version: 66.08
glider: 503
mission: 7
dive: 596
start: 1 6 111 8 19 37
data:
$ID,503
$MISSION,7
$DIVE,596
$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,-20256.689
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,060111,081321,-7649.378,17510.348,9,1.8,9,126.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-74.4
$GPS2,060111,081908,-7649.372,17510.447,14,1.4,14,126.2
$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,99.8,11306,-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,-92.50,0.000,2,0.000,0.000,180,2794,3502,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.5,-8.3,16,136,8.93,0.00,-7.15,0.000,6,0.210,0.000,2521,2794,3856,0,0,0,0,0,0
$GC,273,-0.84,-219.0,39.7,-18.1,43,280,0.00,2.25,0.00,0.000,4,0.000,0.031,2521,1368,3860,0,0,0,0,0,0
$GC,321,-0.84,-219.0,48.1,-15.9,51,328,0.00,2.30,0.00,0.000,6,0.000,0.043,2510,2775,3860,0,0,0,0,0,0
$GC,464,-0.84,-219.0,73.5,-17.7,76,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2774,3860,0,0,0,0,0,0
$GC,604,-0.84,-219.0,98.8,-17.7,101,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2775,3861,0,0,0,0,0,0
$GC,746,-0.84,-219.0,123.9,-17.4,115,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2774,3861,0,0,0,0,0,0
$GC,873,-0.84,-219.0,146.3,-17.5,127,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2775,3861,0,0,0,0,0,0
$GC,1000,-0.84,-219.0,168.7,-17.4,139,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2775,3861,0,0,0,0,0,0
$GC,1128,-0.84,-219.0,191.1,-17.5,151,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2775,3861,0,0,0,0,0,0
$GC,1255,-0.84,-219.0,213.3,-17.6,163,1259,0.00,2.22,0.00,0.000,4,0.000,0.032,2510,1364,3861,0,0,0,0,0,0
$GC,1289,-0.84,-219.0,219.2,-17.0,166,1293,0.00,2.30,0.00,0.000,6,0.000,0.044,2500,2785,3861,0,0,0,0,0,0
$GC,1429,-0.84,-219.0,243.9,-18.0,179,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2785,3861,0,0,0,0,0,0
$GC,1556,-0.84,-219.0,266.6,-17.7,191,1558,0.10,0.00,0.00,0.000,6,0.185,0.000,2526,2785,3861,0,0,0,0,0,0
$GC,1746,-0.84,-219.0,296.3,-15.4,209,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2785,3861,0,0,0,0,0,0
$GC,1939,-0.84,-219.0,325.7,-15.3,227,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2785,3861,0,0,0,0,0,0
$STATE,2084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2084,begin apogee
$GC,2090,-0.16,0.0,348.5,15.9,241,2272,0.65,0.00,174.45,0.956,4,0.115,0.000,2745,2678,2959,0,0,0,0,0,0
$STATE,2272,end apogee,CONTROL_FINISHED_OK
$STATE,2272,begin climb
$GC,2275,0.84,219.0,356.6,0.0,257,2478,0.98,2.38,191.10,0.901,4,0.069,0.031,3073,1301,2067,0,0,0,0,0,0
$GC,2536,0.86,240.6,336.3,12.4,280,2562,0.00,2.45,21.05,0.848,6,0.000,0.040,3073,2699,1978,0,0,0,0,0,0
$GC,2762,0.86,240.6,304.7,13.7,301,2766,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1308,1973,0,0,0,0,0,0
$GC,2940,0.86,240.6,280.8,13.6,316,2947,0.00,2.35,0.00,0.000,6,0.000,0.041,3084,2718,1971,0,0,0,0,0,0
$GC,3141,0.86,240.6,252.2,14.5,335,3144,0.00,1.67,0.00,0.000,4,0.000,0.048,3084,3762,1970,0,0,0,0,0,0
$GC,3178,0.86,240.6,245.6,16.7,338,3186,0.00,1.62,0.00,0.000,6,0.000,0.031,3092,2725,1970,0,0,1,0,0,0
$GC,3313,0.86,240.6,225.6,14.6,351,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2725,1969,0,0,0,0,0,0
$GC,3441,0.86,240.6,207.0,14.7,363,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2725,1969,0,0,0,0,0,0
$GC,3568,0.86,240.6,188.8,14.2,375,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2725,1968,0,0,0,0,0,0
$GC,3695,0.86,240.6,170.3,14.6,387,3699,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3758,1969,0,0,0,0,0,0
$GC,3734,0.86,240.6,163.8,17.1,390,3741,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2722,1968,0,0,0,0,0,0
$GC,3868,0.86,240.6,142.6,15.9,403,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2721,1968,0,0,0,0,0,0
$GC,3996,0.86,240.6,122.7,15.5,415,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2722,1968,0,0,0,0,0,0
$GC,4124,0.86,240.6,103.1,15.4,427,4127,0.00,1.70,0.00,0.000,4,0.000,0.048,3101,3758,1968,0,0,0,0,0,0
$GC,4175,0.86,240.6,94.4,17.2,434,4182,0.08,1.62,0.00,0.000,6,0.148,0.031,3083,2732,1967,0,0,0,0,0,0
$GC,4318,0.86,240.6,74.3,13.7,459,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2732,1968,0,0,0,0,0,0
$GC,4461,0.86,240.6,54.3,14.1,484,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2732,1967,0,0,0,0,0,0
$GC,4603,0.87,242.9,35.0,13.2,509,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2732,1967,0,0,0,0,0,0
$GC,4747,0.87,242.9,15.7,13.5,534,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2732,1967,0,0,0,0,0,0
$FREEZE,8.30,-0.161,-1.895,2,1,0
$FREEZE,7.59,-0.158,-1.895,2,1,0
$FREEZE,6.81,-0.162,-1.894,2,1,0
$FREEZE,6.19,-0.160,-1.894,2,1,0
$FREEZE,5.40,-0.158,-1.894,2,1,0
$FREEZE,4.57,-0.151,-1.893,2,1,0
$FREEZE,3.91,-0.149,-1.892,2,1,0
$FREEZE,3.26,-0.143,-1.892,2,1,0
$FREEZE,2.53,-0.144,-1.891,2,1,0
$STATE,4840,end climb,SURFACE_DEPTH_REACHED
$STATE,4840,begin surface coast
$FREEZE,1.76,-0.144,-1.891,2,1,0
$FREEZE,0.94,-0.143,-1.890,2,1,0
$FREEZE,-0.03,-0.138,-1.889,2,1,0
$FREEZE,0.03,-0.166,-1.890,2,1,0
$FINISH,0.0,1.027654
$STATE,4863,end surface coast,CONTROL_FINISHED_OK
$STATE,4863,begin surface
$SM_CCo,4881,37.10,0.100,0,0,1655,320.11
$SM_GC,0.57,0.00,0.00,37.10,0.000,0.000,0.100,171,2788,1655,-8.22,0.23,320.11
$IRIDIUM_FIX,-7603.11,17507.93,060111,060622
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.8
$ALTIM_BOTTOM_PING,301.3,61.9
$24V_AH,22.2,59.990
$10V_AH,9.8,23.478
$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,18.250,28.750,386.600,37.100,0.000,27.352,38.823,152.826,1.000,0.000,17.330,1355.141,2070.070,475.018,1178.936,198.965,0.000,1035.149,0.000,905.842,0.000,8.913,0.000
$DEVICE_MAMPS,209.610,111.690,956.250,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.415,728.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,37085,555
$CAP_FILE_SIZE,71714,0
$CFSIZE,260165632,224821248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.177,121.5,1
$GPS,060111,094300,-7650.150,17509.439,43,1.2,43,126.2