version: 66.08
glider: 503
mission: 7
dive: 607
start: 1 7 111 0 40 7
data:
$ID,503
$MISSION,7
$DIVE,607
$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,-20272.01
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,070111,003352,-7653.536,17508.938,16,5.0,35,126.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.1
$GPS2,070111,003936,-7653.524,17508.848,12,1.1,28,126.5
$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,318.9,46679,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-89.47,0.000,2,0.000,0.000,179,2794,3465,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.6,-8.2,15,133,8.95,1.62,-7.97,0.000,4,0.212,0.066,2514,3767,3855,0,0,0,0,0,0
$GC,262,-0.84,-219.0,38.5,-18.7,41,269,0.00,1.55,0.00,0.000,6,0.000,0.029,2513,2779,3859,0,0,0,0,0,0
$GC,406,-0.84,-219.0,64.1,-18.2,66,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2777,3859,0,0,0,0,0,0
$GC,547,-0.84,-219.0,90.0,-18.4,91,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3860,0,0,0,0,0,0
$GC,689,-0.84,-219.0,116.0,-18.3,109,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3860,0,0,0,0,0,0
$GC,817,-0.84,-219.0,138.8,-17.7,121,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3860,0,0,0,0,0,0
$GC,944,-0.84,-219.0,161.2,-17.7,133,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3860,0,0,0,0,0,0
$GC,1071,-0.84,-219.0,183.1,-17.0,145,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3861,0,0,0,0,0,0
$GC,1199,-0.84,-219.0,204.9,-17.2,157,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3860,0,0,0,0,0,0
$GC,1326,-0.84,-219.0,226.8,-16.9,169,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3860,0,0,0,0,0,0
$GC,1454,-0.84,-219.0,248.5,-16.8,181,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3860,0,0,0,0,0,0
$GC,1582,-0.84,-219.0,270.0,-17.1,193,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3860,0,0,0,0,0,0
$GC,1773,-0.84,-219.0,302.4,-16.7,211,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3860,0,0,0,0,0,0
$GC,1964,-0.84,-219.0,334.2,-16.3,229,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3860,0,0,0,0,0,0
$STATE,2015,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2015,begin apogee
$GC,2022,-0.16,0.0,343.0,16.5,234,2201,0.70,0.00,174.20,0.953,4,0.120,0.000,2745,2687,2960,0,0,0,0,0,0
$STATE,2202,end apogee,CONTROL_FINISHED_OK
$STATE,2202,begin climb
$GC,2205,0.84,219.0,352.3,0.0,250,2406,0.93,0.00,191.25,0.900,6,0.073,0.000,3065,2687,2066,0,0,0,0,0,0
$GC,2599,0.84,222.6,315.1,13.2,286,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2687,2058,0,0,0,0,0,0
$GC,2788,0.84,222.6,289.6,13.4,304,2792,0.00,1.77,0.00,0.000,4,0.000,0.047,3065,3758,2056,0,0,0,0,0,0
$GC,2823,0.84,222.6,284.4,15.4,307,2826,0.00,1.62,0.00,0.000,6,0.000,0.031,3073,2714,2056,0,0,1,0,0,0
$GC,3027,0.84,222.6,256.5,14.1,326,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2713,2055,0,0,0,0,0,0
$GC,3217,0.84,222.6,230.7,13.4,344,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2714,2054,0,0,0,0,0,0
$GC,3346,0.85,231.0,214.2,13.0,356,3361,0.00,1.75,9.82,0.819,4,0.000,0.049,3073,3755,2017,0,0,0,0,0,0
$GC,3383,0.85,231.0,208.7,14.5,359,3390,0.00,1.65,0.00,0.000,6,0.000,0.030,3082,2721,2017,0,0,0,0,0,0
$GC,3518,0.86,232.7,190.6,13.3,372,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2721,2017,0,0,0,0,0,0
$GC,3646,0.86,232.7,173.5,13.7,384,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2720,2017,0,0,0,0,0,0
$GC,3773,0.86,232.7,156.3,13.7,396,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2720,2016,0,0,0,0,0,0
$GC,3900,0.86,232.7,139.1,13.4,408,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2720,2016,0,0,0,0,0,0
$GC,4028,0.86,233.5,121.9,13.3,420,4032,0.00,1.65,0.00,0.000,4,0.000,0.048,3081,3756,2016,0,0,0,0,0,0
$GC,4066,0.86,233.5,115.8,15.3,423,4073,0.00,1.62,0.00,0.000,6,0.000,0.031,3089,2725,2015,0,0,0,0,0,0
$GC,4202,0.86,233.5,96.7,14.9,438,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2724,2015,0,0,0,0,0,0
$GC,4344,0.86,233.5,76.7,14.4,463,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2724,2015,0,0,0,0,0,0
$GC,4486,0.86,233.5,56.3,14.3,488,4492,0.00,1.67,0.00,0.000,4,0.000,0.047,3089,3751,2015,0,0,0,0,0,0
$GC,4527,0.86,233.5,49.8,16.1,495,4534,0.00,1.60,0.00,0.000,6,0.000,0.031,3097,2731,2015,0,0,0,0,0,0
$GC,4670,0.86,233.5,29.1,13.7,520,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2731,2015,0,0,0,0,0,0
$FREEZE,8.94,0.028,-1.897,2,1,0
$FREEZE,8.02,0.071,-1.895,2,1,0
$GC,4815,0.86,233.5,8.0,15.5,545,4823,0.00,1.67,0.00,0.000,4,0.000,0.047,3097,3762,2015,0,0,0,0,0,0
$FREEZE,5.14,0.107,-1.894,2,1,0
$FREEZE,4.21,0.093,-1.893,2,1,0
$FREEZE,3.27,0.077,-1.892,2,1,0
$FREEZE,2.43,0.094,-1.891,2,1,0
$STATE,4845,end climb,SURFACE_DEPTH_REACHED
$STATE,4845,begin surface coast
$FREEZE,1.33,0.128,-1.890,2,1,0
$FREEZE,0.46,0.131,-1.890,2,1,0
$FREEZE,-0.14,0.132,-1.866,2,1,0
$FINISH,-0.1,1.027304
$STATE,4862,end surface coast,CONTROL_FINISHED_OK
$STATE,4863,begin surface
$SM_CCo,4881,42.90,0.099,0,0,1655,320.11
$SM_GC,0.73,0.00,0.00,42.90,0.000,0.000,0.099,168,2782,1655,-8.23,0.06,320.11
$IRIDIUM_FIX,-7603.11,17506.32,060111,232328
$TT8_MAMPS,0.026964
$HUMID,53.15
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.9
$ALTIM_BOTTOM_PING,300.6,56.7
$24V_AH,22.2,61.283
$10V_AH,9.9,23.969
$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,18.100,19.825,375.275,42.900,0.000,22.696,37.233,144.862,1.000,0.000,30.896,1340.897,2148.733,466.384,1133.404,193.749,0.000,998.640,0.000,864.939,0.000,8.903,0.000
$DEVICE_MAMPS,211.905,100.215,953.190,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.265,729.736,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,37035,553
$CAP_FILE_SIZE,69502,0
$CFSIZE,260165632,224374784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.089,237.9,1
$GPS,070111,020302,-7653.613,17511.900,9,1.3,9,126.4