version: 66.08
glider: 503
mission: 7
dive: 579
start: 1 5 111 7 0 25
data:
$ID,503
$MISSION,7
$DIVE,579
$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,-20235.318
$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,39
$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
$GPS1,050111,065355,-7640.808,17529.172,46,1.4,46,125.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.5
$GPS2,050111,065956,-7640.791,17529.057,13,1.4,13,125.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_SW
$TGT_LATLONG,-7655.000,17500.000
$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,70.9,28998,-18.2,-13.333
$D_GRID,375
$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,-219.0,0.0,0.0,0,115,0.00,0.00,-95.75,0.000,2,0.000,0.000,177,2773,3592,0,0,0,0,0,0
$GC,119,-0.84,-219.0,4.1,-11.0,16,140,8.85,1.65,-5.00,0.000,4,0.207,0.062,2513,3775,3856,0,0,1,0,0,0
$GC,158,-0.84,-219.0,20.8,-36.4,22,166,0.00,1.60,0.00,0.000,6,0.000,0.029,2513,2765,3858,0,0,0,0,0,0
$GC,301,-0.84,-219.0,49.1,-19.6,47,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3859,0,0,0,0,0,0
$GC,443,-0.84,-219.0,75.6,-17.5,72,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3859,0,0,0,0,0,0
$GC,585,-0.84,-219.0,100.8,-17.3,97,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3859,0,0,0,0,0,0
$GC,713,-0.84,-219.0,123.4,-17.7,109,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3860,0,0,0,0,0,0
$GC,840,-0.84,-219.0,145.9,-17.5,121,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2765,3860,0,0,0,0,0,0
$GC,967,-0.84,-219.0,167.5,-17.2,133,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3860,0,0,0,0,0,0
$GC,1095,-0.84,-219.0,188.8,-16.6,145,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3860,0,0,0,0,0,0
$GC,1222,-0.84,-219.0,211.1,-17.3,157,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3860,0,0,0,0,0,0
$GC,1349,-0.84,-219.0,232.6,-16.7,169,1353,0.00,1.62,0.00,0.000,4,0.000,0.049,2505,3753,3860,0,0,0,0,0,0
$GC,1388,-0.84,-219.0,239.6,-17.5,172,1395,0.00,1.52,0.00,0.000,6,0.000,0.030,2506,2775,3860,0,0,0,0,0,0
$GC,1525,-0.84,-219.0,262.8,-17.4,185,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2775,3860,0,0,0,0,0,0
$GC,1722,-0.84,-219.0,298.2,-17.3,204,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2775,3860,0,0,0,0,0,0
$GC,1916,-0.84,-219.0,331.6,-17.1,222,1919,0.00,1.62,0.00,0.000,4,0.000,0.050,2498,3793,3860,0,0,0,0,0,0
$GC,1961,-0.84,-219.0,340.0,-16.9,226,1966,0.08,1.55,0.00,0.000,6,0.138,0.030,2539,2797,3859,0,0,0,0,0,0
$STATE,2155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2155,begin apogee
$GC,2162,-0.16,0.0,368.1,14.0,244,2342,0.60,0.00,174.27,0.965,4,0.118,0.000,2742,2685,2960,0,0,0,0,0,0
$STATE,2342,end apogee,CONTROL_FINISHED_OK
$STATE,2342,begin climb
$GC,2345,0.84,219.0,377.0,0.0,260,2549,1.00,2.38,191.80,0.910,4,0.070,0.032,3075,1315,2066,0,0,0,0,0,0
$GC,2713,0.85,226.4,343.3,13.0,292,2725,0.00,2.38,7.05,0.756,6,0.000,0.039,3075,2700,2036,0,0,0,0,0,0
$GC,2920,0.85,226.4,315.5,13.8,311,2924,0.00,2.28,0.00,0.000,4,0.000,0.034,3085,1320,2033,0,0,1,0,0,0
$GC,3094,0.87,242.4,292.2,12.7,326,3117,0.00,2.28,15.32,0.857,6,0.000,0.041,3086,2710,1970,0,0,0,0,0,0
$GC,3310,0.87,242.4,260.9,14.6,346,3313,0.00,1.67,0.00,0.000,4,0.000,0.048,3085,3761,1969,0,0,0,0,0,0
$GC,3389,0.87,242.4,247.5,16.5,353,3393,0.00,1.62,0.00,0.000,6,0.000,0.031,3093,2743,1968,0,0,0,0,0,0
$GC,3530,0.87,242.4,225.0,16.2,366,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2742,1967,0,0,0,0,0,0
$GC,3657,0.87,242.4,204.8,15.7,378,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2742,1967,0,0,0,0,0,0
$GC,3785,0.87,242.4,185.3,15.5,390,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2742,1967,0,0,0,0,0,0
$GC,3912,0.87,242.4,165.5,15.8,402,3916,0.00,1.67,0.00,0.000,4,0.000,0.048,3094,3759,1967,0,0,0,0,0,0
$GC,3958,0.87,242.4,157.8,17.1,406,3962,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2689,1967,0,0,0,0,0,0
$GC,4098,0.87,242.4,136.4,14.6,419,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2688,1967,0,0,0,0,0,0
$GC,4225,0.87,242.4,117.0,15.3,431,4229,0.00,1.73,0.00,0.000,4,0.000,0.049,3102,3766,1966,0,0,0,0,0,0
$GC,4285,0.87,242.4,106.1,18.1,436,4293,0.08,1.60,0.00,0.000,6,0.145,0.031,3083,2752,1966,0,0,0,0,0,0
$GC,4425,0.87,242.4,85.8,14.3,457,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2752,1966,0,0,0,0,0,0
$GC,4566,0.87,242.4,66.2,13.5,482,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2752,1966,0,0,0,0,0,0
$GC,4706,0.87,242.4,47.4,13.5,507,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2752,1966,0,0,0,0,0,0
$GC,4847,0.87,242.4,28.5,13.5,532,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2752,1966,0,0,0,0,0,0
$FREEZE,8.79,-0.654,-1.897,2,1,0
$GC,4990,0.87,242.4,8.8,13.7,557,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2752,1965,0,0,0,0,0,0
$FREEZE,6.61,-0.655,-1.895,2,1,0
$FREEZE,5.74,-0.653,-1.895,2,1,0
$FREEZE,5.05,-0.655,-1.894,2,1,0
$FREEZE,4.31,-0.663,-1.894,2,1,0
$FREEZE,3.56,-0.661,-1.893,2,1,0
$FREEZE,2.81,-0.661,-1.892,2,1,0
$STATE,5029,end climb,SURFACE_DEPTH_REACHED
$STATE,5029,begin surface coast
$FREEZE,2.03,-0.661,-1.892,2,1,0
$FREEZE,1.22,-0.666,-1.891,2,1,0
$FREEZE,0.25,-0.669,-1.891,2,1,0
$FREEZE,0.10,-0.673,-1.890,2,1,0
$FINISH,0.1,1.027689
$STATE,5053,end surface coast,CONTROL_FINISHED_OK
$STATE,5053,begin surface
$SM_CCo,5070,36.47,0.099,0,0,1655,320.11
$SM_GC,0.67,0.00,0.00,36.47,0.000,0.000,0.099,183,2752,1655,-8.18,-0.79,320.11
$IRIDIUM_FIX,-7554.21,17520.37,050111,050551
$TT8_MAMPS,0.026964
$HUMID,52.59
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,19.5
$ALTIM_BOTTOM_PING,351.3,31.1
$24V_AH,22.3,57.998
$10V_AH,9.8,22.716
$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,18.175,28.925,388.450,36.475,0.000,29.095,41.437,164.211,1.500,0.000,16.373,1396.935,2159.344,480.683,1246.289,196.815,0.000,1065.140,0.000,957.831,0.000,10.552,0.000
$DEVICE_MAMPS,206.550,81.855,965.430,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.634,732.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,37050,568
$CAP_FILE_SIZE,74299,0
$CFSIZE,260165632,225517568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.062,207.6,1
$GPS,050111,082654,-7641.740,17527.473,40,1.5,41,125.3