version: 66.08
glider: 503
mission: 7
dive: 616
start: 1 7 111 14 15 30
data:
$ID,503
$MISSION,7
$DIVE,616
$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,-20285.463
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,070111,140931,-7654.232,17541.404,7,1.1,18,125.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.2
$GPS2,070111,141502,-7654.196,17541.510,13,1.5,13,125.8
$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,332.4,32939,-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,-219.0,0.0,0.0,0,114,0.00,0.00,-94.00,0.000,2,0.000,0.000,179,2742,3579,0,0,0,0,0,0
$GC,118,-0.84,-219.0,4.2,-11.2,16,139,8.90,1.70,-5.20,0.000,4,0.208,0.061,2513,3773,3856,0,0,1,0,0,0
$GC,364,-0.84,-219.0,59.7,-19.0,59,371,0.00,1.58,0.00,0.000,6,0.000,0.028,2513,2767,3859,0,0,0,0,0,0
$GC,505,-0.84,-219.0,85.7,-18.0,84,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2767,3860,0,0,0,0,0,0
$GC,649,-0.84,-219.0,112.1,-18.3,104,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2767,3860,0,0,0,0,0,0
$GC,777,-0.84,-219.0,135.2,-18.0,116,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2766,3860,0,0,0,0,0,0
$GC,904,-0.84,-219.0,157.9,-17.6,128,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2767,3860,0,0,0,0,0,0
$GC,1031,-0.84,-219.0,180.1,-17.2,140,1035,0.00,1.62,0.00,0.000,4,0.000,0.049,2506,3774,3860,0,0,0,0,0,0
$GC,1070,-0.84,-219.0,187.4,-18.8,143,1077,0.00,1.52,0.00,0.000,6,0.000,0.029,2506,2795,3860,0,0,0,0,0,0
$GC,1205,-0.84,-219.0,211.2,-18.0,156,1209,0.00,2.20,0.00,0.000,4,0.000,0.031,2505,1375,3861,0,0,0,0,0,0
$GC,1234,-0.84,-219.0,216.5,-18.2,158,1239,0.12,2.28,0.00,0.000,6,0.155,0.044,2530,2785,3861,0,0,0,0,0,0
$GC,1368,-0.84,-219.0,237.7,-15.7,170,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2785,3860,0,0,0,0,0,0
$GC,1495,-0.84,-219.0,257.4,-15.4,182,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2785,3860,0,0,0,0,0,0
$GC,1689,-0.84,-219.0,287.3,-15.9,200,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2785,3860,0,0,0,0,0,0
$GC,1890,-0.84,-219.0,318.4,-15.3,219,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2784,3860,0,0,0,0,0,0
$STATE,1992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1992,begin apogee
$GC,1998,-0.16,0.0,334.4,15.5,229,2178,0.62,0.00,174.77,0.946,4,0.115,0.000,2741,2680,2959,0,0,0,0,0,0
$STATE,2179,end apogee,CONTROL_FINISHED_OK
$STATE,2179,begin climb
$GC,2181,0.84,219.0,344.3,0.0,245,2381,1.00,2.33,191.12,0.895,4,0.075,0.031,3072,1320,2067,0,0,0,0,0,0
$GC,2544,0.87,248.0,314.1,12.1,277,2576,0.00,2.35,26.77,0.858,6,0.000,0.039,3072,2708,1948,0,0,1,0,0,0
$GC,2776,0.88,251.7,283.6,13.2,299,2788,0.00,2.33,3.80,0.575,4,0.000,0.033,3083,1326,1934,0,0,1,0,0,0
$GC,2937,0.91,280.8,263.4,12.1,313,2972,0.00,2.28,27.55,0.864,6,0.000,0.041,3083,2709,1816,0,0,0,0,0,0
$GC,3163,0.91,280.8,231.4,14.4,334,3166,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3764,1812,0,0,0,0,0,0
$GC,3212,0.91,280.8,223.1,16.4,338,3219,0.00,1.65,0.00,0.000,6,0.000,0.029,3091,2731,1812,0,0,0,0,0,0
$GC,3347,0.91,280.8,203.1,15.1,351,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2730,1812,0,0,0,0,0,0
$GC,3474,0.91,280.8,184.6,14.4,363,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2730,1811,0,0,0,0,0,0
$GC,3601,0.91,280.8,166.3,14.1,375,3605,0.00,1.70,0.00,0.000,4,0.000,0.048,3091,3758,1811,0,0,0,0,0,0
$GC,3637,0.91,280.8,160.8,16.1,378,3641,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2721,1811,0,0,0,0,0,0
$GC,3777,0.91,280.8,139.6,14.7,391,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2719,1811,0,0,0,0,0,0
$GC,3905,0.91,280.8,120.3,15.2,403,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2720,1810,0,0,0,0,0,0
$GC,4033,0.91,280.8,101.1,15.2,415,4036,0.00,1.70,0.00,0.000,4,0.000,0.050,3099,3753,1810,0,0,0,0,0,0
$GC,4073,0.91,280.8,94.4,17.1,421,4081,0.00,1.62,0.00,0.000,6,0.000,0.031,3107,2722,1810,0,0,0,0,0,0
$GC,4220,0.91,280.8,71.6,15.8,446,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2722,1810,0,0,0,0,0,0
$GC,4362,0.91,280.8,49.1,15.1,471,4369,0.00,1.70,0.00,0.000,4,0.000,0.050,3107,3758,1810,0,0,0,0,0,0
$GC,4392,0.91,280.8,44.1,16.7,476,4399,0.00,1.62,0.00,0.000,6,0.000,0.031,3115,2731,1809,0,0,0,0,0,0
$GC,4533,0.91,280.8,22.0,16.2,501,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2731,1809,0,0,0,0,0,0
$FREEZE,8.13,-0.223,-1.897,2,1,0
$FREEZE,7.27,-0.224,-1.897,2,1,0
$FREEZE,6.46,-0.223,-1.896,2,1,0
$FREEZE,5.63,-0.224,-1.896,2,1,0
$FREEZE,4.79,-0.223,-1.895,2,1,0
$FREEZE,3.83,-0.224,-1.894,2,1,0
$FREEZE,2.96,-0.225,-1.894,2,1,0
$STATE,4646,end climb,SURFACE_DEPTH_REACHED
$STATE,4646,begin surface coast
$FREEZE,1.82,-0.225,-1.893,2,1,0
$FREEZE,0.99,-0.225,-1.892,2,1,0
$FREEZE,-0.04,-0.228,-1.891,2,1,0
$FINISH,-0.0,1.027684
$STATE,4664,end surface coast,CONTROL_FINISHED_OK
$STATE,4664,begin surface
$SM_CCo,4682,18.12,0.103,0,0,1655,320.11
$SM_GC,0.64,0.00,0.00,18.12,0.000,0.000,0.103,176,2786,1655,-8.20,0.17,320.11
$IRIDIUM_FIX,-7603.11,17421.11,070111,121259
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.4
$ALTIM_BOTTOM_PING,300.4,47.5
$24V_AH,22.2,62.385
$10V_AH,9.9,24.377
$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,18.350,33.700,424.025,18.125,0.000,30.602,35.248,140.797,1.250,0.000,16.306,1273.578,1949.057,484.279,1136.676,199.193,0.000,1038.000,0.000,881.479,0.000,11.817,0.000
$DEVICE_MAMPS,208.080,117.045,945.540,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.916,688.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258152
$DATA_FILE_SIZE,33711,524
$CAP_FILE_SIZE,71100,0
$CFSIZE,260165632,224006144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.129, 47.6,1
$GPS,070111,153507,-7654.232,17545.596,35,1.4,35,125.7