00,0.000,6,0.000,0.031,3080,2741,1964,0,0,0,0,0,0
$GC,3974,0.87,243.4,14.9,13.5,460,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2741,1964,0,0,0,0,0,0
$FREEZE,8.63,-0.271,-1.898,2,1,0
$FREEZE,7.95,-0.269,-1.898,2,1,0
$FREEZE,7.15,-0.262,-1.898,2,1,0
$FREEZE,6.44,-0.261,-1.898,2,1,0
$FREEZE,5.74,-0.260,-1.898,2,1,0
$FREEZE,4.94,-0.260,-1.897,2,1,0
$FREEZE,4.63,-0.261,-1.897,2,1,0
$FREEZE,3.69,-0.261,-1.897,2,1,0
$FREEZE,2.97,-0.262,-1.896,2,1,0
$STATE,4062,end climb,SURFACE_DEPTH_REACHED
$STATE,4062,begin surface coast
$FREEZE,2.06,-0.259,-1.896,2,1,0
$FREEZE,1.11,-0.258,-1.895,2,1,0
$FREEZE,0.25,-0.259,-1.894,2,1,0
$FREEZE,-0.02,-0.270,-1.125,2,1,0
$FINISH,-0.0,1.016626
$STATE,4086,end surface coast,CONTROL_FINISHED_OK
$STATE,4086,begin surface
$SM_CCo,4102,36.38,0.102,0,0,1655,320.11
$SM_GC,0.77,0.00,0.00,36.38,0.000,0.000,0.102,179,2797,1655,-8.19,0.48,320.11
$IRIDIUM_FIX,-7545.40,17741.83,221210,181847
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$ALTIM_BOTTOM_PING,251.5,55.8
$24V_AH,22.6,33.182
$10V_AH,10.0,13.086
$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,18.175,28.350,381.675,36.375,0.000,22.318,37.565,103.622,0.750,0.000,35.461,1169.845,1640.708,473.675,1032.055,131.944,0.000,973.435,0.000,788.617,0.000,7.183,0.000
$DEVICE_MAMPS,213.435,112.455,922.590,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.072,665.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267816
$DATA_FILE_SIZE,30402,480
$CAP_FILE_SIZE,65027,0
$CFSIZE,260165632,234549248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.206,  5.4,1
$GPS,221210,204926,-7630.946,17831.398,11,1.3,11,120.3