version: 66.08
glider: 503
mission: 7
dive: 646
start: 1 9 111 7 54 54
data:
$ID,503
$MISSION,7
$DIVE,646
$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,-20329.744
$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,45
$R_STBD_OVSHOOT,38
$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
$GPS1,090111,074844,-7651.085,17643.523,12,1.2,12,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-72.8
$GPS2,090111,075425,-7651.104,17643.607,11,1.9,11,124.1
$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,206.2,97058,-18.2,-13.333
$D_GRID,411
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,114,0.00,0.00,-93.45,0.000,2,0.000,0.000,171,2793,3571,0,0,0,0,0,0
$GC,118,-0.84,-219.0,4.1,-10.7,16,140,8.93,1.62,-5.38,0.000,4,0.207,0.074,2516,3759,3857,0,0,0,0,0,0
$GC,387,-0.84,-219.0,63.2,-17.5,63,394,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2772,3859,0,0,0,0,0,0
$GC,529,-0.84,-219.0,88.5,-16.8,88,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3860,0,0,0,0,0,0
$GC,673,-0.84,-219.0,113.6,-17.5,107,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3860,0,0,0,0,0,0
$GC,801,-0.84,-219.0,135.6,-16.9,119,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3861,0,0,0,0,0,0
$GC,928,-0.84,-219.0,157.6,-17.4,131,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3861,0,0,0,0,0,0
$GC,1056,-0.84,-219.0,179.9,-17.0,143,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3861,0,0,0,0,0,0
$GC,1184,-0.84,-219.0,201.5,-17.1,155,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3861,0,0,0,0,0,0
$GC,1310,-0.84,-219.0,222.9,-16.7,167,1314,0.00,1.60,0.00,0.000,4,0.000,0.050,2509,3742,3861,0,0,0,0,0,0
$GC,1349,-0.84,-219.0,230.1,-17.6,170,1356,0.00,1.48,0.00,0.000,6,0.000,0.031,2509,2782,3861,0,0,1,0,0,0
$GC,1484,-0.84,-219.0,252.6,-17.2,183,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2782,3861,0,0,0,0,0,0
$GC,1675,-0.84,-219.0,284.5,-16.6,201,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2782,3861,0,0,0,0,0,0
$STATE,1821,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1821,begin apogee
$GC,1828,-0.16,0.0,309.4,17.1,215,2008,0.70,0.00,174.30,0.932,4,0.122,0.000,2740,2693,2959,0,0,0,0,0,0
$STATE,2009,end apogee,CONTROL_FINISHED_OK
$STATE,2009,begin climb
$GC,2011,0.84,219.0,319.1,0.0,231,2211,1.00,2.38,190.80,0.877,4,0.073,0.033,3073,1306,2066,0,0,0,0,0,0
$GC,2325,0.87,248.0,293.4,12.1,258,2360,0.00,2.40,27.27,0.836,6,0.000,0.041,3073,2687,1948,0,0,0,0,0,0
$GC,2551,0.87,248.0,262.8,13.6,279,2555,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1306,1942,0,0,0,0,0,0
$GC,2688,0.90,269.4,245.3,12.5,290,2717,0.00,2.35,19.40,0.838,6,0.000,0.042,3083,2713,1861,0,0,0,0,0,0
$GC,2844,0.90,269.4,223.4,14.5,305,2848,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3765,1860,0,0,0,0,0,0
$GC,2890,0.90,269.4,216.4,15.6,309,2893,0.00,1.62,0.00,0.000,6,0.000,0.031,3092,2712,1859,0,0,1,0,0,0
$GC,3030,0.90,269.4,195.5,14.4,322,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2710,1859,0,0,0,0,0,0
$GC,3157,0.90,269.4,175.9,15.4,334,3161,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3766,1859,0,0,0,0,0,0
$GC,3195,0.90,269.4,169.1,17.0,337,3202,0.00,1.67,0.00,0.000,6,0.000,0.030,3100,2713,1858,0,0,0,0,0,0
$GC,3331,0.90,269.4,147.7,16.1,350,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2713,1858,0,0,0,0,0,0
$GC,3457,0.90,269.4,127.5,15.8,362,3461,0.00,1.70,0.00,0.000,4,0.000,0.050,3100,3770,1857,0,0,0,0,0,0
$GC,3495,0.90,269.4,120.6,18.0,365,3502,0.00,1.65,0.00,0.000,6,0.000,0.031,3108,2732,1858,0,0,0,0,0,0
$GC,3630,0.90,269.4,98.5,16.3,378,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2732,1857,0,0,0,0,0,0
$GC,3773,0.90,269.4,75.2,17.7,403,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2732,1857,0,0,0,0,0,0
$GC,3915,0.90,269.4,51.9,16.2,428,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2731,1856,0,0,0,0,0,0
$GC,4055,0.90,269.4,29.9,15.6,453,4062,0.00,1.70,0.00,0.000,4,0.000,0.050,3108,3762,1857,0,0,0,0,0,0
$GC,4115,0.90,269.4,19.6,18.1,463,4122,0.00,1.62,0.00,0.000,6,0.000,0.032,3117,2736,1856,0,0,0,0,0,0
$FREEZE,8.63,-0.014,-1.897,2,1,0
$FREEZE,7.81,-0.014,-1.897,2,1,0
$FREEZE,7.05,-0.020,-1.896,2,1,0
$FREEZE,6.21,-0.021,-1.896,2,1,0
$FREEZE,5.49,-0.020,-1.895,2,1,0
$FREEZE,4.70,-0.014,-1.894,2,1,0
$FREEZE,3.77,-0.018,-1.894,2,1,0
$FREEZE,2.95,-0.018,-1.893,2,1,0
$STATE,4216,end climb,SURFACE_DEPTH_REACHED
$STATE,4216,begin surface coast
$FREEZE,1.58,-0.018,-1.892,2,1,0
$FREEZE,0.60,-0.018,-1.891,2,1,0
$FREEZE,-0.04,-0.026,-1.891,2,1,0
$FINISH,-0.0,1.027665
$STATE,4234,end surface coast,CONTROL_FINISHED_OK
$STATE,4234,begin surface
$SM_CCo,4252,24.02,0.102,0,0,1655,320.11
$SM_GC,1.26,0.00,0.00,24.02,0.000,0.000,0.102,180,2788,1655,-8.19,0.20,320.11
$IRIDIUM_FIX,-7603.11,17631.91,090111,060627
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.6
$ALTIM_BOTTOM_PING,250.8,72.9
$24V_AH,22.2,65.985
$10V_AH,9.9,25.661
$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,18.350,29.200,411.775,24.025,0.000,24.659,37.580,155.582,1.000,0.000,13.892,1170.519,1721.292,477.646,1066.977,194.893,0.000,992.361,0.000,813.602,0.000,7.228,0.000
$DEVICE_MAMPS,207.315,115.515,931.770,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.737,656.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,30388,484
$CAP_FILE_SIZE,65691,0
$CFSIZE,260165632,222785536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.192,137.8,1
$GPS,090111,090736,-7650.776,17643.641,38,1.0,43,124.1