version: 66.08
glider: 503
mission: 7
dive: 630
start: 1 8 111 10 8 37
data:
$ID,503
$MISSION,7
$DIVE,630
$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,-20308.037
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,080111,095813,-7655.716,17622.004,23,1.5,29,124.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.5
$GPS2,080111,100806,-7655.738,17622.135,10,1.3,26,124.9
$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,293.1,15933,-18.2,-13.333
$D_GRID,443
$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,-219.0,0.0,0.0,0,111,0.00,0.00,-93.43,0.000,2,0.000,0.000,170,2745,3562,0,0,0,0,0,0
$GC,114,-0.84,-219.0,4.0,-10.3,16,136,8.90,2.28,-5.70,0.000,4,0.205,0.047,2521,1357,3856,0,0,0,0,0,0
$GC,199,-0.84,-219.0,27.1,-15.0,30,207,0.00,2.33,0.00,0.000,6,0.000,0.044,2510,2777,3858,0,0,0,0,0,0
$GC,343,-0.84,-219.0,51.7,-17.3,55,350,0.00,1.60,0.00,0.000,4,0.000,0.050,2502,3757,3859,0,0,0,0,0,0
$GC,380,-0.84,-219.0,58.3,-18.0,61,387,0.00,1.55,0.00,0.000,6,0.000,0.031,2502,2774,3859,0,0,0,0,0,0
$GC,522,-0.84,-219.0,83.4,-18.2,86,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2773,3859,0,0,0,0,0,0
$GC,663,-0.84,-219.0,107.8,-16.6,107,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2774,3860,0,0,0,0,0,0
$GC,790,-0.84,-219.0,130.0,-17.3,119,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2773,3860,0,0,0,0,0,0
$GC,917,-0.84,-219.0,152.8,-18.1,131,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2773,3860,0,0,0,0,0,0
$GC,1045,-0.84,-219.0,175.7,-18.5,143,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2773,3860,0,0,0,0,0,0
$GC,1173,-0.84,-219.0,199.4,-18.7,155,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2773,3860,0,0,0,0,0,0
$GC,1299,-0.84,-219.0,223.0,-18.5,167,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2773,3860,0,0,0,0,0,0
$GC,1427,-0.84,-219.0,246.4,-17.9,179,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2773,3860,0,0,0,0,0,0
$GC,1555,-0.84,-219.0,269.5,-17.9,191,1559,0.00,1.62,0.00,0.000,4,0.000,0.049,2495,3762,3860,0,0,0,0,0,0
$GC,1589,-0.84,-219.0,276.2,-18.9,194,1594,0.08,1.55,0.00,0.000,6,0.141,0.031,2522,2771,3859,0,0,0,0,0,0
$GC,1795,-0.84,-219.0,308.9,-15.0,213,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2771,3860,0,0,0,0,0,0
$STATE,1864,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1864,begin apogee
$GC,1871,-0.16,0.0,320.6,16.7,220,2051,0.65,0.00,173.80,0.942,4,0.118,0.000,2740,2685,2960,0,0,0,0,0,0
$STATE,2052,end apogee,CONTROL_FINISHED_OK
$STATE,2052,begin climb
$GC,2055,0.84,219.0,330.9,0.0,236,2260,1.00,2.35,190.88,0.884,4,0.073,0.033,3073,1312,2066,0,0,0,0,0,0
$GC,2434,0.88,249.4,297.5,12.1,269,2467,0.00,2.38,27.85,0.849,6,0.000,0.041,3073,2702,1942,0,0,0,0,0,0
$GC,2661,0.88,249.4,267.4,13.8,290,2665,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1307,1938,0,0,0,0,0,0
$GC,2815,0.88,251.8,247.1,13.2,303,2819,0.00,2.30,0.00,0.000,6,0.000,0.041,3083,2705,1936,0,0,0,0,0,0
$GC,2956,0.88,251.8,226.5,14.6,316,2959,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3763,1936,0,0,0,0,0,0
$GC,2994,0.88,251.8,219.8,16.5,319,3001,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2717,1936,0,0,1,0,0,0
$GC,3129,0.88,251.8,199.2,15.2,332,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2716,1936,0,0,0,0,0,0
$GC,3257,0.88,251.8,179.7,15.3,344,3260,0.00,1.67,0.00,0.000,4,0.000,0.048,3092,3762,1935,0,0,0,0,0,0
$GC,3295,0.88,251.8,172.9,17.4,347,3302,0.00,1.67,0.00,0.000,6,0.000,0.031,3100,2706,1934,0,0,0,0,0,0
$GC,3430,0.88,251.8,152.6,15.0,360,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2706,1934,0,0,0,0,0,0
$GC,3557,0.88,251.8,132.9,15.2,372,3561,0.00,1.73,0.00,0.000,4,0.000,0.048,3100,3753,1934,0,0,0,0,0,0
$GC,3603,0.88,251.8,125.5,16.9,376,3607,0.00,1.62,0.00,0.000,6,0.000,0.031,3108,2725,1934,0,0,0,0,0,0
$GC,3743,0.88,251.8,103.2,15.7,389,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2723,1934,0,0,0,0,0,0
$GC,3876,0.88,251.8,82.9,16.8,410,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2723,1934,0,0,0,0,0,0
$GC,4018,0.88,251.8,60.9,16.8,435,4025,0.00,1.70,0.00,0.000,4,0.000,0.048,3108,3764,1933,0,0,0,0,0,0
$GC,4054,0.88,251.8,54.7,18.4,441,4062,0.08,1.62,0.00,0.000,6,0.146,0.031,3090,2735,1933,0,0,0,0,0,0
$GC,4200,0.88,251.8,33.9,14.1,466,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2735,1933,0,0,0,0,0,0
$GC,4340,0.88,251.8,13.5,14.6,491,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2735,1933,0,0,0,0,0,0
$FREEZE,8.46,0.076,-1.898,2,1,0
$FREEZE,7.96,0.080,-1.898,2,1,0
$FREEZE,6.97,0.077,-1.898,2,1,0
$FREEZE,6.37,0.080,-1.897,2,1,0
$FREEZE,5.32,0.079,-1.896,2,1,0
$FREEZE,4.71,0.079,-1.896,2,1,0
$FREEZE,4.12,0.081,-1.895,2,1,0
$FREEZE,3.36,0.081,-1.895,2,1,0
$FREEZE,2.61,0.078,-1.894,2,1,0
$STATE,4415,end climb,SURFACE_DEPTH_REACHED
$STATE,4415,begin surface coast
$FREEZE,1.96,0.079,-1.894,2,1,0
$FREEZE,1.21,0.081,-1.893,2,1,0
$FREEZE,0.19,0.079,-1.892,2,1,0
$FREEZE,0.04,0.067,-1.892,2,1,0
$FINISH,0.0,1.027670
$STATE,4440,end surface coast,CONTROL_FINISHED_OK
$STATE,4440,begin surface
$SM_CCo,4457,32.88,0.101,0,0,1654,320.11
$SM_GC,0.66,0.00,0.00,32.88,0.000,0.000,0.101,175,2788,1654,-8.21,0.20,320.11
$IRIDIUM_FIX,-7612.11,17630.76,080111,101005
$TT8_MAMPS,0.026964
$HUMID,52.59
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,301.0,33.2
$24V_AH,22.2,64.049
$10V_AH,9.8,24.986
$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,18.250,33.775,392.525,32.875,0.000,60.621,74.712,225.267,1.250,0.000,31.124,1248.673,1856.085,480.438,1305.479,208.117,0.000,1019.666,0.000,858.626,0.000,8.837,0.000
$DEVICE_MAMPS,205.020,110.925,941.715,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.432,683.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258252
$DATA_FILE_SIZE,33713,509
$CAP_FILE_SIZE,73298,0
$CFSIZE,260165632,223432704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.148,151.4,1
$GPS,080111,112420,-7655.707,17625.605,11,1.6,11,124.8