version: 66.08
glider: 503
mission: 7
dive: 614
start: 1 7 111 11 22 25
data:
$ID,503
$MISSION,7
$DIVE,614
$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,-20282.947
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,070111,111622,-7654.496,17531.936,9,8.4,28,126.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.7
$GPS2,070111,112156,-7654.482,17532.018,9,1.8,9,126.0
$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,312.1,36898,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-89.20,0.000,2,0.000,0.000,182,2795,3429,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.1,-6.2,15,139,8.90,1.60,-8.95,0.000,4,0.209,0.067,2514,3755,3856,0,0,0,0,0,0
$GC,256,-0.84,-219.0,37.9,-19.0,40,263,0.00,1.55,0.00,0.000,6,0.000,0.030,2513,2770,3859,0,0,0,0,0,0
$GC,400,-0.84,-219.0,64.8,-18.8,65,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3859,0,0,0,0,0,0
$GC,543,-0.84,-219.0,91.7,-18.1,90,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3859,0,0,0,0,0,0
$GC,685,-0.84,-219.0,117.8,-18.4,107,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2770,3860,0,0,0,0,0,0
$GC,814,-0.84,-219.0,140.8,-18.2,119,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3860,0,0,0,0,0,0
$GC,940,-0.84,-219.0,163.6,-17.8,131,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2770,3860,0,0,0,0,0,0
$GC,1068,-0.84,-219.0,186.3,-17.3,143,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3860,0,0,0,0,0,0
$GC,1196,-0.84,-219.0,208.7,-17.5,155,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2770,3860,0,0,0,0,0,0
$GC,1323,-0.84,-219.0,230.5,-16.8,167,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3860,0,0,0,0,0,0
$GC,1450,-0.84,-219.0,252.7,-17.5,179,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3859,0,0,0,0,0,0
$GC,1644,-0.84,-219.0,286.8,-17.7,197,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3860,0,0,0,0,0,0
$GC,1832,-0.84,-219.0,319.4,-17.3,215,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3860,0,0,0,0,0,0
$STATE,1926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1926,begin apogee
$GC,1933,-0.16,0.0,336.1,17.2,224,2113,0.70,0.00,174.75,0.950,4,0.121,0.000,2745,2684,2959,0,0,0,0,0,0
$STATE,2114,end apogee,CONTROL_FINISHED_OK
$STATE,2114,begin climb
$GC,2116,0.84,219.0,345.8,0.0,240,2315,0.98,2.38,190.62,0.896,4,0.073,0.032,3070,1304,2067,0,0,0,0,0,0
$GC,2334,0.86,237.7,332.2,12.6,258,2358,0.00,2.47,18.65,0.832,6,0.000,0.039,3070,2692,1990,0,0,1,0,0,0
$GC,2550,0.87,248.1,304.6,12.9,278,2565,0.00,1.85,9.35,0.789,4,0.000,0.048,3070,3756,1948,0,0,0,0,0,0
$GC,2618,0.87,248.1,295.1,14.5,284,2622,0.00,1.65,0.00,0.000,6,0.000,0.029,3078,2718,1947,0,0,1,0,0,0
$GC,2822,0.88,250.9,267.7,13.2,303,2832,0.00,0.00,3.72,0.575,6,0.000,0.000,3078,2718,1937,0,0,0,0,0,0
$GC,3023,0.88,250.9,240.3,13.5,322,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2718,1935,0,0,0,0,0,0
$GC,3151,0.88,251.7,223.5,13.3,334,3155,0.00,1.70,0.00,0.000,4,0.000,0.049,3078,3771,1935,0,0,0,0,0,0
$GC,3200,0.88,251.7,216.0,14.9,338,3207,0.00,1.67,0.00,0.000,6,0.000,0.029,3085,2709,1934,0,0,0,0,0,0
$GC,3335,0.88,251.7,197.5,13.8,351,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2709,1934,0,0,0,0,0,0
$GC,3463,0.88,251.7,180.1,14.0,363,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2709,1933,0,0,0,0,0,0
$GC,3590,0.88,251.7,162.9,13.4,375,3593,0.00,1.73,0.00,0.000,4,0.000,0.050,3085,3755,1933,0,0,0,0,0,0
$GC,3647,0.88,251.7,154.5,15.1,380,3650,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2683,1932,0,0,0,0,0,0
$GC,3788,0.88,251.7,135.3,13.4,393,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2682,1933,0,0,0,0,0,0
$GC,3914,0.88,251.7,118.0,13.9,405,3918,0.00,1.77,0.00,0.000,4,0.000,0.049,3094,3762,1933,0,0,0,0,0,0
$GC,3963,0.88,251.7,110.2,15.9,409,3970,0.00,1.62,0.00,0.000,6,0.000,0.031,3103,2729,1932,0,0,0,0,0,0
$GC,4101,0.88,251.7,90.3,14.4,427,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2730,1932,0,0,0,0,0,0
$GC,4244,0.88,251.7,69.6,14.0,452,4251,0.00,1.70,0.00,0.000,4,0.000,0.050,3102,3762,1932,0,0,0,0,0,0
$GC,4274,0.88,251.7,64.8,15.4,457,4281,0.00,1.62,0.00,0.000,6,0.000,0.032,3111,2737,1931,0,0,0,0,0,0
$GC,4418,0.88,251.7,43.3,15.0,482,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2737,1932,0,0,0,0,0,0
$GC,4559,0.88,251.7,21.7,14.5,507,4566,0.00,1.67,0.00,0.000,4,0.000,0.050,3111,3755,1932,0,0,0,0,0,0
$GC,4613,0.88,251.7,12.9,16.4,516,4620,0.10,1.60,0.00,0.000,6,0.135,0.031,3083,2743,1932,0,0,0,0,0,0
$FREEZE,8.69,-0.204,-1.898,2,1,0
$FREEZE,7.98,-0.196,-1.898,2,1,0
$FREEZE,7.32,-0.198,-1.897,2,1,0
$FREEZE,6.61,-0.194,-1.897,2,1,0
$FREEZE,5.94,-0.189,-1.896,2,1,0
$FREEZE,5.34,-0.190,-1.896,2,1,0
$FREEZE,4.44,-0.189,-1.895,2,1,0
$FREEZE,3.81,-0.190,-1.895,2,1,0
$FREEZE,3.25,-0.189,-1.894,2,1,0
$FREEZE,2.45,-0.189,-1.894,2,1,0
$STATE,4685,end climb,SURFACE_DEPTH_REACHED
$STATE,4685,begin surface coast
$FREEZE,1.47,-0.187,-1.893,2,1,0
$FREEZE,1.08,-0.191,-1.893,2,1,0
$FREEZE,0.18,-0.192,-1.892,2,1,0
$FREEZE,-0.06,-0.315,-1.790,2,1,0
$FINISH,-0.1,1.026249
$STATE,4708,end surface coast,CONTROL_FINISHED_OK
$STATE,4708,begin surface
$SM_CCo,4726,32.67,0.101,0,0,1654,320.11
$SM_GC,0.82,0.00,0.00,32.67,0.000,0.000,0.101,178,2790,1654,-8.20,0.25,320.11
$IRIDIUM_FIX,-7612.11,17525.19,070111,090933
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.4
$ALTIM_BOTTOM_PING,301.3,49.5
$24V_AH,22.2,62.144
$10V_AH,9.8,24.290
$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,18.250,28.400,397.100,32.675,0.000,28.445,40.276,142.818,1.250,0.000,12.078,1300.613,2014.401,480.073,1111.913,198.377,0.000,1017.403,0.000,858.377,0.000,11.822,0.000
$DEVICE_MAMPS,208.845,113.220,950.130,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.726,707.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,33660,533
$CAP_FILE_SIZE,71395,0
$CFSIZE,260165632,224088064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.111,100.7,1
$GPS,070111,124307,-7654.345,17536.883,41,0.9,41,125.9