version: 66.08
glider: 503
mission: 7
dive: 609
start: 1 7 111 3 49 39
data:
$ID,503
$MISSION,7
$DIVE,609
$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,616.91943
$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,-20276.664
$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,42
$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
$GPS1,070111,033836,-7653.807,17514.357,31,1.5,31,126.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-66.6
$GPS2,070111,034908,-7653.833,17514.182,14,2.0,14,126.4
$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,313.7,44415,-18.2,-13.333
$D_GRID,379
$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,-219.0,0.0,0.0,0,164,0.00,0.00,-145.70,0.000,2,0.000,0.000,181,2795,3515,0,0,0,0,0,0
$GC,169,-0.84,-219.0,3.6,-8.4,24,190,8.85,1.60,-6.60,0.000,4,0.205,0.061,2514,3761,3855,0,0,0,0,0,0
$GC,336,-0.84,-219.0,43.2,-17.5,53,343,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2774,3858,0,0,0,0,0,0
$GC,479,-0.84,-219.0,68.4,-17.6,78,486,0.00,2.20,0.00,0.000,4,0.000,0.031,2514,1369,3859,0,0,0,0,0,0
$GC,515,-0.84,-219.0,75.1,-17.0,84,522,0.00,2.28,0.00,0.000,6,0.000,0.043,2504,2768,3859,0,0,0,0,0,0
$GC,662,-0.84,-219.0,102.3,-18.9,109,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2768,3859,0,0,0,0,0,0
$GC,789,-0.84,-219.0,126.6,-18.2,121,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2768,3859,0,0,0,0,0,0
$GC,916,-0.84,-219.0,150.4,-18.4,133,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2768,3859,0,0,0,0,0,0
$GC,1044,-0.84,-219.0,173.8,-18.6,145,1048,0.00,2.17,0.00,0.000,4,0.000,0.032,2504,1374,3860,0,0,0,0,0,0
$GC,1090,-0.84,-219.0,182.1,-17.8,149,1094,0.12,2.25,0.00,0.000,6,0.154,0.044,2530,2770,3860,0,0,0,0,0,0
$GC,1225,-0.84,-219.0,203.1,-15.5,161,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2771,3859,0,0,0,0,0,0
$GC,1351,-0.84,-219.0,222.6,-15.1,173,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2770,3859,0,0,0,0,0,0
$GC,1479,-0.84,-219.0,242.3,-15.4,185,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2770,3859,0,0,0,0,0,0
$GC,1607,-0.84,-219.0,262.2,-15.6,197,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2770,3859,0,0,0,0,0,0
$GC,1798,-0.84,-219.0,291.3,-14.7,215,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2771,3859,0,0,0,0,0,0
$GC,1989,-0.84,-219.0,319.6,-14.6,233,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2770,3859,0,0,0,0,0,0
$GC,2180,-0.84,-219.0,347.9,-15.2,251,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2771,3859,0,0,0,0,0,0
$STATE,2203,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2203,begin apogee
$GC,2209,-0.16,0.0,351.1,14.8,253,2390,0.62,0.00,175.35,0.954,4,0.115,0.000,2743,2683,2960,0,0,0,0,0,0
$STATE,2390,end apogee,CONTROL_FINISHED_OK
$STATE,2390,begin climb
$GC,2393,0.84,219.0,355.1,0.0,269,2597,0.98,2.38,190.93,0.897,4,0.061,0.034,3079,1303,2066,0,0,0,0,0,0
$GC,2748,0.86,238.1,322.9,12.5,300,2770,0.00,2.42,17.25,0.839,6,0.000,0.041,3079,2702,1989,0,0,0,0,0,0
$GC,2965,0.86,238.1,292.8,14.1,320,2969,0.00,2.30,0.00,0.000,4,0.000,0.034,3089,1310,1985,0,0,0,0,0,0
$GC,3131,0.86,238.1,270.8,13.5,334,3136,0.00,2.30,0.00,0.000,6,0.000,0.041,3089,2706,1982,0,0,0,0,0,0
$GC,3329,0.86,238.1,241.9,14.8,352,3333,0.00,1.70,0.00,0.000,4,0.000,0.049,3089,3762,1981,0,0,0,0,0,0
$GC,3379,0.86,238.1,233.5,17.6,356,3386,0.00,1.67,0.00,0.000,6,0.000,0.031,3098,2710,1980,0,0,0,0,0,0
$GC,3514,0.86,238.1,213.5,14.8,369,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2709,1980,0,0,0,0,0,0
$GC,3641,0.86,238.1,194.0,15.3,381,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2709,1980,0,0,0,0,0,0
$GC,3770,0.86,238.1,174.4,15.6,393,3773,0.00,1.70,0.00,0.000,4,0.000,0.049,3098,3768,1980,0,0,0,0,0,0
$GC,3805,0.86,238.1,168.5,16.8,396,3809,0.00,1.65,0.00,0.000,6,0.000,0.030,3107,2701,1979,0,0,0,0,0,0
$GC,3945,0.86,238.1,146.5,15.1,409,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2701,1979,0,0,0,0,0,0
$GC,4072,0.86,238.1,127.1,15.0,421,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2701,1979,0,0,0,0,0,0
$GC,4200,0.86,238.1,107.5,15.4,433,4204,0.00,1.70,0.00,0.000,4,0.000,0.048,3107,3767,1978,0,0,0,0,0,0
$GC,4238,0.86,238.1,100.6,17.5,436,4246,0.08,1.65,0.00,0.000,6,0.152,0.031,3088,2724,1978,0,0,0,0,0,0
$GC,4381,0.86,238.1,80.6,13.5,461,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2724,1978,0,0,0,0,0,0
$GC,4524,0.86,238.1,60.2,15.2,486,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2724,1978,0,0,0,0,0,0
$GC,4665,0.86,238.1,40.5,14.1,511,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2724,1977,0,0,0,0,0,0
$GC,4807,0.86,238.1,20.2,14.7,536,4815,0.00,1.70,0.00,0.000,4,0.000,0.048,3087,3754,1977,0,0,0,0,0,0
$GC,4834,0.86,238.1,15.7,16.2,540,4841,0.00,1.62,0.00,0.000,6,0.000,0.031,3095,2721,1977,0,0,0,0,0,0
$FREEZE,8.54,-0.022,-1.896,2,3,0
$FREEZE,7.85,-0.022,-1.895,2,3,0
$FREEZE,7.07,-0.020,-1.895,2,3,0
$FREEZE,6.42,-0.021,-1.894,2,3,0
$FREEZE,5.72,-0.063,-1.894,2,3,0
$FREEZE,5.00,-0.032,-1.893,2,3,0
$FREEZE,4.22,-0.032,-1.893,2,3,0
$FREEZE,3.42,-0.032,-1.892,2,3,0
$FREEZE,2.62,-0.033,-1.892,2,3,0
$STATE,4923,end climb,SURFACE_DEPTH_REACHED
$STATE,4923,begin surface coast
$FREEZE,1.64,-0.040,-1.891,2,3,0
$FREEZE,0.98,-0.038,-1.890,2,3,0
$FREEZE,0.15,-0.108,-1.894,2,3,0
$FREEZE,-0.05,-0.163,-0.945,2,3,0
$FINISH,-0.1,1.013966
$STATE,4945,end surface coast,CONTROL_FINISHED_OK
$STATE,4945,begin surface
$SM_CCo,4963,200.48,0.099,0,0,445,616.92
$SM_GC,0.61,0.00,0.00,200.48,0.000,0.000,0.099,172,2784,445,-8.21,0.11,616.92
$IRIDIUM_FIX,-7603.11,17525.19,070111,030354
$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.9
$ALTIM_BOTTOM_PING,351.1,6.6
$24V_AH,22.2,61.514
$10V_AH,9.8,24.065
$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,18.275,35.050,383.525,200.475,0.000,82.981,225.322,0.000,1.500,0.000,19.314,1364.986,2198.640,673.646,1316.973,256.173,0.000,1249.657,0.000,928.655,0.000,13.196,0.000
$DEVICE_MAMPS,205.020,103.275,953.955,99.450,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.249,735.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37086,560
$CAP_FILE_SIZE,74024,0
$CFSIZE,260165632,224284672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,188.8,1
$GPS,070111,051656,-7654.071,17517.188,32,1.6,32,126.3