version: 66.08
glider: 503
mission: 7
dive: 642
start: 1 9 111 2 33 19
data:
$ID,503
$MISSION,7
$DIVE,642
$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,1
$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,-20324.711
$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,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
$GPS1,090111,022707,-7652.585,17645.182,36,1.1,36,124.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.0
$GPS2,090111,023250,-7652.603,17645.105,13,1.1,13,124.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$TGT_RADIUS,4000.000
$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,215.9,99820,-18.2,-13.333
$D_GRID,408
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-91.62,0.000,2,0.000,0.000,171,2803,3522,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.8,-8.3,15,137,8.90,1.60,-6.50,0.000,4,0.206,0.064,2513,3761,3856,0,0,0,0,0,0
$GC,356,-0.84,-219.0,58.4,-19.0,57,364,0.00,1.55,0.00,0.000,6,0.000,0.029,2513,2774,3858,0,0,0,0,0,0
$GC,500,-0.84,-219.0,85.5,-19.1,82,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,647,-0.84,-219.0,112.8,-18.7,102,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2773,3860,0,0,0,0,0,0
$GC,774,-0.84,-219.0,136.3,-18.8,114,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3860,0,0,0,0,0,0
$GC,900,-0.84,-219.0,160.6,-18.9,126,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1028,-0.84,-219.0,183.9,-18.6,138,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3860,0,0,0,0,0,0
$GC,1155,-0.84,-219.0,206.3,-17.5,150,1159,0.00,1.60,0.00,0.000,4,0.000,0.049,2506,3743,3860,0,0,0,0,0,0
$GC,1202,-0.84,-219.0,214.6,-16.6,154,1206,0.00,1.48,0.00,0.000,6,0.000,0.030,2506,2783,3860,0,0,1,0,0,0
$GC,1342,-0.84,-219.0,239.6,-17.3,167,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3860,0,0,0,0,0,0
$GC,1470,-0.84,-219.0,261.6,-17.5,179,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3860,0,0,0,0,0,0
$GC,1662,-0.84,-219.0,294.2,-16.9,197,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3860,0,0,0,0,0,0
$STATE,1755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1755,begin apogee
$GC,1761,-0.16,0.0,310.6,17.2,206,1942,0.73,0.00,173.90,0.936,4,0.122,0.000,2744,2681,2959,0,0,0,0,0,0
$STATE,1942,end apogee,CONTROL_FINISHED_OK
$STATE,1942,begin climb
$GC,1945,0.84,219.0,320.4,0.0,222,2150,0.98,2.38,190.93,0.879,4,0.073,0.033,3068,1302,2066,0,0,0,0,0,0
$GC,2301,0.91,275.5,291.3,11.0,253,2363,0.00,2.38,52.33,0.851,6,0.000,0.041,3068,2687,1836,0,0,0,0,0,0
$GC,2554,0.93,293.2,258.8,12.6,277,2578,0.00,2.33,16.42,0.821,4,0.000,0.033,3079,1315,1765,0,0,0,0,0,0
$GC,2714,0.98,332.1,239.0,11.7,291,2761,0.10,2.30,35.95,0.843,6,0.096,0.042,3127,2706,1605,0,0,1,0,0,0
$GC,2887,0.98,332.1,208.8,18.6,307,2891,0.00,1.73,0.00,0.000,4,0.000,0.049,3128,3763,1606,0,0,0,0,0,0
$GC,2933,0.98,332.1,199.9,19.9,311,2937,0.00,1.62,0.00,0.000,6,0.000,0.031,3136,2723,1606,0,0,1,0,0,0
$GC,3074,0.98,332.1,173.9,18.2,324,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2722,1605,0,0,0,0,0,0
$GC,3201,0.98,332.1,150.9,18.0,336,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2722,1605,0,0,0,0,0,0
$GC,3329,0.98,332.1,127.8,18.4,348,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2722,1604,0,0,0,0,0,0
$GC,3456,0.98,332.1,104.5,18.5,360,3460,0.00,1.67,0.00,0.000,4,0.000,0.049,3136,3764,1604,0,0,0,0,0,0
$GC,3491,0.98,332.1,97.8,19.5,363,3499,0.00,1.65,0.00,0.000,6,0.000,0.031,3144,2714,1604,0,0,0,0,0,0
$GC,3637,0.98,332.1,71.3,18.3,388,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2714,1603,0,0,0,0,0,0
$GC,3779,0.98,332.1,44.3,19.3,413,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2714,1603,0,0,0,0,0,0
$GC,3919,0.98,332.1,16.8,19.2,438,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2714,1603,0,0,0,0,0,0
$FREEZE,8.58,-0.136,-1.899,2,1,0
$FREEZE,7.50,-0.136,-1.898,2,1,0
$FREEZE,6.54,-0.144,-1.897,2,1,0
$FREEZE,5.48,-0.151,-1.897,2,1,0
$FREEZE,4.43,-0.144,-1.896,2,1,0
$FREEZE,3.48,-0.148,-1.895,2,1,0
$FREEZE,2.51,-0.145,-1.894,2,1,0
$STATE,3991,end climb,SURFACE_DEPTH_REACHED
$STATE,3991,begin surface coast
$FREEZE,0.95,-0.145,-1.893,2,1,0
$FREEZE,-0.05,-0.145,-1.892,2,1,0
$FREEZE,0.01,-0.174,-0.167,2,1,0
$FINISH,0.0,1.002304
$STATE,4010,end surface coast,FINISH_DEPTH_REACHED
$STATE,4010,begin surface
$SM_CCo,4089,0.00,0.000,0,0,1600,333.60
$SM_GC,0.85,7.75,0.00,0.00,0.042,0.000,0.000,185,2802,1600,-8.07,0.62,333.60
$IRIDIUM_FIX,-7603.11,17650.26,090111,010153
$TT8_MAMPS,0.026964
$HUMID,52.55
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,19.2
$ALTIM_BOTTOM_PING,301.5,23.0
$24V_AH,22.2,65.494
$10V_AH,9.9,25.492
$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,18.450,22.500,469.525,0.000,0.000,30.979,41.525,145.051,1.250,0.000,15.796,1087.483,1643.055,487.698,1036.408,186.726,0.000,988.644,0.000,777.559,0.000,11.723,0.000
$DEVICE_MAMPS,205.785,85.680,936.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.184,608.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,30333,454
$CAP_FILE_SIZE,62062,0
$CFSIZE,260165632,222953472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.107,186.0,1
$GPS,090111,034214,-7652.174,17644.557,7,1.7,7,124.2