version: 66.08
glider: 503
mission: 7
dive: 653
start: 1 9 111 17 20 3
data:
$ID,503
$MISSION,7
$DIVE,653
$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,-20340.137
$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,50
$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
$GPS1,090111,171106,-7648.008,17640.574,39,1.4,39,124.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-73.4
$GPS2,090111,171932,-7647.963,17640.555,13,1.4,13,124.0
$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,188.5,91308,-18.2,-13.333
$D_GRID,429
$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,-92.07,0.000,2,0.000,0.000,180,2810,3532,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.9,-9.3,16,135,8.82,2.38,-6.38,0.000,4,0.204,0.043,2522,1360,3857,0,0,0,0,0,0
$GC,324,-0.84,-219.0,46.7,-15.7,53,331,0.00,2.28,0.00,0.000,6,0.000,0.043,2512,2758,3859,0,0,0,0,0,0
$GC,467,-0.84,-219.0,71.6,-18.5,78,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2759,3859,0,0,0,0,0,0
$GC,610,-0.84,-219.0,96.7,-18.6,103,616,0.00,1.62,0.00,0.000,4,0.000,0.050,2505,3759,3860,0,0,0,0,0,0
$GC,657,-0.84,-219.0,105.4,-18.9,109,661,0.00,1.52,0.00,0.000,6,0.000,0.031,2504,2788,3860,0,0,0,0,0,0
$GC,797,-0.84,-219.0,131.4,-18.7,122,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2786,3860,0,0,0,0,0,0
$GC,925,-0.84,-219.0,154.4,-17.7,134,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2787,3860,0,0,0,0,0,0
$GC,1053,-0.84,-219.0,177.2,-17.8,146,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2787,3860,0,0,0,0,0,0
$GC,1180,-0.84,-219.0,200.0,-18.0,158,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2787,3860,0,0,0,0,0,0
$GC,1307,-0.84,-219.0,222.5,-17.6,170,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2787,3860,0,0,0,0,0,0
$GC,1435,-0.84,-219.0,244.9,-17.7,182,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2787,3860,0,0,0,0,0,0
$GC,1562,-0.84,-219.0,267.2,-17.2,194,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2787,3861,0,0,0,0,0,0
$GC,1757,-0.84,-219.0,300.4,-17.1,212,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2787,3861,0,0,0,0,0,0
$STATE,1783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1784,begin apogee
$GC,1791,-0.16,0.0,306.1,17.5,215,1970,0.73,0.00,173.98,0.930,4,0.122,0.000,2743,2686,2960,0,0,0,0,0,0
$STATE,1970,end apogee,CONTROL_FINISHED_OK
$STATE,1970,begin climb
$GC,1974,0.84,219.0,316.4,0.0,231,2173,0.98,2.38,190.90,0.877,4,0.073,0.032,3067,1311,2067,0,0,0,0,0,0
$GC,2179,0.90,271.4,305.2,11.2,248,2235,0.00,2.50,49.83,0.841,6,0.000,0.040,3067,2698,1853,0,0,1,0,0,0
$GC,2428,0.92,287.9,273.7,12.7,271,2452,0.00,1.88,15.60,0.812,4,0.000,0.050,3067,3763,1786,0,0,0,0,0,0
$GC,2503,0.92,287.9,262.4,15.5,277,2510,0.00,1.67,0.00,0.000,6,0.000,0.029,3076,2717,1786,0,0,1,0,0,0
$GC,2702,0.92,287.9,235.5,13.7,296,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2717,1784,0,0,0,0,0,0
$GC,2829,0.92,287.9,218.3,13.9,308,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2717,1783,0,0,0,0,0,0
$GC,2957,0.92,287.9,200.4,13.9,320,2961,0.00,1.75,0.00,0.000,4,0.000,0.050,3076,3766,1783,0,0,0,0,0,0
$GC,2996,0.92,287.9,194.2,15.1,323,3004,0.00,1.67,0.00,0.000,6,0.000,0.030,3084,2713,1782,0,0,0,0,0,0
$GC,3131,0.92,287.9,175.6,13.8,336,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2713,1783,0,0,0,0,0,0
$GC,3259,0.92,287.9,158.6,13.5,348,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2713,1783,0,0,0,0,0,0
$GC,3385,0.92,287.9,141.5,13.6,360,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2713,1782,0,0,0,0,0,0
$GC,3513,0.92,287.9,123.8,14.0,372,3516,0.00,1.70,0.00,0.000,4,0.000,0.050,3084,3768,1782,0,0,0,0,0,0
$GC,3548,0.92,287.9,118.5,15.4,375,3552,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2701,1782,0,0,1,0,0,0
$GC,3683,0.92,287.9,99.0,14.1,388,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2700,1782,0,0,0,0,0,0
$GC,3825,0.92,287.9,79.1,14.4,413,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2700,1781,0,0,0,0,0,0
$GC,3967,0.93,292.6,59.9,13.1,438,3981,0.00,1.77,5.18,0.675,4,0.000,0.049,3092,3763,1766,0,0,0,0,0,0
$GC,4016,0.93,292.6,52.4,15.6,446,4023,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2724,1767,0,0,0,0,0,0
$GC,4160,0.93,292.6,32.1,14.4,471,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2724,1767,0,0,0,0,0,0
$GC,4303,0.93,292.6,10.5,14.8,496,4310,0.00,1.70,0.00,0.000,4,0.000,0.050,3099,3754,1766,0,0,0,0,0,0
$FREEZE,8.31,-0.156,-1.896,2,1,0
$FREEZE,7.42,-0.153,-1.895,2,1,0
$FREEZE,6.49,-0.150,-1.895,2,1,0
$FREEZE,5.69,-0.143,-1.894,2,1,0
$FREEZE,4.70,-0.139,-1.893,2,1,0
$GC,4342,0.93,292.6,4.7,16.6,502,4349,0.00,1.62,0.00,0.000,6,0.000,0.031,3107,2727,1766,0,0,0,0,0,0
$FREEZE,1.85,-0.137,-1.891,2,1,0
$STATE,4355,end climb,SURFACE_DEPTH_REACHED
$STATE,4355,begin surface coast
$FREEZE,1.04,-0.134,-1.890,2,1,0
$FREEZE,0.29,-0.134,-1.890,2,1,0
$FREEZE,-0.04,-0.160,-1.891,2,1,0
$FINISH,-0.0,1.027680
$STATE,4372,end surface coast,CONTROL_FINISHED_OK
$STATE,4372,begin surface
$SM_CCo,4390,13.60,0.104,0,0,1655,320.11
$SM_GC,0.56,0.00,0.00,13.60,0.000,0.000,0.104,172,2799,1655,-8.21,0.54,320.11
$IRIDIUM_FIX,-7603.11,17651.82,090111,171702
$TT8_MAMPS,0.026964
$HUMID,52.48
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.1
$ALTIM_BOTTOM_PING,300.4,20.2
$24V_AH,22.1,66.807
$10V_AH,9.8,25.956
$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,18.175,29.925,435.475,13.600,0.000,54.666,116.749,145.054,1.000,0.000,18.052,1216.249,1838.040,491.935,1179.627,199.068,0.000,1018.550,0.000,817.322,0.000,8.804,0.000
$DEVICE_MAMPS,204.255,94.095,930.240,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.636,694.744,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258240
$DATA_FILE_SIZE,33648,507
$CAP_FILE_SIZE,69577,0
$CFSIZE,260165632,222494720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.049, 38.1,1
$GPS,090111,183420,-7647.252,17638.605,12,1.3,12,124.0