version: 66.08
glider: 503
mission: 7
dive: 617
start: 1 7 111 15 41 12
data:
$ID,503
$MISSION,7
$DIVE,617
$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,-20286.721
$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,45
$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
$GPS1,070111,153507,-7654.232,17545.596,35,1.4,35,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-71.3
$GPS2,070111,154044,-7654.203,17545.660,12,1.6,12,125.7
$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,342.5,31201,-18.2,-13.333
$D_GRID,376
$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,15,begin dive
$GC,17,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-89.65,0.000,2,0.000,0.000,175,2786,3429,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.2,-6.3,15,141,8.98,1.60,-8.98,0.000,4,0.210,0.066,2513,3751,3856,0,0,0,0,0,0
$GC,227,-0.84,-219.0,30.7,-19.3,34,234,0.00,1.52,0.00,0.000,6,0.000,0.029,2514,2776,3858,0,0,0,0,0,0
$GC,371,-0.84,-219.0,57.7,-18.8,59,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3858,0,0,0,0,0,0
$GC,513,-0.84,-219.0,83.3,-18.2,84,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3859,0,0,0,0,0,0
$GC,656,-0.84,-219.0,109.9,-18.4,105,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3859,0,0,0,0,0,0
$GC,784,-0.84,-219.0,133.0,-18.0,117,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,911,-0.84,-219.0,155.7,-17.6,129,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3859,0,0,0,0,0,0
$GC,1039,-0.84,-219.0,178.1,-17.2,141,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3859,0,0,0,0,0,0
$GC,1167,-0.84,-219.0,200.0,-16.7,153,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3860,0,0,0,0,0,0
$GC,1294,-0.84,-219.0,222.3,-17.5,165,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3859,0,0,0,0,0,0
$GC,1421,-0.84,-219.0,244.2,-17.2,177,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3859,0,0,0,0,0,0
$GC,1549,-0.84,-219.0,266.5,-17.7,189,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3859,0,0,0,0,0,0
$GC,1740,-0.84,-219.0,299.8,-17.5,207,1746,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3750,3859,0,0,0,0,0,0
$GC,1776,-0.84,-219.0,306.1,-18.1,210,1780,0.00,1.50,0.00,0.000,6,0.000,0.030,2506,2788,3859,0,0,0,0,0,0
$STATE,1924,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1924,begin apogee
$GC,1931,-0.16,0.0,332.3,16.3,224,2112,0.73,0.00,174.07,0.949,4,0.122,0.000,2745,2687,2960,0,0,0,0,0,0
$STATE,2113,end apogee,CONTROL_FINISHED_OK
$STATE,2113,begin climb
$GC,2116,0.84,219.0,341.8,0.0,240,2321,0.98,2.38,191.05,0.894,4,0.073,0.033,3069,1311,2066,0,0,0,0,0,0
$GC,2340,0.89,257.7,327.4,11.7,259,2384,0.00,2.47,36.70,0.856,6,0.000,0.039,3069,2699,1909,0,0,0,0,0,0
$GC,2583,0.89,260.2,295.7,13.2,282,2587,0.00,1.80,0.00,0.000,4,0.000,0.049,3069,3769,1901,0,0,0,0,0,0
$GC,2641,0.89,260.2,287.3,14.9,287,2645,0.00,1.67,0.00,0.000,6,0.000,0.029,3078,2711,1900,0,0,1,0,0,0
$GC,2845,0.89,260.2,258.9,14.3,306,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2710,1898,0,0,0,0,0,0
$GC,3036,0.89,260.2,232.3,14.0,324,3039,0.00,1.73,0.00,0.000,4,0.000,0.049,3078,3772,1897,0,0,0,0,0,0
$GC,3074,0.89,260.2,226.2,15.2,327,3081,0.00,1.67,0.00,0.000,6,0.000,0.029,3085,2708,1897,0,0,1,0,0,0
$GC,3209,0.89,260.2,207.2,14.0,340,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2708,1897,0,0,0,0,0,0
$GC,3336,0.89,260.2,189.6,13.6,352,3340,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3766,1897,0,0,0,0,0,0
$GC,3371,0.89,260.2,184.5,15.5,355,3375,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2701,1897,0,0,0,0,0,0
$GC,3511,0.89,260.2,164.2,14.5,368,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2701,1896,0,0,0,0,0,0
$GC,3638,0.89,260.2,146.1,13.9,380,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2701,1896,0,0,0,0,0,0
$GC,3766,0.89,260.2,128.0,14.7,392,3770,0.00,1.70,0.00,0.000,4,0.000,0.049,3094,3765,1896,0,0,0,0,0,0
$GC,3804,0.89,260.2,121.5,16.4,395,3811,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2723,1896,0,0,0,0,0,0
$GC,3939,0.89,260.2,101.9,14.2,408,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2723,1896,0,0,0,0,0,0
$GC,4074,0.89,260.2,82.7,14.0,430,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2723,1896,0,0,0,0,0,0
$GC,4214,0.89,260.2,62.0,14.3,455,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2723,1895,0,0,0,0,0,0
$GC,4355,0.89,260.2,41.6,14.4,480,4362,0.00,1.70,0.00,0.000,4,0.000,0.049,3102,3761,1895,0,0,0,0,0,0
$GC,4402,0.89,260.2,34.4,15.6,488,4409,0.00,1.62,0.00,0.000,6,0.000,0.031,3110,2731,1894,0,0,0,0,0,0
$GC,4546,0.89,260.2,12.7,15.5,513,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2731,1895,0,0,0,0,0,0
$FREEZE,8.20,-0.273,-1.898,2,1,0
$FREEZE,7.38,-0.276,-1.897,2,1,0
$FREEZE,6.51,-0.273,-1.897,2,1,0
$FREEZE,5.58,-0.270,-1.896,2,1,0
$FREEZE,4.54,-0.271,-1.895,2,1,0
$FREEZE,3.94,-0.271,-1.895,2,1,0
$FREEZE,3.20,-0.270,-1.894,2,1,0
$FREEZE,2.38,-0.268,-1.894,2,1,0
$STATE,4607,end climb,SURFACE_DEPTH_REACHED
$STATE,4607,begin surface coast
$FREEZE,1.52,-0.267,-1.893,2,1,0
$FREEZE,0.99,-0.266,-1.892,2,1,0
$FREEZE,-0.08,-0.270,-1.892,2,1,0
$FREEZE,-0.08,-0.467,-0.994,2,1,0
$FINISH,-0.1,1.014698
$STATE,4631,end surface coast,CONTROL_FINISHED_OK
$STATE,4631,begin surface
$SM_CCo,4649,28.38,0.101,0,0,1655,320.11
$SM_GC,1.05,0.00,0.00,28.38,0.000,0.000,0.101,184,2799,1655,-8.18,0.57,320.11
$IRIDIUM_FIX,-7603.11,17534.62,070111,141423
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.7
$ALTIM_BOTTOM_PING,300.8,45.2
$24V_AH,22.2,62.500
$10V_AH,9.9,24.420
$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,18.375,28.175,401.825,28.375,0.000,27.985,41.696,140.952,1.000,0.000,15.513,1282.812,1959.076,476.857,1107.502,200.999,0.000,1016.372,0.000,851.900,0.000,8.866,0.000
$DEVICE_MAMPS,209.610,100.215,948.600,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.221,704.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258236
$DATA_FILE_SIZE,33762,528
$CAP_FILE_SIZE,70076,0
$CFSIZE,260165632,223965184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.140, 43.4,1
$GPS,070111,170036,-7654.240,17550.100,34,1.0,44,125.6