version: 66.08
glider: 503
mission: 7
dive: 581
start: 1 5 111 10 5 26
data:
$ID,503
$MISSION,7
$DIVE,581
$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,-20237.832
$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,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
$GPS1,050111,095636,-7642.623,17526.252,45,0.9,45,125.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-69.6
$GPS2,050111,100455,-7642.636,17526.268,14,1.0,14,125.4
$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,90.7,25409,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-95.10,0.000,2,0.000,0.000,173,2795,3593,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.2,-10.8,16,137,9.02,0.00,-5.00,0.000,6,0.211,0.000,2520,2795,3856,0,0,0,0,0,0
$GC,273,-0.84,-219.0,42.0,-18.2,43,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2794,3860,0,0,0,0,0,0
$GC,415,-0.84,-219.0,67.7,-17.7,68,421,0.00,2.28,0.00,0.000,4,0.000,0.031,2521,1363,3859,0,0,0,0,0,0
$GC,457,-0.84,-219.0,74.7,-15.7,75,464,0.00,2.30,0.00,0.000,6,0.000,0.043,2510,2772,3860,0,0,0,0,0,0
$GC,599,-0.84,-219.0,99.8,-17.7,100,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2772,3860,0,0,0,0,0,0
$GC,733,-0.84,-219.0,124.0,-17.9,113,737,0.00,1.62,0.00,0.000,4,0.000,0.050,2502,3795,3860,0,0,0,0,0,0
$GC,772,-0.84,-219.0,131.5,-18.2,116,779,0.00,1.60,0.00,0.000,6,0.000,0.029,2502,2771,3860,0,0,0,0,0,0
$GC,906,-0.84,-219.0,156.3,-19.0,129,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$GC,1034,-0.84,-219.0,179.7,-18.4,141,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$GC,1161,-0.84,-219.0,202.8,-18.3,153,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$GC,1289,-0.84,-219.0,225.4,-17.7,165,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$GC,1417,-0.84,-219.0,248.0,-17.7,177,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$GC,1543,-0.84,-219.0,270.7,-17.7,189,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$GC,1736,-0.84,-219.0,304.5,-18.0,207,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$GC,1927,-0.84,-219.0,338.0,-17.6,225,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2771,3860,0,0,0,0,0,0
$STATE,1966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1966,begin apogee
$GC,1972,-0.16,0.0,345.4,17.5,229,2154,0.73,0.00,174.35,0.951,4,0.122,0.000,2742,2685,2959,0,0,0,0,0,0
$STATE,2154,end apogee,CONTROL_FINISHED_OK
$STATE,2154,begin climb
$GC,2157,0.84,219.0,354.8,0.0,245,2362,1.00,2.38,191.12,0.897,4,0.073,0.032,3073,1306,2067,0,0,0,0,0,0
$GC,2368,0.87,244.6,341.1,12.3,263,2400,0.00,2.50,25.35,0.845,6,0.000,0.041,3074,2705,1962,0,0,1,0,0,0
$GC,2599,0.87,244.6,308.3,14.3,285,2603,0.00,1.77,0.00,0.000,4,0.000,0.047,3073,3764,1956,0,0,0,0,0,0
$GC,2667,0.87,244.6,297.7,15.9,291,2671,0.00,1.65,0.00,0.000,6,0.000,0.030,3081,2723,1954,0,0,1,0,0,0
$GC,2871,0.87,244.6,267.5,14.9,310,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2723,1953,0,0,0,0,0,0
$GC,3062,0.87,244.6,239.6,14.8,328,3066,0.00,1.73,0.00,0.000,4,0.000,0.048,3081,3761,1953,0,0,0,0,0,0
$GC,3108,0.87,244.6,232.1,16.5,332,3112,0.00,1.65,0.00,0.000,6,0.000,0.030,3090,2703,1953,0,0,0,0,0,0
$GC,3248,0.87,244.6,211.4,14.5,345,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2702,1952,0,0,0,0,0,0
$GC,3376,0.87,244.6,193.2,14.1,357,3380,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3765,1951,0,0,0,0,0,0
$GC,3423,0.87,244.6,186.0,16.3,361,3426,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2703,1950,0,0,1,0,0,0
$GC,3563,0.87,244.6,164.8,14.4,374,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2702,1950,0,0,0,0,0,0
$GC,3690,0.87,244.6,146.4,14.9,386,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2702,1950,0,0,0,0,0,0
$GC,3819,0.87,244.6,127.6,14.5,398,3822,0.00,1.70,0.00,0.000,4,0.000,0.049,3099,3765,1950,0,0,0,0,0,0
$GC,3865,0.87,244.6,120.1,17.0,402,3868,0.00,1.65,0.00,0.000,6,0.000,0.031,3107,2696,1950,0,0,0,0,0,0
$GC,4005,0.87,244.6,99.4,14.7,415,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2696,1950,0,0,0,0,0,0
$GC,4146,0.87,244.6,78.0,15.1,440,4153,0.00,1.75,0.00,0.000,4,0.000,0.049,3107,3777,1950,0,0,0,0,0,0
$GC,4198,0.87,244.6,69.3,17.1,449,4206,0.10,1.65,0.00,0.000,6,0.138,0.031,3071,2737,1949,0,0,0,0,0,0
$GC,4343,0.90,267.9,50.5,12.4,474,4368,0.00,0.00,19.40,0.782,6,0.000,0.000,3071,2737,1868,0,0,0,0,0,0
$GC,4504,0.92,288.5,29.1,12.5,502,4529,0.00,0.00,19.85,0.756,6,0.000,0.000,3071,2737,1783,0,0,0,0,0,0
$FREEZE,8.86,-0.425,-1.899,2,1,0
$FREEZE,8.13,-0.426,-1.899,2,1,0
$FREEZE,7.36,-0.425,-1.898,2,1,0
$FREEZE,6.70,-0.426,-1.897,2,1,0
$GC,4665,0.92,288.5,6.7,14.2,530,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2737,1782,0,0,0,0,0,0
$FREEZE,4.31,-0.422,-1.895,2,1,0
$FREEZE,3.54,-0.423,-1.895,2,1,0
$FREEZE,2.72,-0.422,-1.894,2,1,0
$STATE,4688,end climb,SURFACE_DEPTH_REACHED
$STATE,4688,begin surface coast
$FREEZE,1.71,-0.424,-1.893,2,1,0
$FREEZE,0.98,-0.422,-1.893,2,1,0
$FREEZE,0.15,-0.424,-1.892,2,1,0
$FINISH,0.1,1.027704
$STATE,4705,end surface coast,CONTROL_FINISHED_OK
$STATE,4705,begin surface
$SM_CCo,4723,15.02,0.102,0,0,1654,320.11
$SM_GC,0.39,0.00,0.00,15.02,0.000,0.000,0.102,170,2791,1654,-8.22,0.31,320.11
$IRIDIUM_FIX,-7603.11,17528.18,050111,090925
$TT8_MAMPS,0.026964
$HUMID,52.55
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,20.3
$ALTIM_BOTTOM_PING,300.8,59.6
$24V_AH,22.2,58.235
$10V_AH,9.8,22.806
$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,18.450,29.700,430.075,15.025,0.000,56.483,112.129,144.623,1.000,0.000,16.859,1294.551,2048.516,485.230,1238.537,185.147,0.000,1036.794,0.000,867.639,0.000,8.911,0.000
$DEVICE_MAMPS,211.140,108.630,950.895,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.921,708.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,33680,537
$CAP_FILE_SIZE,72003,0
$CFSIZE,260165632,225447936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.101,132.1,1
$GPS,050111,112514,-7643.462,17524.754,9,1.2,9,125.5