version: 66.08
glider: 503
mission: 7
dive: 628
start: 1 8 111 7 12 22
data:
$ID,503
$MISSION,7
$DIVE,628
$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,-20302.162
$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,36
$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
$GPS1,080111,070552,-7655.379,17615.744,6,2.6,25,125.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.1
$GPS2,080111,071152,-7655.412,17615.768,10,2.6,29,125.0
$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,301.9,18560,-18.2,-13.333
$D_GRID,422
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-94.53,0.000,2,0.000,0.000,172,2788,3577,0,0,0,0,0,0
$GC,117,-0.84,-219.0,3.9,-9.5,16,139,8.93,2.30,-5.32,0.000,4,0.208,0.043,2521,1364,3857,0,0,1,0,0,0
$GC,389,-0.84,-219.0,59.3,-14.9,64,396,0.00,2.30,0.00,0.000,6,0.000,0.043,2510,2780,3860,0,0,0,0,0,0
$GC,531,-0.84,-219.0,84.3,-18.0,89,538,0.00,2.22,0.00,0.000,4,0.000,0.031,2510,1369,3860,0,0,0,0,0,0
$GC,590,-0.84,-219.0,94.7,-16.6,99,597,0.00,2.28,0.00,0.000,6,0.000,0.044,2500,2773,3860,0,0,0,0,0,0
$GC,728,-0.84,-219.0,120.0,-18.7,114,730,0.10,0.00,0.00,0.000,6,0.186,0.000,2526,2773,3860,0,0,0,0,0,0
$GC,854,-0.84,-219.0,141.6,-16.6,126,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2773,3860,0,0,0,0,0,0
$GC,982,-0.84,-219.0,162.9,-16.8,138,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2773,3861,0,0,0,0,0,0
$GC,1109,-0.84,-219.0,183.8,-16.0,150,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2773,3861,0,0,0,0,0,0
$GC,1237,-0.84,-219.0,204.2,-15.6,162,1241,0.00,1.60,0.00,0.000,4,0.000,0.049,2519,3767,3861,0,0,0,0,0,0
$GC,1276,-0.84,-219.0,211.0,-16.8,165,1282,0.00,1.55,0.00,0.000,6,0.000,0.029,2519,2767,3861,0,0,0,0,0,0
$GC,1411,-0.84,-219.0,232.4,-16.1,178,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2767,3861,0,0,0,0,0,0
$GC,1537,-0.84,-219.0,253.0,-15.9,190,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2767,3861,0,0,0,0,0,0
$GC,1728,-0.84,-219.0,284.1,-16.3,208,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2767,3861,0,0,0,0,0,0
$GC,1920,-0.84,-219.0,314.7,-15.4,226,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2767,3861,0,0,0,0,0,0
$STATE,2004,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2004,begin apogee
$GC,2010,-0.16,0.0,328.8,16.8,234,2191,0.68,0.00,174.52,0.946,4,0.119,0.000,2743,2694,2960,0,0,0,0,0,0
$STATE,2192,end apogee,CONTROL_FINISHED_OK
$STATE,2192,begin climb
$GC,2195,0.84,219.0,337.8,0.0,250,2399,1.00,2.38,191.07,0.892,4,0.073,0.032,3075,1307,2066,0,0,0,0,0,0
$GC,2591,0.86,240.3,302.7,12.5,285,2616,0.00,2.38,19.48,0.845,6,0.000,0.041,3075,2700,1980,0,0,0,0,0,0
$GC,2808,0.86,240.3,274.2,13.5,305,2812,0.00,2.28,0.00,0.000,4,0.000,0.034,3085,1309,1976,0,0,1,0,0,0
$GC,2950,0.86,240.3,255.1,13.4,317,2954,0.00,2.30,0.00,0.000,6,0.000,0.041,3085,2708,1975,0,0,0,0,0,0
$GC,3149,0.86,240.3,226.6,14.2,335,3153,0.00,1.67,0.00,0.000,4,0.000,0.049,3086,3763,1974,0,0,0,0,0,0
$GC,3210,0.86,240.3,216.9,15.4,340,3217,0.00,1.65,0.00,0.000,6,0.000,0.030,3094,2725,1974,0,0,0,0,0,0
$GC,3345,0.86,240.3,197.7,14.1,353,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2725,1974,0,0,0,0,0,0
$GC,3472,0.86,240.3,179.5,14.5,365,3475,0.00,1.67,0.00,0.000,4,0.000,0.048,3094,3769,1974,0,0,0,0,0,0
$GC,3499,0.86,240.3,174.9,16.8,367,3506,0.00,1.62,0.00,0.000,6,0.000,0.031,3102,2722,1973,0,0,1,0,0,0
$GC,3634,0.86,240.3,154.3,15.4,380,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2723,1973,0,0,0,0,0,0
$GC,3761,0.86,240.3,134.7,15.3,392,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2722,1973,0,0,0,0,0,0
$GC,3888,0.86,240.3,115.4,14.8,404,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2722,1972,0,0,0,0,0,0
$GC,4017,0.86,240.3,96.4,14.6,418,4025,0.00,1.70,0.00,0.000,4,0.000,0.048,3102,3760,1972,0,0,0,0,0,0
$GC,4065,0.86,240.3,88.6,16.6,426,4074,0.08,1.62,0.00,0.000,6,0.142,0.031,3083,2732,1972,0,0,0,0,0,0
$GC,4210,0.86,240.3,68.8,13.5,451,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2731,1972,0,0,0,0,0,0
$GC,4353,0.86,240.3,49.0,13.5,476,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2731,1972,0,0,0,0,0,0
$GC,4493,0.86,240.3,30.3,13.8,501,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2732,1971,0,0,0,0,0,0
$GC,4637,0.86,240.3,11.4,13.6,526,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2732,1971,0,0,0,0,0,0
$FREEZE,8.50,0.077,-1.898,2,1,0
$FREEZE,7.72,0.084,-1.898,2,1,0
$FREEZE,7.03,0.072,-1.898,2,1,0
$FREEZE,6.30,0.083,-1.897,2,1,0
$FREEZE,5.47,0.075,-1.896,2,1,0
$FREEZE,4.81,0.077,-1.896,2,1,0
$FREEZE,4.18,0.077,-1.895,2,1,0
$FREEZE,3.41,0.082,-1.895,2,1,0
$FREEZE,2.83,0.088,-1.894,2,1,0
$STATE,4697,end climb,SURFACE_DEPTH_REACHED
$STATE,4697,begin surface coast
$FREEZE,1.92,0.090,-1.894,2,1,0
$FREEZE,1.29,0.091,-1.893,2,1,0
$FREEZE,0.59,0.091,-1.893,2,1,0
$FREEZE,-0.09,0.078,-1.890,2,1,0
$FINISH,-0.1,1.027651
$STATE,4720,end surface coast,CONTROL_FINISHED_OK
$STATE,4720,begin surface
$SM_CCo,4739,38.45,0.101,0,0,1654,320.11
$SM_GC,0.56,0.00,0.00,38.45,0.000,0.000,0.101,178,2795,1654,-8.20,0.42,320.11
$IRIDIUM_FIX,-7612.11,17612.42,080111,050528
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,301.4,41.8
$24V_AH,22.2,63.804
$10V_AH,9.9,24.897
$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,18.325,31.650,385.075,38.450,0.000,24.721,39.736,152.994,1.000,0.000,33.320,1321.357,1969.076,481.051,1182.077,198.277,0.000,1030.202,0.000,895.768,0.000,8.859,0.000
$DEVICE_MAMPS,208.080,133.875,946.305,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.366,724.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258260
$DATA_FILE_SIZE,33723,541
$CAP_FILE_SIZE,70722,0
$CFSIZE,260165632,223514624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.135,174.1,1
$GPS,080111,083306,-7655.539,17618.564,25,1.8,25,125.0