version: 66.08
glider: 503
mission: 7
dive: 629
start: 1 8 111 8 42 14
data:
$ID,503
$MISSION,7
$DIVE,629
$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,-20304.932
$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,41
$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
$GPS1,080111,083306,-7655.539,17618.564,25,1.8,25,125.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-72.5
$GPS2,080111,084144,-7655.584,17618.701,15,1.5,15,125.0
$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,298.2,17348,-18.2,-13.333
$D_GRID,431
$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,-94.65,0.000,2,0.000,0.000,177,2795,3586,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.1,-10.0,16,138,8.90,1.60,-5.15,0.000,4,0.206,0.079,2514,3752,3856,0,0,0,0,0,0
$GC,391,-0.84,-219.0,66.3,-18.2,64,398,0.00,1.52,0.00,0.000,6,0.000,0.028,2513,2769,3859,0,0,0,0,0,0
$GC,534,-0.84,-219.0,91.3,-17.2,89,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3859,0,0,0,0,0,0
$GC,671,-0.84,-219.0,115.3,-17.6,106,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3860,0,0,0,0,0,0
$GC,799,-0.84,-219.0,138.1,-17.8,118,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3860,0,0,0,0,0,0
$GC,926,-0.84,-219.0,160.8,-17.7,130,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3860,0,0,0,0,0,0
$GC,1053,-0.84,-219.0,183.2,-18.0,142,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3861,0,0,0,0,0,0
$GC,1181,-0.84,-219.0,205.5,-17.5,154,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3860,0,0,0,0,0,0
$GC,1308,-0.84,-219.0,227.7,-17.3,166,1312,0.00,1.60,0.00,0.000,4,0.000,0.049,2505,3739,3860,0,0,0,0,0,0
$GC,1354,-0.84,-219.0,235.8,-18.6,170,1357,0.00,1.48,0.00,0.000,6,0.000,0.030,2506,2777,3860,0,0,1,0,0,0
$GC,1495,-0.84,-219.0,260.9,-17.9,183,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3860,0,0,0,0,0,0
$GC,1685,-0.84,-219.0,294.5,-17.4,201,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3860,0,0,0,0,0,0
$STATE,1843,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1843,begin apogee
$GC,1850,-0.16,0.0,322.6,18.0,216,2030,0.73,0.00,174.32,0.939,4,0.122,0.000,2744,2689,2960,0,0,0,0,0,0
$STATE,2031,end apogee,CONTROL_FINISHED_OK
$STATE,2031,begin climb
$GC,2034,0.84,219.0,331.9,0.0,232,2238,0.98,2.35,191.40,0.885,4,0.073,0.032,3068,1313,2066,0,0,0,0,0,0
$GC,2375,0.85,229.9,303.9,12.9,262,2391,0.00,2.38,10.30,0.791,6,0.000,0.040,3068,2690,2021,0,0,0,0,0,0
$GC,2587,0.88,256.8,277.3,12.2,281,2622,0.00,2.33,25.42,0.852,4,0.000,0.032,3078,1321,1912,0,0,1,0,0,0
$GC,2740,0.92,286.5,257.5,12.1,294,2773,0.00,2.33,27.62,0.848,6,0.000,0.041,3079,2710,1792,0,0,0,0,0,0
$GC,2966,0.92,286.5,226.5,13.9,315,2970,0.00,1.70,0.00,0.000,4,0.000,0.048,3078,3762,1790,0,0,0,0,0,0
$GC,3027,0.92,286.5,216.6,15.7,320,3034,0.00,1.62,0.00,0.000,6,0.000,0.030,3087,2736,1789,0,0,1,0,0,0
$GC,3162,0.92,286.5,197.8,13.9,333,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2736,1789,0,0,0,0,0,0
$GC,3290,0.92,286.5,179.2,14.2,345,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2736,1788,0,0,0,0,0,0
$GC,3417,0.92,286.5,160.5,14.5,357,3420,0.00,1.65,0.00,0.000,4,0.000,0.050,3087,3764,1788,0,0,0,0,0,0
$GC,3444,0.92,286.5,155.9,17.1,359,3451,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2726,1788,0,0,0,0,0,0
$GC,3579,0.92,286.5,135.4,15.3,372,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2726,1788,0,0,0,0,0,0
$GC,3706,0.92,286.5,116.4,14.9,384,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2726,1787,0,0,0,0,0,0
$GC,3834,0.92,286.5,97.5,14.8,397,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2726,1787,0,0,0,0,0,0
$GC,3976,0.92,286.5,77.3,13.8,422,3983,0.00,1.70,0.00,0.000,4,0.000,0.049,3095,3756,1786,0,0,0,0,0,0
$GC,4012,0.92,286.5,71.3,16.0,428,4019,0.00,1.62,0.00,0.000,6,0.000,0.032,3103,2729,1786,0,0,0,0,0,0
$GC,4153,0.92,286.5,48.7,17.7,453,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2729,1787,0,0,0,0,0,0
$GC,4298,0.92,286.5,24.9,16.2,478,4304,0.00,1.70,0.00,0.000,4,0.000,0.050,3103,3759,1786,0,0,0,0,0,0
$GC,4333,0.92,286.5,18.6,18.5,484,4340,0.00,1.60,0.00,0.000,6,0.000,0.032,3112,2746,1786,0,0,0,0,0,0
$FREEZE,8.50,0.070,-1.899,2,1,0
$FREEZE,7.38,0.068,-1.898,2,1,0
$FREEZE,6.65,0.067,-1.898,2,1,0
$FREEZE,5.78,0.068,-1.897,2,1,0
$FREEZE,4.95,0.070,-1.896,2,1,0
$FREEZE,4.13,0.071,-1.896,2,1,0
$FREEZE,3.32,0.070,-1.895,2,1,0
$FREEZE,2.55,0.069,-1.894,2,1,0
$STATE,4437,end climb,SURFACE_DEPTH_REACHED
$STATE,4437,begin surface coast
$FREEZE,0.94,0.070,-1.893,2,1,0
$FREEZE,0.12,0.070,-1.893,2,1,0
$FREEZE,-0.01,0.034,-1.649,2,1,0
$FINISH,-0.0,1.024236
$STATE,4455,end surface coast,CONTROL_FINISHED_OK
$STATE,4455,begin surface
$SM_CCo,4472,15.80,0.104,0,0,1655,320.11
$SM_GC,0.53,0.00,0.00,15.80,0.000,0.000,0.104,171,2745,1655,-8.21,-0.99,320.11
$IRIDIUM_FIX,-7612.11,17612.42,080111,080859
$TT8_MAMPS,0.026964
$HUMID,53.03
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,302.0,35.4
$24V_AH,22.2,63.929
$10V_AH,9.8,24.941
$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,18.250,28.900,429.075,15.800,0.000,59.392,114.588,144.874,1.250,0.000,19.110,1223.294,1896.805,483.844,1221.659,194.076,0.000,1015.568,0.000,843.897,0.000,8.842,0.000
$DEVICE_MAMPS,205.785,100.980,939.420,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.381,676.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258204
$DATA_FILE_SIZE,33871,505
$CAP_FILE_SIZE,68428,0
$CFSIZE,260165632,223477760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.158,165.5,1
$GPS,080111,095813,-7655.716,17622.004,23,1.5,29,124.9