version: 66.08
glider: 503
mission: 7
dive: 606
start: 1 6 111 23 10 37
data:
$ID,503
$MISSION,7
$DIVE,606
$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,-20270.752
$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,48
$R_STBD_OVSHOOT,40
$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
$GPS1,060111,230437,-7653.401,17505.773,28,1.2,29,126.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.7
$GPS2,060111,231008,-7653.414,17505.783,10,1.9,10,126.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_SE
$TGT_LATLONG,-7655.000,17700.000
$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,331.4,47973,-18.2,-13.333
$D_GRID,376
$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,-93.40,0.000,2,0.000,0.000,171,2796,3557,0,0,0,0,0,0
$GC,117,-0.84,-219.0,4.1,-10.4,15,138,8.98,2.30,-5.70,0.000,4,0.210,0.044,2526,1370,3856,0,0,1,0,0,0
$GC,278,-0.84,-219.0,40.4,-15.5,43,285,0.00,2.28,0.00,0.000,6,0.000,0.043,2515,2768,3860,0,0,0,0,0,0
$GC,419,-0.84,-219.0,65.6,-17.8,68,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3859,0,0,0,0,0,0
$GC,562,-0.84,-219.0,91.6,-18.3,93,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,706,-0.84,-219.0,117.1,-18.0,110,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,834,-0.84,-219.0,140.1,-17.7,122,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3861,0,0,0,0,0,0
$GC,961,-0.84,-219.0,161.7,-16.8,134,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3861,0,0,0,0,0,0
$GC,1088,-0.84,-219.0,183.5,-16.8,146,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3861,0,0,0,0,0,0
$GC,1216,-0.84,-219.0,205.1,-16.7,158,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,1343,-0.84,-219.0,225.9,-16.0,170,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,1471,-0.84,-219.0,246.6,-16.5,182,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3860,0,0,0,0,0,0
$GC,1599,-0.84,-219.0,267.2,-15.7,194,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3861,0,0,0,0,0,0
$GC,1789,-0.84,-219.0,297.7,-16.1,212,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,1980,-0.84,-219.0,328.8,-16.2,230,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$STATE,2084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2084,begin apogee
$GC,2091,-0.16,0.0,346.1,16.1,240,2272,0.68,0.00,174.30,0.956,4,0.119,0.000,2741,2691,2959,0,0,0,0,0,0
$STATE,2273,end apogee,CONTROL_FINISHED_OK
$STATE,2273,begin climb
$GC,2276,0.84,219.0,355.4,0.0,256,2479,0.95,1.90,191.75,0.902,4,0.076,0.051,3072,3752,2066,0,0,1,0,0,0
$GC,2508,0.84,219.0,335.0,16.4,276,2515,0.00,1.75,0.00,0.000,6,0.000,0.029,3080,2714,2064,0,0,1,0,0,0
$GC,2708,0.84,219.0,306.9,13.4,295,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2713,2058,0,0,0,0,0,0
$GC,2897,0.84,219.0,280.2,14.4,313,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2713,2056,0,0,0,0,0,0
$GC,3088,0.84,219.0,253.4,13.9,331,3092,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3761,2055,0,0,0,0,0,0
$GC,3126,0.84,219.0,247.2,16.1,334,3135,0.00,1.70,0.00,0.000,6,0.000,0.031,3088,2702,2055,0,0,0,0,0,0
$GC,3263,0.84,219.0,227.8,14.5,347,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2702,2054,0,0,0,0,0,0
$GC,3389,0.84,219.0,209.7,14.3,359,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2702,2054,0,0,0,0,0,0
$GC,3516,0.84,219.0,191.2,14.6,371,3520,0.00,1.70,0.00,0.000,4,0.000,0.047,3088,3762,2054,0,0,0,0,0,0
$GC,3552,0.84,219.0,185.5,16.7,374,3556,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2694,2054,0,0,0,0,0,0
$GC,3692,0.84,219.0,164.1,15.2,387,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2693,2053,0,0,0,0,0,0
$GC,3822,0.84,219.0,145.2,14.5,399,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2693,2053,0,0,0,0,0,0
$GC,3957,0.84,219.0,125.3,14.4,412,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2693,2053,0,0,0,0,0,0
$GC,4084,0.84,219.0,107.1,14.4,424,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2693,2053,0,0,0,0,0,0
$GC,4215,0.84,219.0,88.5,14.3,443,4222,0.00,1.75,0.00,0.000,4,0.000,0.049,3096,3778,2052,0,0,0,0,0,0
$GC,4274,0.84,219.0,79.0,16.8,453,4281,0.08,1.67,0.00,0.000,6,0.145,0.031,3069,2721,2052,0,0,0,0,0,0
$GC,4418,0.88,252.6,60.7,12.0,478,4450,0.00,0.00,28.25,0.790,6,0.000,0.000,3069,2721,1929,0,0,0,0,0,0
$GC,4585,0.88,255.4,39.1,13.2,507,4592,0.00,0.00,4.20,0.593,6,0.000,0.000,3069,2721,1918,0,0,0,0,0,0
$GC,4729,0.91,273.3,20.5,12.6,532,4751,0.00,1.77,17.25,0.752,4,0.000,0.048,3069,3768,1844,0,0,0,0,0,0
$GC,4787,0.91,273.3,12.6,14.2,541,4794,0.00,1.67,0.00,0.000,6,0.000,0.029,3076,2714,1844,0,0,0,0,0,0
$FREEZE,8.72,-0.023,-1.897,2,1,0
$FREEZE,7.98,-0.007,-1.896,2,1,0
$FREEZE,7.28,-0.002,-1.895,2,1,0
$FREEZE,6.51,0.116,-1.894,2,1,0
$FREEZE,5.56,0.067,-1.894,2,1,0
$FREEZE,5.03,0.011,-1.896,2,1,0
$FREEZE,4.26,0.110,-1.893,2,1,0
$FREEZE,3.60,0.141,-1.892,2,1,0
$FREEZE,2.98,0.178,-1.892,2,1,0
$STATE,4853,end climb,SURFACE_DEPTH_REACHED
$STATE,4853,begin surface coast
$FREEZE,2.20,0.172,-1.891,2,1,0
$FREEZE,1.31,0.188,-1.891,2,1,0
$FREEZE,0.42,0.172,-1.890,2,1,0
$FREEZE,-0.11,0.174,-1.890,2,1,0
$FINISH,-0.1,1.027641
$STATE,4877,end surface coast,CONTROL_FINISHED_OK
$STATE,4877,begin surface
$SM_CCo,4895,22.25,0.100,0,0,1655,320.11
$SM_GC,0.86,0.00,0.00,22.25,0.000,0.000,0.100,180,2794,1655,-8.19,0.40,320.11
$IRIDIUM_FIX,-7603.11,17515.75,060111,212108
$TT8_MAMPS,0.027713
$HUMID,53.15
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$ALTIM_BOTTOM_PING,301.1,60.0
$24V_AH,22.2,61.173
$10V_AH,9.9,23.925
$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,18.350,22.050,415.750,22.250,0.000,30.935,38.736,140.922,1.000,0.000,13.398,1343.437,2120.831,475.364,1121.597,199.655,0.000,1014.483,0.000,868.614,0.000,8.905,0.000
$DEVICE_MAMPS,209.610,99.450,956.250,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.426,736.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,37081,557
$CAP_FILE_SIZE,70799,0
$CFSIZE,260165632,224411648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.071,231.9,1
$GPS,070111,003352,-7653.536,17508.938,16,5.0,35,126.5