version: 66.08
glider: 503
mission: 7
dive: 585
start: 1 5 111 15 55 1
data:
$ID,503
$MISSION,7
$DIVE,585
$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,-20242.863
$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,34
$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
$GPS1,050111,154902,-7644.760,17521.312,19,1.7,19,125.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-75.7
$GPS2,050111,155432,-7644.723,17521.354,13,1.6,13,125.6
$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,87.3,21034,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-92.70,0.000,2,0.000,0.000,172,2791,3500,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.5,-8.9,16,137,9.02,1.62,-7.12,0.000,4,0.212,0.065,2515,3767,3856,0,0,0,0,0,0
$GC,339,-0.84,-219.0,53.7,-18.3,55,346,0.00,1.55,0.00,0.000,6,0.000,0.029,2515,2777,3859,0,0,0,0,0,0
$GC,481,-0.84,-219.0,78.7,-17.0,80,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,626,-0.84,-219.0,104.4,-18.0,104,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,754,-0.84,-219.0,126.6,-17.3,116,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,881,-0.84,-219.0,148.4,-17.5,128,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,1008,-0.84,-219.0,169.7,-16.5,140,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,1136,-0.84,-219.0,191.0,-16.7,152,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,1264,-0.84,-219.0,212.4,-16.8,164,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3861,0,0,0,0,0,0
$GC,1391,-0.84,-219.0,233.8,-16.7,176,1394,0.00,1.60,0.00,0.000,4,0.000,0.050,2507,3754,3860,0,0,0,0,0,0
$GC,1426,-0.84,-219.0,240.0,-17.8,179,1430,0.00,1.50,0.00,0.000,6,0.000,0.031,2507,2794,3860,0,0,0,0,0,0
$GC,1566,-0.84,-219.0,264.9,-17.9,192,1570,0.00,2.20,0.00,0.000,4,0.000,0.032,2507,1372,3860,0,0,0,0,0,0
$GC,1599,-0.84,-219.0,271.1,-17.0,194,1608,0.12,2.25,0.00,0.000,6,0.151,0.044,2532,2771,3860,0,0,0,0,0,0
$GC,1802,-0.84,-219.0,301.4,-15.2,213,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2771,3860,0,0,0,0,0,0
$GC,2000,-0.84,-219.0,330.8,-14.7,232,2003,0.00,1.60,0.00,0.000,4,0.000,0.050,2526,3760,3860,0,0,0,0,0,0
$GC,2067,-0.84,-219.0,340.9,-14.7,238,2071,0.00,1.55,0.00,0.000,6,0.000,0.030,2526,2771,3860,0,0,0,0,0,0
$STATE,2135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2135,begin apogee
$GC,2142,-0.16,0.0,350.8,15.0,244,2323,0.65,0.00,174.77,0.952,4,0.114,0.000,2744,2691,2960,0,0,0,0,0,0
$STATE,2324,end apogee,CONTROL_FINISHED_OK
$STATE,2324,begin climb
$GC,2327,0.84,219.0,358.2,0.0,260,2527,0.98,1.88,191.65,0.897,4,0.065,0.051,3073,3756,2067,0,0,1,0,0,0
$GC,2779,0.84,219.0,298.8,16.0,300,2788,0.00,1.70,0.00,0.000,6,0.000,0.029,3082,2716,2057,0,0,1,0,0,0
$GC,2978,0.84,219.0,270.3,14.5,319,2982,0.00,2.30,0.00,0.000,4,0.000,0.034,3093,1298,2055,0,0,0,0,0,0
$GC,3145,0.84,219.0,246.6,13.8,333,3153,0.00,2.33,0.00,0.000,6,0.000,0.041,3092,2714,2054,0,0,0,0,0,0
$GC,3281,0.84,219.0,226.6,14.8,346,3284,0.00,1.70,0.00,0.000,4,0.000,0.048,3093,3770,2053,0,0,0,0,0,0
$GC,3330,0.84,219.0,218.0,17.1,350,3337,0.08,1.67,0.00,0.000,6,0.151,0.030,3075,2724,2053,0,0,0,0,0,0
$GC,3464,0.84,219.0,200.0,13.3,363,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2724,2053,0,0,0,0,0,0
$GC,3593,0.86,233.6,183.6,12.7,375,3612,0.00,0.00,12.07,0.820,6,0.000,0.000,3076,2724,2007,0,0,0,0,0,0
$GC,3739,0.86,233.6,163.9,13.4,389,3743,0.00,1.67,0.00,0.000,4,0.000,0.047,3076,3765,2006,0,0,0,0,0,0
$GC,3800,0.86,233.6,154.5,15.4,394,3807,0.00,1.62,0.00,0.000,6,0.000,0.029,3083,2736,2005,0,0,0,0,0,0
$GC,3935,0.86,233.6,135.8,14.1,407,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2735,2005,0,0,0,0,0,0
$GC,4062,0.86,233.6,118.1,13.7,419,4065,0.00,1.65,0.00,0.000,4,0.000,0.049,3083,3762,2005,0,0,0,0,0,0
$GC,4100,0.86,233.6,111.9,16.1,422,4107,0.00,1.60,0.00,0.000,6,0.000,0.031,3091,2749,2005,0,0,0,0,0,0
$GC,4237,0.86,233.6,92.5,14.5,439,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2749,2005,0,0,0,0,0,0
$GC,4379,0.86,233.6,72.5,13.7,464,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2749,2004,0,0,0,0,0,0
$GC,4523,0.86,233.6,52.5,13.6,489,4530,0.00,1.65,0.00,0.000,4,0.000,0.050,3091,3752,2004,0,0,0,0,0,0
$GC,4558,0.86,233.6,46.9,15.2,495,4565,0.00,1.58,0.00,0.000,6,0.000,0.031,3099,2754,2004,0,0,0,0,0,0
$GC,4702,0.86,233.6,26.3,13.8,520,4710,0.00,2.30,0.00,0.000,4,0.000,0.034,3110,1297,2004,0,0,0,0,0,0
$GC,4740,0.86,233.6,20.9,13.5,526,4748,0.12,2.35,0.00,0.000,6,0.151,0.043,3076,2748,2004,0,0,0,0,0,0
$FREEZE,8.41,-0.428,-1.898,2,1,0
$FREEZE,7.83,-0.426,-1.898,2,1,0
$FREEZE,6.99,-0.426,-1.897,2,1,0
$FREEZE,6.39,-0.426,-1.897,2,1,0
$FREEZE,5.45,-0.426,-1.896,2,1,0
$FREEZE,4.71,-0.429,-1.895,2,1,0
$FREEZE,4.07,-0.430,-1.895,2,1,0
$FREEZE,3.36,-0.430,-1.894,2,1,0
$FREEZE,2.63,-0.432,-1.894,2,1,0
$STATE,4873,end climb,SURFACE_DEPTH_REACHED
$STATE,4873,begin surface coast
$FREEZE,1.95,-0.432,-1.893,2,1,0
$FREEZE,1.14,-0.431,-1.893,2,1,0
$FREEZE,0.46,-0.436,-1.892,2,1,0
$FREEZE,-0.12,-0.439,-1.892,2,1,0
$FINISH,-0.1,1.027698
$STATE,4896,end surface coast,CONTROL_FINISHED_OK
$STATE,4896,begin surface
$SM_CCo,4914,42.00,0.100,0,0,1655,320.11
$SM_GC,0.69,0.00,0.00,42.00,0.000,0.000,0.100,188,2749,1655,-8.16,-0.88,320.11
$IRIDIUM_FIX,-7603.11,17528.18,050111,141457
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,19.1
$ALTIM_BOTTOM_PING,350.8,7.4
$24V_AH,22.2,58.691
$10V_AH,9.9,22.984
$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,18.575,39.950,378.500,42.000,0.000,24.915,38.912,143.292,1.250,0.000,16.293,1360.925,2040.240,491.772,1208.671,196.743,0.000,1070.305,0.000,947.525,0.000,10.480,0.000
$DEVICE_MAMPS,211.905,97.155,952.425,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.375,731.395,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37051,554
$CAP_FILE_SIZE,75371,0
$CFSIZE,260165632,225271808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.189, 10.7,1
$GPS,050111,171901,-7644.812,17519.672,41,1.4,42,125.7