version: 66.08
glider: 503
mission: 7
dive: 654
start: 1 9 111 18 40 31
data:
$ID,503
$MISSION,7
$DIVE,654
$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,-20341.395
$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,41
$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
$GPS1,090111,183420,-7647.252,17638.605,12,1.3,12,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.8
$GPS2,090111,184002,-7647.231,17638.604,14,1.6,14,124.0
$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,199.1,89701,-18.2,-13.333
$D_GRID,443
$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,-88.82,0.000,2,0.000,0.000,172,2800,3428,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.1,-6.3,15,140,8.93,2.30,-9.00,0.000,4,0.207,0.045,2521,1380,3857,0,0,1,0,0,0
$GC,351,-0.84,-219.0,48.8,-15.9,57,359,0.00,2.25,0.00,0.000,6,0.000,0.043,2511,2766,3859,0,0,0,0,0,0
$GC,496,-0.84,-219.0,73.3,-16.9,82,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2766,3860,0,0,0,0,0,0
$GC,637,-0.84,-219.0,97.9,-16.8,107,644,0.00,1.62,0.00,0.000,4,0.000,0.051,2503,3761,3860,0,0,0,0,0,0
$GC,674,-0.84,-219.0,104.5,-19.2,111,678,0.00,1.55,0.00,0.000,6,0.000,0.031,2503,2775,3860,0,0,0,0,0,0
$GC,814,-0.84,-219.0,130.3,-18.6,124,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2775,3860,0,0,0,0,0,0
$GC,941,-0.84,-219.0,153.7,-18.2,136,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2775,3860,0,0,0,0,0,0
$GC,1070,-0.84,-219.0,177.0,-18.2,148,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2775,3860,0,0,0,0,0,0
$GC,1196,-0.84,-219.0,200.0,-18.4,160,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2775,3860,0,0,0,0,0,0
$GC,1323,-0.84,-219.0,223.2,-17.9,172,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2775,3860,0,0,0,0,0,0
$GC,1451,-0.84,-219.0,246.5,-18.1,184,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2775,3861,0,0,0,0,0,0
$GC,1579,-0.84,-219.0,268.8,-17.3,196,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2775,3861,0,0,0,0,0,0
$GC,1774,-0.84,-219.0,301.5,-17.1,214,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2775,3860,0,0,0,0,0,0
$STATE,1811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1811,begin apogee
$GC,1818,-0.16,0.0,308.9,17.3,218,1998,0.73,0.00,174.57,0.930,4,0.122,0.000,2743,2683,2960,0,0,0,0,0,0
$STATE,1999,end apogee,CONTROL_FINISHED_OK
$STATE,1999,begin climb
$GC,2002,0.84,219.0,318.6,0.0,234,2207,0.98,2.33,191.30,0.877,4,0.071,0.031,3069,1315,2066,0,0,0,0,0,0
$GC,2377,0.86,237.1,286.8,12.6,267,2401,0.00,2.38,16.95,0.823,6,0.000,0.040,3070,2704,1993,0,0,0,0,0,0
$GC,2595,0.86,237.1,257.8,13.4,287,2599,0.00,2.28,0.00,0.000,4,0.000,0.033,3080,1321,1988,0,0,0,0,0,0
$GC,2757,0.86,237.1,235.0,14.1,301,2762,0.00,2.28,0.00,0.000,6,0.000,0.041,3080,2709,1987,0,0,0,0,0,0
$GC,2892,0.86,237.1,215.8,14.9,313,2896,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3766,1986,0,0,0,0,0,0
$GC,2928,0.86,237.1,210.6,16.1,316,2932,0.00,1.65,0.00,0.000,6,0.000,0.030,3088,2702,1986,0,0,0,0,0,0
$GC,3068,0.86,237.1,189.3,15.0,329,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2702,1986,0,0,0,0,0,0
$GC,3195,0.86,237.1,170.6,14.4,341,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2702,1985,0,0,0,0,0,0
$GC,3323,0.86,237.1,152.1,14.7,353,3327,0.00,1.73,0.00,0.000,4,0.000,0.050,3088,3771,1985,0,0,0,0,0,0
$GC,3359,0.86,237.1,146.5,16.3,356,3363,0.00,1.62,0.00,0.000,6,0.000,0.030,3097,2703,1985,0,0,1,0,0,0
$GC,3499,0.86,237.1,125.4,14.6,369,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2703,1984,0,0,0,0,0,0
$GC,3627,0.86,237.1,106.9,14.4,381,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2703,1984,0,0,0,0,0,0
$GC,3757,0.86,237.1,87.8,14.2,400,3764,0.00,1.75,0.00,0.000,4,0.000,0.050,3097,3783,1984,0,0,0,0,0,0
$GC,3815,0.86,237.1,78.8,16.0,410,3822,0.00,1.67,0.00,0.000,6,0.000,0.031,3105,2727,1984,0,0,0,0,0,0
$GC,3960,0.86,237.1,58.2,13.7,435,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2727,1984,0,0,0,0,0,0
$GC,4102,0.86,237.1,37.7,14.2,460,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2727,1984,0,0,0,0,0,0
$GC,4242,0.86,237.1,17.5,14.5,485,4249,0.00,1.70,0.00,0.000,4,0.000,0.050,3105,3760,1984,0,0,0,0,0,0
$FREEZE,8.86,-0.157,-1.895,2,1,0
$FREEZE,8.06,-0.143,-1.895,2,1,0
$FREEZE,7.27,-0.121,-1.894,2,1,0
$GC,4306,0.86,237.1,7.3,16.4,496,4313,0.10,1.62,0.00,0.000,6,0.145,0.031,3079,2731,1984,0,0,0,0,0,0
$FREEZE,4.76,-0.084,-1.892,2,1,0
$FREEZE,4.01,-0.106,-1.892,2,1,0
$FREEZE,3.24,-0.089,-1.891,2,1,0
$FREEZE,2.63,-0.083,-1.891,2,1,0
$STATE,4335,end climb,SURFACE_DEPTH_REACHED
$STATE,4335,begin surface coast
$FREEZE,1.90,-0.089,-1.891,2,1,0
$FREEZE,1.30,-0.088,-1.890,2,1,0
$FREEZE,0.64,-0.080,-1.890,2,1,0
$FREEZE,-0.04,-0.072,-1.889,2,1,0
$FINISH,-0.0,1.027640
$STATE,4359,end surface coast,CONTROL_FINISHED_OK
$STATE,4360,begin surface
$SM_CCo,4377,40.05,0.101,0,0,1655,320.11
$SM_GC,0.55,0.00,0.00,40.05,0.000,0.000,0.101,175,2798,1655,-8.21,0.51,320.11
$IRIDIUM_FIX,-7603.11,17623.07,090111,171746
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.3
$ALTIM_BOTTOM_PING,301.5,20.7
$24V_AH,22.1,66.916
$10V_AH,9.9,25.997
$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,18.300,30.575,382.825,40.050,0.000,31.475,38.130,143.270,1.000,0.000,17.410,1234.746,1763.314,472.148,1101.488,200.350,0.000,997.087,0.000,842.495,0.000,8.807,0.000
$DEVICE_MAMPS,207.315,106.335,930.240,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.054,689.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258244
$DATA_FILE_SIZE,33722,505
$CAP_FILE_SIZE,67861,0
$CFSIZE,260165632,222453760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.066,  5.9,1
$GPS,090111,195508,-7646.551,17637.199,18,1.9,18,124.0