version: 66.08
glider: 503
mission: 7
dive: 601
start: 1 6 111 15 47 18
data:
$ID,503
$MISSION,7
$DIVE,601
$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,-20264.455
$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,28
$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
$GPS1,060111,154102,-7652.005,17506.824,13,1.3,13,126.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.5
$GPS2,060111,154649,-7652.015,17506.949,8,1.5,13,126.4
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_SW
$TGT_LATLONG,-7655.000,17500.000
$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,110.9,6248,-18.2,-13.333
$D_GRID,375
$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,14,begin dive
$GC,17,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-93.78,0.000,2,0.000,0.000,181,2750,3556,0,0,0,0,0,0
$GC,117,-0.84,-219.0,4.0,-9.7,16,138,8.88,1.70,-5.82,0.000,4,0.207,0.063,2515,3770,3857,0,0,1,0,0,0
$GC,313,-0.84,-219.0,49.5,-18.0,50,320,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2780,3860,0,0,0,0,0,0
$GC,458,-0.84,-219.0,75.0,-17.6,75,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2780,3860,0,0,0,0,0,0
$GC,599,-0.84,-219.0,100.1,-17.3,100,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2780,3860,0,0,0,0,0,0
$GC,728,-0.84,-219.0,122.4,-17.4,112,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3861,0,0,0,0,0,0
$GC,854,-0.84,-219.0,144.6,-17.3,124,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2780,3861,0,0,0,0,0,0
$GC,982,-0.84,-219.0,166.7,-17.3,136,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2780,3861,0,0,0,0,0,0
$GC,1111,-0.84,-219.0,188.2,-16.7,148,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2780,3861,0,0,0,0,0,0
$GC,1237,-0.84,-219.0,209.5,-17.1,160,1240,0.00,1.62,0.00,0.000,4,0.000,0.051,2508,3764,3861,0,0,1,0,0,0
$GC,1275,-0.84,-219.0,216.7,-18.6,163,1282,0.00,1.52,0.00,0.000,6,0.000,0.030,2508,2791,3861,0,0,0,0,0,0
$GC,1409,-0.84,-219.0,239.4,-17.0,176,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3861,0,0,0,0,0,0
$GC,1537,-0.84,-219.0,260.8,-16.7,188,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3861,0,0,0,0,0,0
$GC,1728,-0.84,-219.0,293.0,-17.0,206,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2791,3861,0,0,0,0,0,0
$GC,1920,-0.84,-219.0,324.7,-16.4,224,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3862,0,0,0,0,0,0
$STATE,2044,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2044,begin apogee
$GC,2051,-0.16,0.0,346.2,17.0,236,2232,0.70,0.00,174.88,0.947,4,0.121,0.000,2740,2685,2959,0,0,0,0,0,0
$STATE,2233,end apogee,CONTROL_FINISHED_OK
$STATE,2233,begin climb
$GC,2235,0.84,219.0,355.0,0.0,252,2438,1.00,2.35,191.52,0.899,4,0.073,0.032,3072,1313,2067,0,0,0,0,0,0
$GC,2467,0.88,249.8,340.9,12.1,272,2508,0.00,2.45,29.75,0.858,6,0.000,0.041,3072,2697,1941,0,0,1,0,0,0
$GC,2698,0.88,249.8,308.1,14.5,294,2701,0.00,1.77,0.00,0.000,4,0.000,0.048,3072,3764,1935,0,0,0,0,0,0
$GC,2770,0.88,249.8,296.2,16.7,300,2777,0.00,1.70,0.00,0.000,6,0.000,0.030,3080,2725,1933,0,0,0,0,0,0
$GC,2968,0.88,249.8,267.0,14.8,319,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2725,1932,0,0,0,0,0,0
$GC,3160,0.88,249.8,239.0,15.0,337,3164,0.00,1.73,0.00,0.000,4,0.000,0.049,3080,3767,1931,0,0,0,0,0,0
$GC,3209,0.88,249.8,230.6,16.8,341,3217,0.00,1.65,0.00,0.000,6,0.000,0.029,3088,2721,1931,0,0,0,0,0,0
$GC,3344,0.88,249.8,210.3,14.9,354,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2721,1931,0,0,0,0,0,0
$GC,3471,0.88,249.8,190.5,15.7,366,3475,0.00,1.67,0.00,0.000,4,0.000,0.048,3087,3766,1930,0,0,0,0,0,0
$GC,3510,0.88,249.8,183.8,17.1,369,3517,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2724,1930,0,0,0,0,0,0
$GC,3644,0.88,249.8,162.7,15.7,382,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2724,1930,0,0,0,0,0,0
$GC,3772,0.88,249.8,142.9,15.6,394,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2724,1930,0,0,0,0,0,0
$GC,3899,0.88,249.8,123.1,15.4,406,3903,0.00,1.70,0.00,0.000,4,0.000,0.048,3096,3761,1930,0,0,0,0,0,0
$GC,3945,0.88,249.8,115.4,17.0,410,3948,0.00,1.62,0.00,0.000,6,0.000,0.031,3104,2734,1930,0,0,0,0,0,0
$GC,4082,0.88,249.8,93.5,15.8,426,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2732,1930,0,0,0,0,0,0
$GC,4222,0.88,249.8,70.8,16.1,451,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2732,1930,0,0,0,0,0,0
$GC,4366,0.88,249.8,48.2,15.5,476,4373,0.00,1.67,0.00,0.000,4,0.000,0.050,3104,3755,1929,0,0,0,0,0,0
$GC,4414,0.88,249.8,39.9,18.7,484,4421,0.08,1.60,0.00,0.000,6,0.140,0.032,3086,2740,1929,0,0,0,0,0,0
$GC,4557,0.88,249.8,18.6,14.8,509,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2741,1929,0,0,0,0,0,0
$FREEZE,8.13,-0.081,-1.896,2,1,0
$FREEZE,7.36,-0.075,-1.896,2,1,0
$FREEZE,6.66,-0.076,-1.895,2,1,0
$FREEZE,5.94,-0.071,-1.895,2,1,0
$FREEZE,5.30,-0.068,-1.894,2,1,0
$FREEZE,4.56,-0.069,-1.894,2,1,0
$FREEZE,3.91,-0.067,-1.893,2,1,0
$FREEZE,3.13,-0.065,-1.893,2,1,0
$FREEZE,2.32,-0.067,-1.892,2,1,0
$STATE,4675,end climb,SURFACE_DEPTH_REACHED
$STATE,4675,begin surface coast
$FREEZE,1.36,-0.065,-1.891,2,1,0
$FREEZE,0.58,-0.066,-1.891,2,1,0
$FREEZE,-0.10,-0.072,-1.890,2,1,0
$FREEZE,-0.05,-0.189,-1.817,2,1,0
$FINISH,-0.0,1.026624
$STATE,4697,end surface coast,CONTROL_FINISHED_OK
$STATE,4697,begin surface
$SM_CCo,4715,32.83,0.100,0,0,1656,320.11
$SM_GC,0.77,0.00,0.00,32.83,0.000,0.000,0.100,176,2789,1656,-8.20,0.23,320.11
$IRIDIUM_FIX,-7603.11,17516.53,060111,141454
$TT8_MAMPS,0.027713
$HUMID,53.42
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.6
$ALTIM_BOTTOM_PING,300.1,60.1
$24V_AH,22.2,60.583
$10V_AH,9.9,23.702
$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,18.275,28.150,396.150,32.825,0.000,29.171,37.671,155.112,1.000,0.000,16.384,1298.101,2003.400,479.907,1133.403,193.244,0.000,1020.940,0.000,865.164,0.000,8.910,0.000
$DEVICE_MAMPS,206.550,115.515,947.070,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.324,701.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258216
$DATA_FILE_SIZE,33797,534
$CAP_FILE_SIZE,70214,0
$CFSIZE,260165632,224620544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.191, 87.9,1
$GPS,060111,170738,-7652.398,17505.705,30,1.3,30,126.5