version: 66.08
glider: 503
mission: 7
dive: 624
start: 1 8 111 1 38 13
data:
$ID,503
$MISSION,7
$DIVE,624
$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,-20297.127
$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,29
$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
$GPS1,080111,012706,-7654.617,17606.957,43,0.9,43,125.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.4
$GPS2,080111,013744,-7654.588,17606.805,12,1.0,12,125.2
$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,337.1,22314,-18.2,-13.333
$D_GRID,416
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-93.85,0.000,2,0.000,0.000,181,2776,3568,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.0,-10.2,16,137,8.82,1.65,-5.50,0.000,4,0.203,0.063,2516,3767,3856,0,0,1,0,0,0
$GC,288,-0.84,-219.0,45.5,-18.2,46,295,0.00,1.55,0.00,0.000,6,0.000,0.028,2516,2775,3859,0,0,0,0,0,0
$GC,431,-0.84,-219.0,71.2,-17.6,71,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3859,0,0,0,0,0,0
$GC,574,-0.84,-219.0,96.4,-17.5,96,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3860,0,0,0,0,0,0
$GC,710,-0.84,-219.0,120.4,-17.4,110,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3860,0,0,0,0,0,0
$GC,838,-0.84,-219.0,142.3,-17.1,122,842,0.00,2.17,0.00,0.000,4,0.000,0.031,2516,1368,3860,0,0,0,0,0,0
$GC,870,-0.84,-219.0,148.3,-16.7,124,877,0.00,2.28,0.00,0.000,6,0.000,0.043,2506,2779,3860,0,0,0,0,0,0
$GC,1004,-0.84,-219.0,171.5,-17.8,137,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2779,3860,0,0,0,0,0,0
$GC,1133,-0.84,-219.0,194.2,-17.6,149,1136,0.00,1.58,0.00,0.000,4,0.000,0.049,2497,3761,3860,0,0,0,0,0,0
$GC,1167,-0.84,-219.0,200.8,-19.6,152,1172,0.08,1.52,0.00,0.000,6,0.142,0.031,2524,2781,3860,0,0,0,0,0,0
$GC,1307,-0.84,-219.0,223.7,-15.9,165,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2782,3860,0,0,0,0,0,0
$GC,1435,-0.84,-219.0,244.4,-16.1,177,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2782,3860,0,0,0,0,0,0
$GC,1562,-0.84,-219.0,265.1,-16.3,189,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2782,3860,0,0,0,0,0,0
$GC,1754,-0.84,-219.0,295.4,-16.1,207,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2782,3860,0,0,0,0,0,0
$STATE,1932,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1932,begin apogee
$GC,1939,-0.16,0.0,324.3,16.1,224,2118,0.65,0.00,174.05,0.943,4,0.117,0.000,2743,2692,2959,0,0,0,0,0,0
$STATE,2119,end apogee,CONTROL_FINISHED_OK
$STATE,2119,begin climb
$GC,2122,0.84,219.0,333.7,0.0,240,2327,1.00,2.38,191.00,0.889,4,0.073,0.032,3075,1306,2066,0,0,0,0,0,0
$GC,2519,0.88,252.8,299.6,11.9,275,2557,0.00,2.38,30.90,0.853,6,0.000,0.041,3075,2700,1928,0,0,0,0,0,0
$GC,2757,0.89,259.1,268.0,13.1,297,2769,0.00,2.35,6.53,0.734,4,0.000,0.034,3085,1308,1902,0,0,1,0,0,0
$GC,2909,0.89,259.1,248.4,13.6,310,2916,0.00,2.33,0.00,0.000,6,0.000,0.042,3085,2709,1901,0,0,0,0,0,0
$GC,3045,0.89,259.1,229.7,14.2,323,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2709,1900,0,0,0,0,0,0
$GC,3171,0.89,259.1,211.1,14.6,335,3174,0.00,1.67,0.00,0.000,4,0.000,0.049,3085,3759,1900,0,0,0,0,0,0
$GC,3228,0.89,259.1,201.9,16.0,340,3232,0.00,1.62,0.00,0.000,6,0.000,0.031,3094,2693,1899,0,0,1,0,0,0
$GC,3369,0.89,259.1,181.1,14.6,353,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2692,1899,0,0,0,0,0,0
$GC,3496,0.89,259.1,162.7,14.2,365,3499,0.00,1.73,0.00,0.000,4,0.000,0.049,3094,3766,1899,0,0,0,0,0,0
$GC,3545,0.89,259.1,154.5,16.3,369,3552,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2720,1899,0,0,0,0,0,0
$GC,3680,0.89,259.1,134.2,15.1,382,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2719,1899,0,0,0,0,0,0
$GC,3807,0.89,259.1,115.0,15.0,394,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2719,1898,0,0,0,0,0,0
$GC,3936,0.89,259.1,95.2,16.1,408,3943,0.00,1.70,0.00,0.000,4,0.000,0.049,3102,3755,1898,0,0,0,0,0,0
$GC,3973,0.89,259.1,89.2,17.2,414,3980,0.00,1.62,0.00,0.000,6,0.000,0.031,3110,2726,1898,0,0,0,0,0,0
$GC,4117,0.89,259.1,66.9,14.4,439,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2726,1898,0,0,0,0,0,0
$GC,4261,0.89,259.1,44.3,15.7,464,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2726,1898,0,0,0,0,0,0
$GC,4401,0.89,259.1,23.1,15.9,489,4408,0.00,1.67,0.00,0.000,4,0.000,0.049,3110,3750,1897,0,0,0,0,0,0
$GC,4453,0.89,259.1,14.3,17.1,498,4460,0.08,1.60,0.00,0.000,6,0.144,0.031,3092,2733,1897,0,0,0,0,0,0
$FREEZE,8.56,0.043,-1.899,2,1,0
$FREEZE,7.72,0.051,-1.899,2,1,0
$FREEZE,6.90,0.068,-1.898,2,1,0
$FREEZE,6.14,0.067,-1.898,2,1,0
$FREEZE,5.44,0.073,-1.897,2,1,0
$FREEZE,4.63,0.073,-1.897,2,1,0
$FREEZE,3.92,0.070,-1.896,2,1,0
$FREEZE,3.21,0.069,-1.896,2,1,0
$FREEZE,2.53,0.065,-1.895,2,1,0
$STATE,4533,end climb,SURFACE_DEPTH_REACHED
$STATE,4533,begin surface coast
$FREEZE,1.21,0.068,-1.894,2,1,0
$FREEZE,0.32,0.065,-1.893,2,1,0
$FREEZE,0.10,0.062,-1.893,2,1,0
$FREEZE,0.00,0.015,-1.024,2,1,0
$FINISH,0.0,1.015137
$STATE,4556,end surface coast,CONTROL_FINISHED_OK
$STATE,4556,begin surface
$SM_CCo,4574,28.77,0.102,0,0,1655,320.11
$SM_GC,0.94,0.00,0.00,28.77,0.000,0.000,0.102,175,2787,1655,-8.21,0.20,320.11
$IRIDIUM_FIX,-7612.11,17621.27,080111,010127
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,300.5,38.7
$24V_AH,22.2,63.340
$10V_AH,9.8,24.724
$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,18.250,33.600,402.475,28.775,0.000,57.426,84.307,276.880,1.000,0.000,14.719,1260.469,1942.474,483.397,1349.594,218.873,0.000,1026.990,0.000,872.517,0.000,8.850,0.000
$DEVICE_MAMPS,203.490,115.515,943.245,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.336,687.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,33671,516
$CAP_FILE_SIZE,74156,0
$CFSIZE,260165632,223674368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.087,247.3,1
$GPS,080111,025606,-7654.843,17608.918,17,1.2,28,125.2