version: 66.08
glider: 503
mission: 7
dive: 595
start: 1 6 111 6 51 5
data:
$ID,503
$MISSION,7
$DIVE,595
$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,-20255.434
$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,47
$R_STBD_OVSHOOT,35
$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
$GPS1,060111,064006,-7648.566,17511.457,22,2.0,22,126.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.9
$GPS2,060111,065036,-7648.573,17511.545,34,1.1,34,126.1
$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,90.8,12848,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-93.97,0.000,2,0.000,0.000,174,2787,3562,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-10.0,16,136,9.05,1.62,-5.72,0.000,4,0.213,0.062,2514,3764,3857,0,0,0,0,0,0
$GC,273,-0.84,-219.0,42.5,-18.1,43,280,0.00,1.58,0.00,0.000,6,0.000,0.029,2514,2764,3860,0,0,0,0,0,0
$GC,417,-0.84,-219.0,68.4,-17.7,68,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3859,0,0,0,0,0,0
$GC,558,-0.84,-219.0,93.7,-18.2,93,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,694,-0.84,-219.0,117.5,-17.7,109,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,823,-0.84,-219.0,139.7,-17.1,121,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,949,-0.84,-219.0,161.7,-17.6,133,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,1077,-0.84,-219.0,183.8,-17.3,145,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,1204,-0.84,-219.0,205.5,-16.7,157,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,1332,-0.84,-219.0,227.4,-16.7,169,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,1459,-0.84,-219.0,249.2,-16.8,181,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,1587,-0.84,-219.0,270.5,-16.5,193,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,1779,-0.84,-219.0,302.6,-16.5,211,1783,0.00,1.62,0.00,0.000,4,0.000,0.049,2506,3784,3860,0,0,0,0,0,0
$GC,1829,-0.84,-219.0,311.8,-17.1,215,1836,0.00,1.55,0.00,0.000,6,0.000,0.030,2506,2796,3861,0,0,0,0,0,0
$GC,2029,-0.84,-219.0,345.9,-17.0,234,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2796,3861,0,0,0,0,0,0
$STATE,2035,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2036,begin apogee
$GC,2042,-0.16,0.0,347.5,16.7,235,2221,0.73,0.00,174.12,0.959,4,0.122,0.000,2745,2679,2960,0,0,0,0,0,0
$STATE,2222,end apogee,CONTROL_FINISHED_OK
$STATE,2222,begin climb
$GC,2225,0.84,219.0,357.6,0.0,251,2430,0.98,2.38,191.40,0.900,4,0.067,0.031,3075,1301,2068,0,0,0,0,0,0
$GC,2568,0.86,236.6,329.5,12.6,281,2592,0.00,2.40,16.58,0.841,6,0.000,0.040,3075,2697,1995,0,0,0,0,0,0
$GC,2786,0.86,236.6,299.3,14.4,301,2790,0.00,2.28,0.00,0.000,4,0.000,0.033,3086,1308,1991,0,0,0,0,0,0
$GC,2972,0.86,236.6,273.4,13.6,317,2976,0.00,2.30,0.00,0.000,6,0.000,0.041,3086,2707,1990,0,0,0,0,0,0
$GC,3171,0.86,236.6,244.2,14.7,335,3174,0.00,1.70,0.00,0.000,4,0.000,0.048,3086,3771,1989,0,0,0,0,0,0
$GC,3227,0.86,236.6,234.5,16.8,340,3231,0.00,1.65,0.00,0.000,6,0.000,0.030,3094,2707,1989,0,0,0,0,0,0
$GC,3367,0.86,236.6,212.3,15.6,353,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2705,1988,0,0,0,0,0,0
$GC,3495,0.86,236.6,192.5,15.5,365,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2705,1988,0,0,0,0,0,0
$GC,3622,0.86,236.6,173.3,15.2,377,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2705,1988,0,0,0,0,0,0
$GC,3749,0.86,236.6,153.9,15.0,389,3753,0.00,1.70,0.00,0.000,4,0.000,0.049,3094,3766,1988,0,0,0,0,0,0
$GC,3810,0.86,236.6,143.4,17.3,394,3817,0.00,1.65,0.00,0.000,6,0.000,0.030,3103,2724,1988,0,0,0,0,0,0
$GC,3945,0.86,236.6,122.3,15.4,407,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2724,1987,0,0,0,0,0,0
$GC,4072,0.86,236.6,102.8,15.4,419,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2724,1987,0,0,0,0,0,0
$GC,4206,0.86,236.6,82.5,14.9,441,4214,0.00,1.70,0.00,0.000,4,0.000,0.048,3103,3758,1987,0,0,0,0,0,0
$GC,4249,0.86,236.6,75.2,17.4,448,4257,0.10,1.65,0.00,0.000,6,0.142,0.031,3066,2723,1987,0,0,0,0,0,0
$GC,4394,0.89,263.8,56.9,12.2,473,4425,0.00,0.00,24.08,0.786,6,0.000,0.000,3066,2723,1884,0,0,0,0,0,0
$GC,4560,0.90,270.7,35.7,13.1,502,4573,0.00,0.00,7.38,0.706,6,0.000,0.000,3066,2722,1856,0,0,0,0,0,0
$GC,4711,0.90,271.1,17.0,13.3,528,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2722,1856,0,0,0,0,0,0
$FREEZE,8.85,-0.251,-1.894,2,1,0
$FREEZE,8.19,-0.252,-1.894,2,1,0
$FREEZE,7.57,-0.220,-1.893,2,1,0
$FREEZE,6.87,-0.172,-1.892,2,1,0
$FREEZE,6.23,-0.173,-1.893,2,1,0
$FREEZE,5.36,-0.159,-1.892,2,1,0
$FREEZE,4.82,-0.144,-1.891,2,1,0
$FREEZE,4.13,-0.137,-1.891,2,1,0
$FREEZE,3.42,-0.142,-1.891,2,1,0
$FREEZE,2.74,-0.147,-1.890,2,1,0
$STATE,4821,end climb,SURFACE_DEPTH_REACHED
$STATE,4821,begin surface coast
$FREEZE,1.72,-0.119,-1.890,2,1,0
$FREEZE,1.06,-0.116,-1.889,2,1,0
$FREEZE,0.37,-0.107,-1.888,2,1,0
$FREEZE,-0.14,-0.094,-1.882,2,1,0
$FINISH,-0.1,1.027547
$STATE,4844,end surface coast,CONTROL_FINISHED_OK
$STATE,4844,begin surface
$SM_CCo,4862,23.65,0.100,0,0,1655,320.11
$SM_GC,1.10,0.00,0.00,23.65,0.000,0.000,0.100,180,2794,1655,-8.19,0.40,320.11
$IRIDIUM_FIX,-7554.21,17932.13,060111,060613
$TT8_MAMPS,0.027713
$HUMID,52.40
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.2
$ALTIM_BOTTOM_PING,300.9,61.1
$24V_AH,22.2,59.877
$10V_AH,9.8,23.434
$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,18.425,26.000,413.550,23.650,0.000,61.363,94.165,233.329,1.000,0.000,37.035,1347.052,2092.421,478.521,1399.508,211.242,0.000,1040.245,0.000,915.509,0.000,8.913,0.000
$DEVICE_MAMPS,212.670,99.450,959.310,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.913,726.952,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258216
$DATA_FILE_SIZE,36986,552
$CAP_FILE_SIZE,75323,0
$CFSIZE,260165632,224858112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,130.8,1
$GPS,060111,081321,-7649.378,17510.348,9,1.8,9,126.2