version: 66.08
glider: 503
mission: 7
dive: 615
start: 1 7 111 12 49 12
data:
$ID,503
$MISSION,7
$DIVE,615
$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,-20284.207
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,070111,124307,-7654.345,17536.883,41,0.9,41,125.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-72.4
$GPS2,070111,124844,-7654.325,17536.982,10,1.7,10,125.9
$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,323.3,34826,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,114,0.00,0.00,-94.10,0.000,2,0.000,0.000,177,2791,3569,0,0,0,0,0,0
$GC,118,-0.84,-219.0,4.1,-10.2,16,140,8.95,1.62,-5.45,0.000,4,0.210,0.063,2512,3764,3856,0,0,0,0,0,0
$GC,308,-0.84,-219.0,50.0,-19.0,49,314,0.00,1.55,0.00,0.000,6,0.000,0.030,2512,2776,3859,0,0,0,0,0,0
$GC,451,-0.84,-219.0,76.3,-19.1,74,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3859,0,0,0,0,0,0
$GC,594,-0.84,-219.0,101.9,-17.4,98,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3859,0,0,0,0,0,0
$GC,721,-0.84,-219.0,124.7,-18.0,110,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3860,0,0,0,0,0,0
$GC,849,-0.84,-219.0,147.1,-17.1,122,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3860,0,0,0,0,0,0
$GC,976,-0.84,-219.0,169.6,-17.8,134,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3860,0,0,0,0,0,0
$GC,1103,-0.84,-219.0,192.0,-17.8,146,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3860,0,0,0,0,0,0
$GC,1231,-0.84,-219.0,214.7,-17.6,158,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3860,0,0,0,0,0,0
$GC,1358,-0.84,-219.0,237.3,-18.0,170,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3860,0,0,0,0,0,0
$GC,1485,-0.84,-219.0,259.5,-17.3,182,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3861,0,0,0,0,0,0
$GC,1677,-0.84,-219.0,293.1,-17.8,200,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2775,3860,0,0,0,0,0,0
$GC,1868,-0.84,-219.0,326.2,-17.0,218,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2776,3861,0,0,0,0,0,0
$STATE,1940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1940,begin apogee
$GC,1947,-0.16,0.0,339.0,17.1,225,2129,0.70,0.00,174.75,0.952,4,0.121,0.000,2743,2685,2959,0,0,0,0,0,0
$STATE,2129,end apogee,CONTROL_FINISHED_OK
$STATE,2129,begin climb
$GC,2132,0.84,219.0,348.4,0.0,241,2332,1.00,2.35,191.27,0.897,4,0.074,0.032,3075,1313,2067,0,0,0,0,0,0
$GC,2457,0.88,255.0,322.5,11.9,270,2496,0.00,2.40,32.97,0.860,6,0.000,0.040,3075,2695,1920,0,0,0,0,0,0
$GC,2690,0.88,255.7,292.1,13.3,291,2695,0.00,2.28,0.00,0.000,4,0.000,0.033,3085,1318,1915,0,0,0,0,0,0
$GC,2849,0.89,264.2,271.5,13.0,304,2867,0.00,2.30,8.27,0.789,6,0.000,0.040,3085,2708,1883,0,0,0,0,0,0
$GC,3060,0.89,264.2,242.6,14.0,324,3064,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3767,1881,0,0,0,0,0,0
$GC,3107,0.89,264.2,235.1,15.5,328,3111,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2708,1882,0,0,0,0,0,0
$GC,3247,0.89,264.2,214.1,14.6,341,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2708,1881,0,0,0,0,0,0
$GC,3374,0.89,264.2,195.7,14.5,353,3378,0.00,1.75,0.00,0.000,4,0.000,0.049,3094,3761,1881,0,0,0,0,0,0
$GC,3402,0.89,264.2,191.2,15.9,355,3410,0.00,1.67,0.00,0.000,6,0.000,0.031,3102,2711,1880,0,0,0,0,0,0
$GC,3537,0.89,264.2,171.0,14.7,368,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2710,1880,0,0,0,0,0,0
$GC,3664,0.89,264.2,152.3,14.9,380,3668,0.00,1.73,0.00,0.000,4,0.000,0.050,3102,3753,1880,0,0,0,0,0,0
$GC,3715,0.89,264.2,143.8,17.0,384,3721,0.00,1.62,0.00,0.000,6,0.000,0.031,3110,2728,1880,0,0,0,0,0,0
$GC,3849,0.89,264.2,123.2,15.6,397,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2727,1880,0,0,0,0,0,0
$GC,3976,0.89,264.2,104.0,14.9,409,3980,0.00,1.65,0.00,0.000,4,0.000,0.050,3110,3761,1880,0,0,0,0,0,0
$GC,4017,0.89,264.2,97.3,17.4,413,4024,0.08,1.62,0.00,0.000,6,0.146,0.032,3091,2738,1879,0,0,0,0,0,0
$GC,4160,0.91,276.1,77.4,12.8,438,4174,0.00,0.00,11.98,0.786,6,0.000,0.000,3091,2738,1833,0,0,0,0,0,0
$GC,4312,0.91,280.3,57.3,13.2,464,4319,0.00,0.00,5.45,0.676,6,0.000,0.000,3091,2738,1816,0,0,0,0,0,0
$GC,4454,0.91,280.3,37.9,13.9,489,4460,0.00,1.67,0.00,0.000,4,0.000,0.050,3090,3752,1817,0,0,0,0,0,0
$GC,4479,0.91,280.3,34.3,14.4,493,4487,0.00,1.58,0.00,0.000,6,0.000,0.031,3097,2743,1816,0,0,1,0,0,0
$GC,4622,0.91,280.3,13.8,14.3,518,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2743,1817,0,0,0,0,0,0
$FREEZE,8.45,-0.220,-1.898,2,1,0
$FREEZE,7.70,-0.203,-1.897,2,1,0
$FREEZE,6.87,-0.202,-1.897,2,1,0
$FREEZE,6.09,-0.200,-1.896,2,1,0
$FREEZE,5.37,-0.199,-1.896,2,1,0
$FREEZE,4.70,-0.201,-1.895,2,1,0
$FREEZE,3.91,-0.203,-1.895,2,1,0
$FREEZE,3.18,-0.201,-1.894,2,1,0
$FREEZE,2.51,-0.199,-1.894,2,1,0
$STATE,4698,end climb,SURFACE_DEPTH_REACHED
$STATE,4699,begin surface coast
$FREEZE,1.59,-0.198,-1.893,2,1,0
$FREEZE,0.97,-0.201,-1.892,2,1,0
$FREEZE,0.04,-0.429,-1.905,2,1,0
$FREEZE,-0.15,-0.279,-1.068,2,1,0
$FINISH,-0.1,1.015797
$STATE,4723,end surface coast,CONTROL_FINISHED_OK
$STATE,4723,begin surface
$SM_CCo,4740,19.20,0.103,0,0,1655,320.11
$SM_GC,0.69,0.00,0.00,19.20,0.000,0.000,0.103,183,2742,1655,-8.18,-1.07,320.11
$IRIDIUM_FIX,-7612.11,17525.19,070111,111116
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.7
$ALTIM_BOTTOM_PING,300.5,51.6
$24V_AH,22.2,62.265
$10V_AH,9.8,24.334
$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,18.400,29.225,424.700,19.200,0.000,31.060,39.027,145.725,1.000,0.000,12.669,1305.842,1976.564,473.110,1152.996,199.716,0.000,1028.377,0.000,891.576,0.000,8.886,0.000
$DEVICE_MAMPS,209.610,100.215,952.425,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.628,708.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,33800,536
$CAP_FILE_SIZE,71987,0
$CFSIZE,260165632,224047104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.104, 73.8,1
$GPS,070111,140931,-7654.232,17541.404,7,1.1,18,125.8