version: 66.08
glider: 503
mission: 7
dive: 401
start: 12 24 110 18 14 55
data:
$ID,503
$MISSION,7
$DIVE,401
$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,-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,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,-19993.951
$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,39
$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
$GPS1,241210,180931,-7630.484,17705.451,47,1.0,47,122.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.2
$GPS2,241210,181426,-7630.464,17705.510,12,1.8,12,122.2
$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,143.6,28336,-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,-219.0,0.0,0.0,0,106,0.00,0.00,-88.93,0.000,2,0.000,0.000,174,2799,3431,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.2,-6.0,15,136,8.90,2.30,-9.07,0.000,4,0.214,0.045,2525,1373,3855,0,0,1,0,0,0
$GC,227,-0.84,-219.0,30.1,-16.7,35,234,0.00,2.30,0.00,0.000,6,0.000,0.055,2515,2774,3859,0,0,0,0,0,0
$GC,368,-0.84,-219.0,56.8,-18.4,60,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,509,-0.84,-219.0,83.9,-19.2,85,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,653,-0.84,-219.0,111.0,-18.8,106,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,780,-0.84,-219.0,135.2,-18.8,118,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,908,-0.84,-219.0,159.4,-18.7,130,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,1035,-0.84,-219.0,183.5,-18.9,142,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,1162,-0.84,-219.0,207.6,-18.8,154,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2773,3859,0,0,0,0,0,0
$GC,1290,-0.84,-219.0,231.3,-18.8,166,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$GC,1417,-0.84,-219.0,254.2,-18.3,178,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$GC,1608,-0.84,-219.0,288.5,-17.6,196,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,1802,-0.84,-219.0,322.4,-17.4,214,1805,0.00,1.60,0.00,0.000,4,0.000,0.050,2507,3765,3859,0,0,0,0,0,0
$GC,1848,-0.84,-219.0,331.0,-17.9,218,1851,0.00,1.52,0.00,0.000,6,0.000,0.031,2507,2787,3859,0,0,0,0,0,0
$STATE,1956,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1956,begin apogee
$GC,1962,-0.16,0.0,350.1,17.4,228,2141,0.73,0.00,172.98,0.953,4,0.126,0.000,2745,2687,2959,0,0,0,0,0,0
$STATE,2142,end apogee,CONTROL_FINISHED_OK
$STATE,2142,begin climb
$GC,2145,0.84,219.0,359.4,0.0,244,2347,0.98,2.38,189.18,0.900,4,0.078,0.032,3067,1306,2066,0,0,0,0,0,0
$GC,2521,0.87,244.8,326.2,12.3,277,2552,0.00,2.40,23.42,0.856,6,0.000,0.041,3067,2706,1962,0,0,0,0,0,0
$GC,2743,0.87,244.8,296.9,13.9,298,2748,0.00,2.33,0.00,0.000,4,0.000,0.034,3077,1313,1958,0,0,0,0,0,0
$GC,2956,0.87,246.8,268.2,13.3,316,2963,0.00,2.30,0.00,0.000,6,0.000,0.041,3078,2706,1956,0,0,1,0,0,0
$GC,3154,0.87,246.8,240.7,14.0,335,3158,0.00,1.70,0.00,0.000,4,0.000,0.048,3077,3768,1956,0,0,0,0,0,0
$GC,3203,0.87,246.8,232.7,15.6,339,3212,0.00,1.67,0.00,0.000,6,0.000,0.029,3084,2719,1955,0,0,0,0,0,0
$GC,3338,0.87,246.8,213.4,14.3,352,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2720,1955,0,0,0,0,0,0
$GC,3466,0.87,246.8,195.5,13.5,364,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2720,1955,0,0,0,0,0,0
$GC,3593,0.87,246.8,177.5,14.2,376,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2720,1954,0,0,0,0,0,0
$GC,3721,0.87,246.8,159.3,14.5,388,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2720,1954,0,0,0,0,0,0
$GC,3848,0.87,246.8,140.6,14.5,400,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2720,1954,0,0,0,0,0,0
$GC,3976,0.87,246.8,122.1,14.4,412,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2720,1954,0,0,0,0,0,0
$GC,4103,0.87,246.8,103.6,14.4,424,4107,0.00,1.70,0.00,0.000,4,0.000,0.048,3085,3755,1954,0,0,0,0,0,0
$GC,4137,0.87,246.8,98.3,16.5,427,4145,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2706,1954,0,0,0,0,0,0
$GC,4280,0.87,246.8,76.8,15.2,452,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2706,1954,0,0,0,0,0,0
$GC,4421,0.87,246.8,56.0,14.2,477,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2706,1954,0,0,0,0,0,0
$GC,4562,0.87,246.8,36.1,14.0,502,4569,0.00,1.73,0.00,0.000,4,0.000,0.050,3093,3759,1954,0,0,0,0,0,0
$GC,4603,0.87,246.8,29.6,16.1,509,4610,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2714,1953,0,0,0,0,0,0
$FREEZE,8.27,-0.641,-1.895,2,1,0
$GC,4745,0.87,246.8,8.3,16.0,534,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2713,1954,0,0,0,0,0,0
$FREEZE,5.87,-0.631,-1.893,2,1,0
$FREEZE,4.98,-0.622,-1.892,2,1,0
$FREEZE,4.11,-0.619,-1.892,2,1,0
$FREEZE,3.42,-0.618,-1.891,2,1,0
$FREEZE,2.70,-0.619,-1.891,2,1,0
$STATE,4778,end climb,SURFACE_DEPTH_REACHED
$STATE,4779,begin surface coast
$FREEZE,1.84,-0.620,-1.890,2,1,0
$FREEZE,0.90,-0.616,-1.889,2,1,0
$FREEZE,0.07,-0.614,-1.889,2,1,0
$FINISH,0.1,1.027660
$STATE,4795,end surface coast,CONTROL_FINISHED_OK
$STATE,4796,begin surface
$SM_CCo,4812,35.67,0.102,0,0,1655,320.11
$SM_GC,0.70,0.00,0.00,35.67,0.000,0.000,0.102,179,2792,1655,-8.19,0.37,320.11
$IRIDIUM_FIX,-7545.40,17713.79,241210,161600
$TT8_MAMPS,0.026964
$HUMID,52.75
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,19.2
$ALTIM_BOTTOM_PING,350.1,7.4
$24V_AH,22.5,37.076
$10V_AH,10.0,14.522
$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,18.175,27.425,385.575,35.675,0.000,29.494,38.403,116.444,2.000,0.000,15.507,1322.711,2056.282,477.133,1156.536,146.118,0.000,1028.452,0.000,905.482,0.000,13.296,0.000
$DEVICE_MAMPS,214.200,97.155,953.190,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.929,711.715,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,36990,543
$CAP_FILE_SIZE,70091,0
$CFSIZE,260165632,233115648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.100, 61.3,1
$GPS,241210,193704,-7630.321,17703.154,21,6.4,40,122.3