version: 66.08
glider: 503
mission: 7
dive: 648
start: 1 9 111 10 36 7
data:
$ID,503
$MISSION,7
$DIVE,648
$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,-20332.254
$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,32
$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
$GPS1,090111,102956,-7650.405,17643.203,9,1.8,9,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.6
$GPS2,090111,103538,-7650.400,17643.361,10,1.6,10,124.1
$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,191.8,95860,-18.2,-13.333
$D_GRID,414
$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,15,begin dive
$GC,17,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-93.07,0.000,2,0.000,0.000,180,2784,3572,0,0,0,0,0,0
$GC,117,-0.84,-219.0,4.3,-10.8,15,139,8.90,2.30,-5.32,0.000,4,0.207,0.044,2524,1362,3856,0,0,1,0,0,0
$GC,377,-0.84,-219.0,56.0,-15.5,61,385,0.00,2.30,0.00,0.000,6,0.000,0.044,2514,2774,3859,0,0,0,0,0,0
$GC,522,-0.84,-219.0,81.1,-17.3,86,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3859,0,0,0,0,0,0
$GC,662,-0.84,-219.0,105.9,-17.8,108,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,790,-0.84,-219.0,128.3,-17.5,120,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,917,-0.84,-219.0,150.0,-16.8,132,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,1044,-0.84,-219.0,171.3,-16.6,144,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,1172,-0.84,-219.0,192.6,-17.1,156,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3861,0,0,0,0,0,0
$GC,1299,-0.84,-219.0,214.3,-17.2,168,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1427,-0.84,-219.0,235.5,-16.7,180,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1554,-0.84,-219.0,257.2,-16.9,192,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,1746,-0.84,-219.0,289.7,-16.6,210,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$STATE,1839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1839,begin apogee
$GC,1845,-0.16,0.0,305.5,16.3,219,2025,0.70,0.00,174.02,0.929,4,0.120,0.000,2745,2686,2959,0,0,0,0,0,0
$STATE,2025,end apogee,CONTROL_FINISHED_OK
$STATE,2025,begin climb
$GC,2028,0.84,219.0,314.7,0.0,235,2227,0.98,2.35,190.98,0.874,4,0.073,0.033,3071,1310,2067,0,0,0,0,0,0
$GC,2379,0.88,253.9,285.9,11.9,265,2420,0.00,2.40,32.45,0.842,6,0.000,0.041,3071,2703,1924,0,0,0,0,0,0
$GC,2610,0.90,270.6,256.2,12.6,287,2634,0.00,2.35,15.85,0.819,4,0.000,0.033,3081,1313,1855,0,0,0,0,0,0
$GC,2771,0.92,287.2,235.8,12.7,301,2795,0.00,2.33,16.58,0.819,6,0.000,0.042,3081,2711,1787,0,0,0,0,0,0
$GC,2922,0.92,287.2,215.4,13.5,315,2925,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3763,1787,0,0,0,0,0,0
$GC,2991,0.92,287.2,205.1,14.8,321,2995,0.00,1.65,0.00,0.000,6,0.000,0.030,3089,2706,1786,0,0,0,0,0,0
$GC,3131,0.92,287.2,185.5,13.7,334,3135,0.00,2.25,0.00,0.000,4,0.000,0.034,3100,1296,1786,0,0,0,0,0,0
$GC,3161,0.93,296.5,181.7,13.0,336,3175,0.00,2.33,9.25,0.779,6,0.000,0.042,3100,2723,1751,0,0,0,0,0,0
$GC,3301,0.93,296.5,161.6,15.1,349,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2723,1751,0,0,0,0,0,0
$GC,3427,0.93,296.5,143.5,14.1,361,3431,0.00,1.70,0.00,0.000,4,0.000,0.050,3100,3758,1750,0,0,0,0,0,0
$GC,3484,0.93,296.5,134.0,16.1,366,3488,0.00,1.62,0.00,0.000,6,0.000,0.031,3108,2736,1750,0,0,0,0,0,0
$GC,3625,0.93,296.5,112.6,15.0,379,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2734,1750,0,0,0,0,0,0
$GC,3755,0.93,296.5,92.9,15.8,395,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2734,1750,0,0,0,0,0,0
$GC,3896,0.93,296.5,70.7,15.8,420,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2734,1750,0,0,0,0,0,0
$GC,4038,0.93,296.5,49.0,14.7,445,4045,0.00,1.70,0.00,0.000,4,0.000,0.050,3108,3766,1749,0,0,0,0,0,0
$GC,4080,0.93,296.5,41.7,17.0,452,4087,0.00,1.62,0.00,0.000,6,0.000,0.031,3117,2728,1749,0,0,1,0,0,0
$GC,4226,0.93,296.5,18.9,15.7,477,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2728,1749,0,0,0,0,0,0
$FREEZE,8.75,-0.061,-1.896,2,1,0
$FREEZE,7.93,-0.062,-1.895,2,1,0
$FREEZE,7.12,-0.062,-1.895,2,1,0
$FREEZE,6.39,-0.061,-1.894,2,1,0
$FREEZE,5.57,-0.062,-1.893,2,1,0
$FREEZE,4.82,-0.061,-1.893,2,1,0
$FREEZE,3.92,-0.062,-1.892,2,1,0
$FREEZE,2.96,-0.062,-1.891,2,1,0
$STATE,4320,end climb,SURFACE_DEPTH_REACHED
$STATE,4320,begin surface coast
$FREEZE,2.00,-0.059,-1.891,2,1,0
$FREEZE,0.90,-0.060,-1.890,2,1,0
$FREEZE,0.04,-0.106,-1.892,2,1,0
$FINISH,0.0,1.027688
$STATE,4338,end surface coast,CONTROL_FINISHED_OK
$STATE,4339,begin surface
$SM_CCo,4357,11.18,0.104,0,0,1654,320.11
$SM_GC,0.92,0.00,0.00,11.18,0.000,0.000,0.104,176,2801,1654,-8.20,0.59,320.11
$IRIDIUM_FIX,-7603.11,17641.34,090111,090926
$TT8_MAMPS,0.027713
$HUMID,52.44
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,300.3,19.0
$24V_AH,22.2,66.218
$10V_AH,9.9,25.745
$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,18.250,28.800,439.125,11.175,0.000,28.949,39.557,150.268,1.000,0.000,13.240,1208.313,1741.486,478.918,1095.463,199.444,0.000,1006.440,0.000,839.832,0.000,8.798,0.000
$DEVICE_MAMPS,206.550,97.920,928.710,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.150,677.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258208
$DATA_FILE_SIZE,33575,497
$CAP_FILE_SIZE,66859,0
$CFSIZE,260165632,222699520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.167,120.4,1
$GPS,090111,115007,-7650.090,17642.750,30,1.4,30,124.1