version: 66.08
glider: 503
mission: 7
dive: 586
start: 1 5 111 17 25 7
data:
$ID,503
$MISSION,7
$DIVE,586
$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,-20244.121
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,050111,171901,-7644.812,17519.672,41,1.4,42,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.0
$GPS2,050111,172438,-7644.755,17519.611,12,1.4,12,125.7
$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,70.7,20678,-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,16,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-93.62,0.000,2,0.000,0.000,187,2750,3524,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.8,-9.4,16,138,8.93,1.70,-6.55,0.000,4,0.210,0.063,2516,3767,3856,0,0,0,0,0,0
$GC,328,-0.84,-219.0,52.9,-18.3,53,335,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2778,3860,0,0,0,0,0,0
$GC,470,-0.84,-219.0,78.6,-18.2,78,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3860,0,0,0,0,0,0
$GC,613,-0.84,-219.0,104.1,-17.9,101,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3860,0,0,0,0,0,0
$GC,741,-0.84,-219.0,126.4,-17.4,113,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3860,0,0,0,0,0,0
$GC,868,-0.84,-219.0,148.2,-17.1,125,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3861,0,0,0,0,0,0
$GC,995,-0.84,-219.0,170.0,-17.2,137,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3861,0,0,0,0,0,0
$GC,1125,-0.84,-219.0,192.0,-17.4,149,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3861,0,0,0,0,0,0
$GC,1260,-0.84,-219.0,215.7,-17.4,162,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3861,0,0,0,0,0,0
$GC,1387,-0.84,-219.0,238.0,-17.5,174,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3861,0,0,0,0,0,0
$GC,1514,-0.84,-219.0,259.8,-17.0,186,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3861,0,0,0,0,0,0
$GC,1706,-0.84,-219.0,291.8,-16.5,204,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3861,0,0,0,0,0,0
$GC,1897,-0.84,-219.0,322.8,-16.3,222,1900,0.00,1.62,0.00,0.000,4,0.000,0.050,2508,3791,3861,0,0,0,0,0,0
$GC,1947,-0.84,-219.0,331.5,-16.6,226,1954,0.00,1.58,0.00,0.000,6,0.000,0.030,2508,2786,3861,0,0,0,0,0,0
$STATE,2037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2037,begin apogee
$GC,2044,-0.16,0.0,346.2,16.2,235,2224,0.73,0.00,174.52,0.949,4,0.122,0.000,2746,2685,2960,0,0,0,0,0,0
$STATE,2225,end apogee,CONTROL_FINISHED_OK
$STATE,2225,begin climb
$GC,2228,0.84,219.0,355.6,0.0,251,2433,0.98,2.38,191.40,0.899,4,0.070,0.032,3072,1306,2068,0,0,0,0,0,0
$GC,2561,0.88,251.0,331.5,12.0,280,2601,0.00,2.42,30.10,0.863,6,0.000,0.040,3072,2703,1936,0,0,0,0,0,0
$GC,2791,0.88,251.0,300.1,13.6,302,2795,0.00,1.75,0.00,0.000,4,0.000,0.048,3072,3760,1932,0,0,0,0,0,0
$GC,2860,0.88,251.0,289.6,16.1,308,2864,0.00,1.67,0.00,0.000,6,0.000,0.030,3081,2726,1931,0,0,1,0,0,0
$GC,3063,0.88,251.0,260.9,14.0,327,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2725,1929,0,0,0,0,0,0
$GC,3255,0.88,251.0,234.6,13.7,345,3259,0.00,1.73,0.00,0.000,4,0.000,0.048,3081,3762,1929,0,0,0,0,0,0
$GC,3293,0.88,251.0,228.5,16.1,348,3301,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2719,1929,0,0,1,0,0,0
$GC,3428,0.88,251.0,209.4,14.2,361,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2719,1928,0,0,0,0,0,0
$GC,3556,0.88,251.0,191.6,14.1,373,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2719,1928,0,0,0,0,0,0
$GC,3683,0.88,251.0,173.9,13.9,385,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2719,1927,0,0,0,0,0,0
$GC,3810,0.88,251.0,156.6,13.6,397,3814,0.00,1.67,0.00,0.000,4,0.000,0.048,3088,3767,1927,0,0,0,0,0,0
$GC,3849,0.88,251.0,150.6,16.0,400,3857,0.00,1.67,0.00,0.000,6,0.000,0.030,3097,2710,1927,0,0,0,0,0,0
$GC,3984,0.88,251.0,131.8,14.0,413,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2709,1927,0,0,0,0,0,0
$GC,4111,0.88,251.0,114.2,14.0,425,4115,0.00,1.73,0.00,0.000,4,0.000,0.049,3096,3760,1927,0,0,0,0,0,0
$GC,4139,0.88,251.0,109.7,15.7,427,4146,0.00,1.62,0.00,0.000,6,0.000,0.031,3105,2738,1926,0,0,0,0,0,0
$GC,4276,0.88,251.0,89.3,15.5,446,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2738,1926,0,0,0,0,0,0
$GC,4417,0.88,251.0,67.8,15.6,471,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2738,1926,0,0,0,0,0,0
$GC,4557,0.88,251.0,46.3,14.9,496,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2738,1926,0,0,0,0,0,0
$GC,4700,0.88,251.0,25.0,15.5,521,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2738,1926,0,0,0,0,0,0
$FREEZE,8.38,-0.411,-1.898,2,1,0
$FREEZE,7.42,-0.410,-1.897,2,1,0
$FREEZE,6.63,-0.410,-1.897,2,1,0
$FREEZE,5.72,-0.411,-1.896,2,1,0
$FREEZE,5.07,-0.410,-1.896,2,1,0
$FREEZE,4.25,-0.409,-1.895,2,1,0
$FREEZE,2.97,-0.407,-1.894,2,1,0
$STATE,4840,end climb,SURFACE_DEPTH_REACHED
$STATE,4840,begin surface coast
$FREEZE,2.12,-0.405,-1.894,2,1,0
$FREEZE,1.33,-0.405,-1.893,2,1,0
$FREEZE,0.56,-0.404,-1.893,2,1,0
$FINISH,0.6,1.027701
$STATE,4857,end surface coast,CONTROL_FINISHED_OK
$STATE,4858,begin surface
$SM_CCo,4875,33.05,0.101,0,0,1654,320.11
$SM_GC,0.87,0.00,0.00,33.05,0.000,0.000,0.101,170,2787,1654,-8.22,0.20,320.11
$IRIDIUM_FIX,-7554.21,17518.85,050111,151549
$TT8_MAMPS,0.027713
$HUMID,52.32
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.9
$ALTIM_BOTTOM_PING,300.5,60.6
$24V_AH,22.3,58.805
$10V_AH,9.8,23.029
$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,18.275,24.925,396.025,33.050,0.000,23.058,45.042,146.508,1.250,0.000,15.054,1325.010,2101.675,482.804,1160.078,189.152,0.000,1035.921,0.000,895.524,0.000,8.911,0.000
$DEVICE_MAMPS,209.610,113.220,948.600,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.043,718.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258232
$DATA_FILE_SIZE,36936,549
$CAP_FILE_SIZE,69990,0
$CFSIZE,260165632,225230848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.234,359.8,1
$GPS,050111,184825,-7644.958,17518.352,47,1.3,48,125.7