version: 66.08
glider: 503
mission: 7
dive: 650
start: 1 9 111 13 17 49
data:
$ID,503
$MISSION,7
$DIVE,650
$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,-20334.771
$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,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
$GPS1,090111,131136,-7649.671,17642.754,26,0.9,26,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.1
$GPS2,090111,131720,-7649.656,17642.865,12,1.2,12,124.0
$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,184.3,94547,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-88.68,0.000,2,0.000,0.000,165,2793,3445,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.5,-7.8,15,135,8.95,1.62,-8.32,0.000,4,0.208,0.069,2515,3751,3855,0,0,0,0,0,0
$GC,388,-0.84,-219.0,61.5,-17.9,63,395,0.00,1.52,0.00,0.000,6,0.000,0.028,2515,2771,3859,0,0,0,0,0,0
$GC,532,-0.84,-219.0,86.8,-17.2,88,539,0.00,1.62,0.00,0.000,4,0.000,0.050,2507,3753,3859,0,0,0,0,0,0
$GC,579,-0.84,-219.0,95.7,-18.6,96,586,0.00,1.52,0.00,0.000,6,0.000,0.030,2507,2779,3859,0,0,0,0,0,0
$GC,722,-0.84,-219.0,121.5,-18.7,111,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2779,3859,0,0,0,0,0,0
$GC,848,-0.84,-219.0,144.8,-18.1,123,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2779,3859,0,0,0,0,0,0
$GC,976,-0.84,-219.0,168.1,-18.0,135,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2778,3860,0,0,0,0,0,0
$GC,1103,-0.84,-219.0,191.0,-17.9,147,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2779,3859,0,0,0,0,0,0
$GC,1231,-0.84,-219.0,213.9,-18.0,159,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2779,3860,0,0,0,0,0,0
$GC,1358,-0.84,-219.0,236.5,-17.7,171,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2779,3860,0,0,0,0,0,0
$GC,1486,-0.84,-219.0,258.9,-17.6,183,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2778,3860,0,0,0,0,0,0
$GC,1677,-0.84,-219.0,292.0,-17.2,201,1680,0.00,1.60,0.00,0.000,4,0.000,0.051,2500,3751,3860,0,0,0,0,0,0
$GC,1715,-0.84,-219.0,299.4,-18.3,204,1728,0.08,1.52,0.00,0.000,6,0.141,0.029,2525,2773,3859,0,0,0,0,0,0
$STATE,1754,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1754,begin apogee
$GC,1761,-0.16,0.0,305.9,16.8,208,1941,0.65,0.00,173.73,0.932,4,0.118,0.000,2743,2694,2959,0,0,0,0,0,0
$STATE,1942,end apogee,CONTROL_FINISHED_OK
$STATE,1942,begin climb
$GC,1944,0.84,219.0,314.7,0.0,224,2149,0.98,2.40,191.07,0.874,4,0.070,0.032,3069,1299,2067,0,0,0,0,0,0
$GC,2334,0.88,255.6,281.7,11.8,258,2375,0.00,2.38,33.45,0.845,6,0.000,0.041,3070,2689,1918,0,0,0,0,0,0
$GC,2566,0.88,255.6,251.6,13.3,280,2570,0.00,2.28,0.00,0.000,4,0.000,0.033,3080,1304,1913,0,0,0,0,0,0
$GC,2724,0.90,271.6,231.2,12.7,293,2746,0.00,2.33,15.20,0.829,6,0.000,0.041,3080,2709,1851,0,0,0,0,0,0
$GC,2882,0.90,271.6,209.4,13.6,308,2885,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3764,1850,0,0,0,0,0,0
$GC,2917,0.90,271.6,204.0,15.6,311,2920,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2708,1850,0,0,1,0,0,0
$GC,3057,0.90,271.6,183.9,14.2,324,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2706,1849,0,0,0,0,0,0
$GC,3185,0.90,271.6,166.2,14.0,336,3188,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3765,1849,0,0,0,0,0,0
$GC,3234,0.90,271.6,158.1,15.6,340,3242,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2722,1848,0,0,0,0,0,0
$GC,3369,0.90,271.6,138.8,14.4,353,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2722,1848,0,0,0,0,0,0
$GC,3497,0.90,271.6,120.2,14.4,365,3501,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3757,1848,0,0,0,0,0,0
$GC,3536,0.90,271.6,113.6,16.7,368,3544,0.00,1.60,0.00,0.000,6,0.000,0.031,3105,2746,1848,0,0,0,0,0,0
$GC,3672,0.90,271.6,92.8,15.5,385,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2746,1848,0,0,0,0,0,0
$GC,3815,0.90,271.6,70.9,15.2,410,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2746,1848,0,0,0,0,0,0
$GC,3956,0.90,271.6,49.2,15.2,435,3963,0.00,1.65,0.00,0.000,4,0.000,0.050,3105,3752,1847,0,0,0,0,0,0
$GC,3993,0.90,271.6,43.1,17.8,441,4000,0.00,1.58,0.00,0.000,6,0.000,0.030,3113,2747,1848,0,0,0,0,0,0
$GC,4138,0.90,271.6,20.1,16.4,466,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2747,1847,0,0,0,0,0,0
$FREEZE,8.66,0.036,-1.896,2,1,0
$FREEZE,7.60,0.036,-1.895,2,1,0
$FREEZE,6.94,0.037,-1.895,2,1,0
$FREEZE,6.09,0.034,-1.894,2,1,0
$FREEZE,5.30,0.036,-1.894,2,1,0
$FREEZE,4.20,0.037,-1.893,2,1,0
$FREEZE,3.46,0.041,-1.892,2,1,0
$FREEZE,2.63,0.042,-1.892,2,1,0
$STATE,4248,end climb,SURFACE_DEPTH_REACHED
$STATE,4248,begin surface coast
$FREEZE,1.40,0.041,-1.891,2,1,0
$FREEZE,0.61,0.038,-1.890,2,1,0
$FREEZE,-0.09,0.038,-1.889,2,1,0
$FINISH,-0.1,1.027643
$STATE,4265,end surface coast,CONTROL_FINISHED_OK
$STATE,4265,begin surface
$SM_CCo,4282,23.17,0.102,0,0,1655,320.11
$SM_GC,1.24,0.00,0.00,23.17,0.000,0.000,0.102,177,2746,1655,-8.19,-0.96,320.11
$IRIDIUM_FIX,-7603.11,17623.07,090111,111119
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,18.3
$ALTIM_BOTTOM_PING,300.3,20.0
$24V_AH,22.2,66.450
$10V_AH,9.8,25.829
$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,18.325,32.075,413.450,23.175,0.000,25.501,42.363,150.436,1.500,0.000,14.847,1185.261,1701.734,483.640,1094.879,197.005,0.000,1012.029,0.000,832.156,0.000,11.697,0.000
$DEVICE_MAMPS,208.080,97.920,931.770,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.453,665.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,30374,488
$CAP_FILE_SIZE,67432,0
$CFSIZE,260165632,222621696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.160,103.0,1
$GPS,090111,143046,-7649.229,17642.455,9,2.5,28,124.0