version: 66.08
glider: 503
mission: 7
dive: 594
start: 1 6 111 5 18 7
data:
$ID,503
$MISSION,7
$DIVE,594
$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,-20254.178
$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,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
$GPS1,060111,051137,-7647.720,17512.281,25,1.5,25,126.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-73.9
$GPS2,060111,051736,-7647.731,17512.205,12,1.0,28,126.0
$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,77.4,14401,-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,-219.0,0.0,0.0,0,110,0.00,0.00,-92.60,0.000,2,0.000,0.000,177,2796,3513,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.7,-8.9,16,135,9.00,1.60,-6.78,0.000,4,0.211,0.063,2518,3758,3855,0,0,0,0,0,0
$GC,341,-0.84,-219.0,53.7,-18.3,56,348,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2775,3859,0,0,0,0,0,0
$GC,484,-0.84,-219.0,79.0,-17.9,81,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3859,0,0,0,0,0,0
$GC,623,-0.84,-219.0,103.7,-17.2,104,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,752,-0.84,-219.0,126.2,-17.7,116,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3860,0,0,0,0,0,0
$GC,878,-0.84,-219.0,148.5,-17.2,128,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3860,0,0,0,0,0,0
$GC,1006,-0.84,-219.0,170.3,-17.1,140,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3860,0,0,0,0,0,0
$GC,1133,-0.84,-219.0,191.9,-16.5,152,1137,0.00,2.17,0.00,0.000,4,0.000,0.031,2518,1374,3860,0,0,0,0,0,0
$GC,1166,-0.84,-219.0,197.5,-16.3,154,1175,0.00,2.25,0.00,0.000,6,0.000,0.044,2508,2770,3860,0,0,0,0,0,0
$GC,1301,-0.84,-219.0,219.9,-17.0,167,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3860,0,0,0,0,0,0
$GC,1429,-0.84,-219.0,241.7,-16.9,179,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3860,0,0,0,0,0,0
$GC,1557,-0.84,-219.0,263.6,-17.1,191,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3860,0,0,0,0,0,0
$GC,1747,-0.84,-219.0,295.7,-16.9,209,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2770,3860,0,0,0,0,0,0
$GC,1939,-0.84,-219.0,327.6,-16.8,227,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3860,0,0,0,0,0,0
$STATE,2064,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2064,begin apogee
$GC,2070,-0.16,0.0,348.6,16.2,239,2250,0.73,0.00,174.48,0.953,4,0.122,0.000,2747,2700,2960,0,0,0,0,0,0
$STATE,2251,end apogee,CONTROL_FINISHED_OK
$STATE,2251,begin climb
$GC,2253,0.84,219.0,358.0,0.0,255,2457,0.95,2.40,191.62,0.901,4,0.061,0.032,3072,1300,2067,0,0,0,0,0,0
$GC,2548,0.85,231.9,335.7,12.8,281,2571,0.00,2.42,12.55,0.819,6,0.000,0.040,3071,2698,2014,0,0,0,0,0,0
$GC,2766,0.85,231.9,306.4,13.7,301,2770,0.00,2.30,0.00,0.000,4,0.000,0.033,3083,1303,2010,0,0,0,0,0,0
$GC,2932,0.88,250.9,283.9,12.6,315,2955,0.00,2.33,17.80,0.855,6,0.000,0.041,3083,2713,1937,0,0,0,0,0,0
$GC,3155,0.88,250.9,252.2,14.5,336,3159,0.00,1.67,0.00,0.000,4,0.000,0.047,3083,3762,1934,0,0,0,0,0,0
$GC,3227,0.88,250.9,240.3,15.9,342,3234,0.00,1.67,0.00,0.000,6,0.000,0.031,3091,2714,1933,0,0,0,0,0,0
$GC,3362,0.88,250.9,220.1,15.0,355,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2714,1933,0,0,0,0,0,0
$GC,3489,0.88,250.9,200.8,15.5,367,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2714,1932,0,0,0,0,0,0
$GC,3616,0.88,250.9,181.4,15.0,379,3620,0.00,1.67,0.00,0.000,4,0.000,0.049,3091,3762,1932,0,0,0,0,0,0
$GC,3651,0.88,250.9,175.8,17.3,382,3655,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2697,1932,0,0,0,0,0,0
$GC,3791,0.88,250.9,154.0,15.6,395,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2697,1932,0,0,0,0,0,0
$GC,3918,0.88,250.9,134.7,15.2,407,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2697,1931,0,0,0,0,0,0
$GC,4046,0.88,250.9,115.6,14.7,419,4049,0.00,1.70,0.00,0.000,4,0.000,0.048,3100,3762,1931,0,0,0,0,0,0
$GC,4092,0.88,250.9,108.0,17.2,423,4096,0.00,1.65,0.00,0.000,6,0.000,0.031,3108,2692,1931,0,0,0,0,0,0
$GC,4230,0.88,250.9,86.3,15.5,443,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2692,1931,0,0,0,0,0,0
$GC,4372,0.88,250.9,64.2,16.1,468,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2692,1931,0,0,0,0,0,0
$GC,4515,0.88,250.9,41.4,16.7,493,4522,0.00,1.75,0.00,0.000,4,0.000,0.050,3108,3775,1930,0,0,0,0,0,0
$GC,4563,0.88,250.9,33.2,17.7,501,4570,0.10,1.65,0.00,0.000,6,0.141,0.031,3072,2732,1931,0,0,0,0,0,0
$GC,4706,0.89,261.3,13.7,12.9,526,4719,0.00,0.00,9.75,0.746,6,0.000,0.000,3072,2732,1894,0,0,0,0,0,0
$FREEZE,8.56,-0.272,-1.897,2,1,0
$FREEZE,7.85,-0.260,-1.896,2,1,0
$FREEZE,7.22,-0.263,-1.895,2,1,0
$FREEZE,6.37,-0.254,-1.894,2,1,0
$FREEZE,5.68,-0.212,-1.893,2,1,0
$FREEZE,5.03,-0.225,-1.892,2,1,0
$FREEZE,4.28,-0.228,-1.892,2,1,0
$FREEZE,3.67,-0.199,-1.891,2,1,0
$FREEZE,2.97,-0.206,-1.891,2,1,0
$STATE,4784,end climb,SURFACE_DEPTH_REACHED
$STATE,4786,begin surface coast
$FREEZE,2.17,-0.205,-1.890,2,1,0
$FREEZE,1.38,-0.208,-1.890,2,1,0
$FREEZE,0.75,-0.207,-1.889,2,1,0
$FREEZE,0.14,-0.207,-1.889,2,1,0
$FINISH,0.1,1.027643
$STATE,4808,end surface coast,CONTROL_FINISHED_OK
$STATE,4808,begin surface
$SM_CCo,4826,28.75,0.101,0,0,1655,320.11
$SM_GC,1.12,0.00,0.00,28.75,0.000,0.000,0.101,175,2787,1655,-8.21,0.20,320.11
$IRIDIUM_FIX,-7603.11,17459.38,060111,030322
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.7
$ALTIM_BOTTOM_PING,301.0,61.6
$24V_AH,22.2,59.750
$10V_AH,9.9,23.386
$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,18.375,30.600,406.200,28.750,0.000,31.374,41.970,146.563,1.250,0.000,31.167,1329.778,2041.716,473.645,1188.155,196.362,0.000,1029.732,0.000,903.369,0.000,11.876,0.000
$DEVICE_MAMPS,211.140,112.455,953.190,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.571,711.889,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,37095,544
$CAP_FILE_SIZE,71657,0
$CFSIZE,260165632,224903168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,130.5,1
$GPS,060111,064006,-7648.566,17511.457,22,2.0,22,126.1