version: 66.08
glider: 503
mission: 7
dive: 652
start: 1 9 111 15 57 47
data:
$ID,503
$MISSION,7
$DIVE,652
$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,-20337.285
$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,42
$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
$GPS1,090111,155107,-7648.609,17641.500,7,1.4,12,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.6
$GPS2,090111,155716,-7648.585,17641.564,12,5.5,31,124.0
$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,191.8,92533,-18.2,-13.333
$D_GRID,428
$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,-219.0,0.0,0.0,0,110,0.00,0.00,-92.35,0.000,2,0.000,0.000,174,2800,3547,0,0,0,0,0,0
$GC,114,-0.84,-219.0,4.0,-10.5,16,136,8.98,2.33,-5.95,0.000,4,0.209,0.044,2525,1368,3857,0,0,1,0,0,0
$GC,338,-0.84,-219.0,50.2,-15.4,55,345,0.00,2.28,0.00,0.000,6,0.000,0.043,2514,2766,3860,0,0,0,0,0,0
$GC,481,-0.84,-219.0,75.0,-18.0,80,487,0.00,1.62,0.00,0.000,4,0.000,0.051,2507,3758,3859,0,0,0,0,0,0
$GC,525,-0.84,-219.0,83.1,-18.9,87,532,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2791,3860,0,0,0,0,0,0
$GC,670,-0.84,-219.0,110.6,-18.9,108,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2791,3860,0,0,0,0,0,0
$GC,796,-0.84,-219.0,134.8,-18.9,120,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2791,3861,0,0,0,0,0,0
$GC,924,-0.84,-219.0,158.5,-18.2,132,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2791,3860,0,0,0,0,0,0
$GC,1051,-0.84,-219.0,181.9,-18.3,144,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2791,3861,0,0,0,0,0,0
$GC,1179,-0.84,-219.0,205.4,-17.9,156,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3861,0,0,0,0,0,0
$GC,1306,-0.84,-219.0,227.9,-17.6,168,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3861,0,0,0,0,0,0
$GC,1434,-0.84,-219.0,249.9,-17.2,180,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3860,0,0,0,0,0,0
$GC,1563,-0.84,-219.0,271.8,-17.3,192,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2791,3861,0,0,0,0,0,0
$GC,1752,-0.84,-219.0,304.6,-16.7,210,1756,0.00,1.60,0.00,0.000,4,0.000,0.050,2499,3762,3861,0,0,0,0,0,0
$STATE,1763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1763,begin apogee
$GC,1771,-0.16,0.0,306.7,17.5,211,1951,0.75,0.00,174.48,0.929,4,0.122,0.000,2745,2689,2959,0,0,0,0,0,0
$STATE,1952,end apogee,CONTROL_FINISHED_OK
$STATE,1952,begin climb
$GC,1954,0.84,219.0,316.8,0.0,227,2154,0.98,2.40,190.93,0.876,4,0.072,0.032,3071,1292,2067,0,0,0,0,0,0
$GC,2351,0.87,242.9,281.8,12.4,262,2381,0.00,2.42,21.48,0.838,6,0.000,0.041,3071,2706,1971,0,0,0,0,0,0
$GC,2575,0.88,251.7,252.8,13.0,283,2591,0.00,2.38,9.57,0.786,4,0.000,0.034,3082,1294,1933,0,0,1,0,0,0
$GC,2734,0.92,283.7,232.0,12.0,297,2769,0.00,2.33,30.17,0.844,6,0.000,0.041,3082,2710,1803,0,0,0,0,0,0
$GC,2897,0.92,283.7,209.5,14.1,312,2901,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3762,1801,0,0,0,0,0,0
$GC,2947,0.92,283.7,201.1,16.0,316,2954,0.00,1.70,0.00,0.000,6,0.000,0.030,3090,2706,1800,0,0,0,0,0,0
$GC,3082,0.92,283.7,181.9,13.9,329,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2706,1800,0,0,0,0,0,0
$GC,3210,0.92,283.7,163.7,13.9,341,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2707,1799,0,0,0,0,0,0
$GC,3336,0.92,283.7,145.2,14.8,353,3340,0.00,1.75,0.00,0.000,4,0.000,0.050,3090,3760,1799,0,0,0,0,0,0
$GC,3397,0.92,283.7,135.5,15.6,358,3404,0.00,1.62,0.00,0.000,6,0.000,0.030,3098,2725,1799,0,0,1,0,0,0
$GC,3533,0.92,283.7,116.1,14.3,371,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2724,1798,0,0,0,0,0,0
$GC,3661,0.92,283.7,96.9,15.2,384,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2724,1798,0,0,0,0,0,0
$GC,3801,0.92,283.7,75.3,14.9,409,3807,0.00,1.70,0.00,0.000,4,0.000,0.049,3097,3753,1798,0,0,0,0,0,0
$GC,3848,0.92,283.7,67.7,15.4,417,3855,0.00,1.62,0.00,0.000,6,0.000,0.031,3106,2725,1798,0,0,0,0,0,0
$GC,3992,0.92,283.7,44.9,15.9,442,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2725,1797,0,0,0,0,0,0
$GC,4136,0.92,283.7,22.2,15.8,467,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2724,1797,0,0,0,0,0,0
$FREEZE,8.23,-0.134,-1.897,2,1,0
$FREEZE,7.29,-0.134,-1.896,2,1,0
$FREEZE,6.49,-0.133,-1.896,2,1,0
$FREEZE,5.72,-0.134,-1.895,2,1,0
$FREEZE,5.02,-0.135,-1.894,2,1,0
$FREEZE,4.12,-0.134,-1.894,2,1,0
$FREEZE,3.19,-0.134,-1.893,2,1,0
$FREEZE,2.17,-0.134,-1.892,2,1,0
$STATE,4264,end climb,SURFACE_DEPTH_REACHED
$STATE,4264,begin surface coast
$FREEZE,1.39,-0.136,-1.892,2,1,0
$FREEZE,0.59,-0.144,-1.891,2,1,0
$FREEZE,0.02,-0.168,-1.891,2,1,0
$FINISH,0.0,1.027679
$STATE,4282,end surface coast,CONTROL_FINISHED_OK
$STATE,4282,begin surface
$SM_CCo,4301,16.98,0.103,0,0,1655,320.11
$SM_GC,0.57,0.00,0.00,16.98,0.000,0.000,0.103,185,2808,1655,-8.18,0.76,320.11
$IRIDIUM_FIX,-7603.11,17642.43,090111,141440
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,300.9,19.4
$24V_AH,22.1,66.682
$10V_AH,9.9,25.912
$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,18.300,30.775,426.625,16.975,0.000,30.896,37.772,155.568,1.250,0.000,34.548,1195.297,1708.632,476.566,1122.229,199.676,0.000,1001.453,0.000,833.486,0.000,11.704,0.000
$DEVICE_MAMPS,208.845,91.035,928.710,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.008,671.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,33760,493
$CAP_FILE_SIZE,66703,0
$CFSIZE,260165632,222535680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.108, 70.9,1
$GPS,090111,171106,-7648.008,17640.574,39,1.4,39,124.0