version: 66.08
glider: 503
mission: 7
dive: 384
start: 12 23 110 18 41 27
data:
$ID,503
$MISSION,7
$DIVE,384
$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,-19972.58
$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,44
$R_STBD_OVSHOOT,43
$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
$GPS1,231210,183607,-7631.325,17801.176,41,1.5,41,121.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.2
$GPS2,231210,184058,-7631.295,17801.199,9,3.2,28,121.0
$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,128.3,52454,-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,-219.0,0.0,0.0,0,111,0.00,0.00,-93.93,0.000,2,0.000,0.000,168,2801,3567,0,0,0,0,0,0
$GC,114,-0.84,-219.0,4.1,-10.2,16,136,8.90,2.33,-5.65,0.000,4,0.214,0.044,2526,1366,3856,0,0,1,0,0,0
$GC,192,-0.84,-219.0,27.0,-17.0,29,199,0.00,2.30,0.00,0.000,6,0.000,0.044,2516,2770,3858,0,0,0,0,0,0
$GC,332,-0.84,-219.0,53.2,-18.1,54,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3859,0,0,0,0,0,0
$GC,476,-0.84,-219.0,80.5,-19.3,79,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3859,0,0,0,0,0,0
$GC,617,-0.84,-219.0,106.5,-18.4,101,621,0.00,1.60,0.00,0.000,4,0.000,0.050,2508,3765,3859,0,0,0,0,0,0
$GC,655,-0.84,-219.0,114.4,-19.5,104,662,0.00,1.55,0.00,0.000,6,0.000,0.031,2508,2774,3859,0,0,0,0,0,0
$GC,790,-0.84,-219.0,139.2,-18.3,117,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3859,0,0,0,0,0,0
$GC,917,-0.84,-219.0,162.7,-18.6,129,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3859,0,0,0,0,0,0
$GC,1044,-0.84,-219.0,186.3,-18.2,141,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3860,0,0,0,0,0,0
$GC,1172,-0.84,-219.0,210.1,-18.6,153,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3860,0,0,0,0,0,0
$GC,1299,-0.84,-219.0,233.6,-18.1,165,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3859,0,0,0,0,0,0
$GC,1428,-0.84,-219.0,257.2,-18.5,177,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3860,0,0,0,0,0,0
$GC,1619,-0.84,-219.0,292.6,-18.9,195,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2774,3860,0,0,0,0,0,0
$STATE,1733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1733,begin apogee
$GC,1738,-0.16,0.0,313.7,18.3,206,1918,0.70,0.00,172.43,0.929,4,0.125,0.000,2740,2686,2960,0,0,0,0,0,0
$STATE,1918,end apogee,CONTROL_FINISHED_OK
$STATE,1918,begin climb
$GC,1920,0.84,219.0,322.6,0.0,222,2117,1.00,2.38,188.57,0.874,4,0.079,0.033,3069,1307,2066,0,0,0,0,0,0
$GC,2309,0.87,244.8,287.8,12.3,256,2337,0.00,2.40,23.30,0.836,6,0.000,0.041,3069,2709,1962,0,0,0,0,0,0
$GC,2529,0.87,244.8,257.5,13.5,276,2533,0.00,2.33,0.00,0.000,4,0.000,0.033,3080,1309,1958,0,0,0,0,0,0
$GC,2703,0.88,253.9,234.8,13.0,291,2718,0.00,2.30,9.07,0.788,6,0.000,0.042,3080,2708,1924,0,0,1,0,0,0
$GC,2854,0.88,253.9,213.3,14.7,305,2857,0.00,1.70,0.00,0.000,4,0.000,0.048,3080,3761,1921,0,0,0,0,0,0
$GC,2900,0.88,253.9,206.0,16.8,309,2904,0.00,1.65,0.00,0.000,6,0.000,0.031,3087,2725,1921,0,0,1,0,0,0
$GC,3039,0.88,253.9,184.3,15.8,322,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2725,1921,0,0,0,0,0,0
$GC,3166,0.88,253.9,165.2,14.7,334,3170,0.00,1.67,0.00,0.000,4,0.000,0.048,3087,3765,1920,0,0,0,0,0,0
$GC,3201,0.88,253.9,159.8,16.3,337,3204,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2702,1920,0,0,0,0,0,0
$GC,3341,0.88,253.9,137.8,15.4,350,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2701,1920,0,0,0,0,0,0
$GC,3467,0.88,253.9,118.4,15.2,362,3471,0.00,1.70,0.00,0.000,4,0.000,0.049,3096,3765,1919,0,0,0,0,0,0
$GC,3494,0.88,253.9,113.8,16.7,364,3503,0.00,1.65,0.00,0.000,6,0.000,0.031,3104,2727,1919,0,0,0,0,0,0
$GC,3631,0.88,253.9,92.2,16.2,381,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2727,1919,0,0,0,0,0,0
$GC,3771,0.88,253.9,69.9,15.8,406,3778,0.00,1.70,0.00,0.000,4,0.000,0.051,3104,3759,1918,0,0,0,0,0,0
$GC,3813,0.88,253.9,62.7,18.5,413,3820,0.00,1.60,0.00,0.000,6,0.000,0.032,3112,2739,1918,0,0,1,0,0,0
$GC,3957,0.88,253.9,38.7,16.9,438,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2738,1918,0,0,0,0,0,0
$GC,4099,0.88,253.9,15.1,17.1,463,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2738,1918,0,0,0,0,0,0
$FREEZE,8.28,-0.755,-1.897,2,1,0
$FREEZE,7.26,-0.765,-1.897,2,1,0
$FREEZE,6.44,-0.763,-1.896,2,1,0
$FREEZE,5.52,-0.759,-1.895,2,1,0
$FREEZE,4.68,-0.761,-1.895,2,1,0
$FREEZE,3.62,-0.751,-1.894,2,1,0
$FREEZE,2.65,-0.749,-1.893,2,1,0
$STATE,4168,end climb,SURFACE_DEPTH_REACHED
$STATE,4169,begin surface coast
$FREEZE,1.85,-0.749,-1.893,2,1,0
$FREEZE,0.93,-0.749,-1.892,2,1,0
$FREEZE,0.02,-0.749,-1.892,2,1,0
$FINISH,0.0,1.027708
$STATE,4187,end surface coast,CONTROL_FINISHED_OK
$STATE,4187,begin surface
$SM_CCo,4203,31.70,0.103,0,0,1654,320.11
$SM_GC,0.98,0.00,0.00,31.70,0.000,0.000,0.103,177,2787,1654,-8.20,0.20,320.11
$IRIDIUM_FIX,-7545.40,17800.55,231210,171733
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,300.4,27.7
$24V_AH,22.6,35.143
$10V_AH,9.9,13.805
$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,18.250,30.650,393.375,31.700,0.000,24.385,39.182,102.631,1.000,0.000,32.371,1175.384,1699.868,469.810,1062.476,135.050,0.000,984.718,0.000,819.719,0.000,8.824,0.000
$DEVICE_MAMPS,214.200,110.160,929.475,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.576,649.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267196
$DATA_FILE_SIZE,30440,479
$CAP_FILE_SIZE,65909,0
$CFSIZE,260165632,233816064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.145, 13.7,1
$GPS,231210,195306,-7631.163,17758.637,8,1.1,24,121.0