version: 66.08
glider: 503
mission: 7
dive: 620
start: 1 7 111 19 56 37
data:
$ID,503
$MISSION,7
$DIVE,620
$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,-20290.49
$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,35
$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
$GPS1,070111,195036,-7654.281,17557.053,35,0.9,41,125.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.9
$GPS2,070111,195608,-7654.247,17557.111,11,1.3,11,125.4
$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,351.2,26402,-18.2,-13.333
$D_GRID,396
$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,-219.0,0.0,0.0,0,112,0.00,0.00,-92.38,0.000,2,0.000,0.000,175,2790,3511,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.6,-8.1,16,137,8.93,1.62,-6.90,0.000,4,0.207,0.063,2515,3764,3856,0,0,0,0,0,0
$GC,327,-0.84,-219.0,50.9,-17.9,53,334,0.00,1.55,0.00,0.000,6,0.000,0.029,2515,2776,3859,0,0,0,0,0,0
$GC,470,-0.84,-219.0,76.2,-17.9,78,478,0.00,2.20,0.00,0.000,4,0.000,0.031,2515,1369,3860,0,0,0,0,0,0
$GC,496,-0.84,-219.0,81.1,-17.6,82,504,0.00,2.28,0.00,0.000,6,0.000,0.043,2504,2773,3861,0,0,0,0,0,0
$GC,638,-0.84,-219.0,106.9,-18.5,104,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2772,3861,0,0,0,0,0,0
$GC,765,-0.84,-219.0,130.6,-18.3,116,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2772,3861,0,0,0,0,0,0
$GC,892,-0.84,-219.0,153.5,-17.5,128,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3860,0,0,0,0,0,0
$GC,1019,-0.84,-219.0,176.4,-17.7,140,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3861,0,0,0,0,0,0
$GC,1149,-0.84,-219.0,200.1,-18.6,152,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3861,0,0,0,0,0,0
$GC,1274,-0.84,-219.0,223.2,-18.0,164,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3860,0,0,0,0,0,0
$GC,1401,-0.84,-219.0,246.3,-18.2,176,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3861,0,0,0,0,0,0
$GC,1529,-0.84,-219.0,269.0,-17.6,188,1533,0.00,1.60,0.00,0.000,4,0.000,0.050,2497,3766,3861,0,0,0,0,0,0
$GC,1568,-0.84,-219.0,276.6,-18.4,191,1575,0.08,1.52,0.00,0.000,6,0.142,0.030,2523,2780,3861,0,0,0,0,0,0
$GC,1767,-0.84,-219.0,308.8,-16.5,210,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2780,3861,0,0,0,0,0,0
$STATE,1891,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1891,begin apogee
$GC,1898,-0.16,0.0,329.2,15.9,222,2079,0.65,0.00,174.50,0.946,4,0.119,0.000,2741,2689,2960,0,0,0,0,0,0
$STATE,2080,end apogee,CONTROL_FINISHED_OK
$STATE,2080,begin climb
$GC,2083,0.84,219.0,338.7,0.0,238,2287,1.00,2.38,191.12,0.890,4,0.075,0.032,3072,1312,2066,0,0,0,0,0,0
$GC,2317,0.91,274.3,324.8,11.1,258,2380,0.00,2.45,51.92,0.862,6,0.000,0.040,3072,2697,1841,0,0,1,0,0,0
$GC,2571,0.91,274.3,290.8,13.5,282,2575,0.00,1.80,0.00,0.000,4,0.000,0.047,3072,3769,1835,0,0,0,0,0,0
$GC,2618,0.91,274.3,283.7,14.7,286,2622,0.00,1.67,0.00,0.000,6,0.000,0.028,3080,2712,1834,0,0,1,0,0,0
$GC,2822,0.91,274.3,254.3,14.3,305,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2711,1833,0,0,0,0,0,0
$GC,3013,0.91,274.3,227.4,13.8,323,3017,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3765,1833,0,0,0,0,0,0
$GC,3063,0.91,274.3,219.5,15.5,327,3070,0.00,1.67,0.00,0.000,6,0.000,0.030,3087,2713,1831,0,0,0,0,0,0
$GC,3197,0.91,274.3,200.3,14.3,340,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2713,1832,0,0,0,0,0,0
$GC,3325,0.91,274.3,182.0,14.2,352,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2713,1832,0,0,0,0,0,0
$GC,3452,0.91,274.3,163.6,14.5,364,3456,0.00,1.73,0.00,0.000,4,0.000,0.050,3087,3761,1831,0,0,0,0,0,0
$GC,3501,0.91,274.3,155.4,16.3,368,3508,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2721,1832,0,0,0,0,0,0
$GC,3636,0.91,274.3,135.2,14.9,381,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2721,1831,0,0,0,0,0,0
$GC,3763,0.91,274.3,116.4,14.4,393,3767,0.00,1.67,0.00,0.000,4,0.000,0.049,3095,3770,1831,0,0,0,0,0,0
$GC,3801,0.91,274.3,110.0,16.6,396,3809,0.00,1.65,0.00,0.000,6,0.000,0.031,3103,2725,1831,0,0,0,0,0,0
$GC,3938,0.91,274.3,89.5,14.2,415,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2726,1831,0,0,0,0,0,0
$GC,4081,0.91,274.3,68.5,14.0,440,4087,0.00,1.70,0.00,0.000,4,0.000,0.049,3104,3762,1831,0,0,0,0,0,0
$GC,4123,0.91,274.3,61.8,16.5,447,4130,0.00,1.62,0.00,0.000,6,0.000,0.031,3111,2734,1830,0,0,0,0,0,0
$GC,4266,0.91,274.3,39.9,15.6,472,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2734,1830,0,0,0,0,0,0
$GC,4405,0.91,274.3,17.9,16.5,497,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2734,1830,0,0,0,0,0,0
$FREEZE,8.47,-0.200,-1.899,2,1,0
$FREEZE,7.59,-0.201,-1.898,2,1,0
$FREEZE,6.79,-0.204,-1.897,2,1,0
$FREEZE,5.97,-0.196,-1.897,2,1,0
$FREEZE,5.04,-0.194,-1.896,2,1,0
$FREEZE,4.21,-0.183,-1.895,2,1,0
$FREEZE,3.46,-0.180,-1.895,2,1,0
$FREEZE,2.57,-0.181,-1.894,2,1,0
$STATE,4499,end climb,SURFACE_DEPTH_REACHED
$STATE,4499,begin surface coast
$FREEZE,1.66,-0.183,-1.893,2,1,0
$FREEZE,0.42,-0.176,-1.892,2,1,0
$FREEZE,-0.23,-0.200,-1.894,2,1,0
$FINISH,-0.2,1.027717
$STATE,4518,end surface coast,CONTROL_FINISHED_OK
$STATE,4518,begin surface
$SM_CCo,4535,21.02,0.103,0,0,1655,320.11
$SM_GC,0.93,0.00,0.00,21.02,0.000,0.000,0.103,183,2793,1655,-8.18,0.37,320.11
$IRIDIUM_FIX,-7612.11,17602.96,070111,181809
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.0
$ALTIM_BOTTOM_PING,300.2,43.6
$24V_AH,22.2,62.856
$10V_AH,9.9,24.550
$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,18.350,32.650,417.550,21.025,0.000,29.626,37.190,142.508,1.000,0.000,14.005,1245.918,1878.789,489.563,1093.352,194.469,0.000,1023.364,0.000,841.255,0.000,8.865,0.000
$DEVICE_MAMPS,207.315,103.275,946.305,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.904,688.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,33719,517
$CAP_FILE_SIZE,69345,0
$CFSIZE,260165632,223846400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.137,  6.2,1
$GPS,070111,211326,-7654.331,17600.379,11,1.4,11,125.3