version: 66.08
glider: 503
mission: 7
dive: 597
start: 1 6 111 9 51 33
data:
$ID,503
$MISSION,7
$DIVE,597
$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,-20259.424
$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,44
$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
$GPS1,060111,094300,-7650.150,17509.439,43,1.2,43,126.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.9
$GPS2,060111,095102,-7650.147,17509.590,12,1.2,12,126.2
$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,108.7,9845,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.95,0.000,2,0.000,0.000,171,2788,3465,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.3,-7.4,15,134,9.02,1.62,-8.05,0.000,4,0.210,0.063,2515,3761,3857,0,0,0,0,0,0
$GC,248,-0.84,-219.0,35.5,-18.6,38,254,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2775,3860,0,0,0,0,0,0
$GC,391,-0.84,-219.0,61.2,-17.4,63,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3860,0,0,0,0,0,0
$GC,534,-0.84,-219.0,86.5,-17.4,88,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3860,0,0,0,0,0,0
$GC,677,-0.84,-219.0,111.7,-17.7,108,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3861,0,0,0,0,0,0
$GC,804,-0.84,-219.0,134.0,-17.6,120,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3861,0,0,0,0,0,0
$GC,932,-0.84,-219.0,156.4,-17.6,132,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3861,0,0,0,0,0,0
$GC,1060,-0.84,-219.0,178.7,-17.7,144,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3861,0,0,0,0,0,0
$GC,1187,-0.84,-219.0,200.8,-16.8,156,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3861,0,0,0,0,0,0
$GC,1314,-0.84,-219.0,222.2,-16.9,168,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3861,0,0,0,0,0,0
$GC,1441,-0.84,-219.0,243.7,-16.8,180,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3861,0,0,0,0,0,0
$GC,1569,-0.84,-219.0,264.9,-16.6,192,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3861,0,0,0,0,0,0
$GC,1761,-0.84,-219.0,296.3,-16.7,210,1764,0.00,1.60,0.00,0.000,4,0.000,0.049,2508,3748,3861,0,0,0,0,0,0
$GC,1796,-0.84,-219.0,302.5,-17.7,213,1800,0.00,1.52,0.00,0.000,6,0.000,0.030,2508,2774,3861,0,0,0,0,0,0
$GC,2000,-0.84,-219.0,336.7,-16.9,232,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3861,0,0,0,0,0,0
$STATE,2085,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2085,begin apogee
$GC,2091,-0.16,0.0,350.8,16.6,240,2273,0.73,0.00,175.07,0.954,4,0.122,0.000,2746,2684,2960,0,0,0,0,0,0
$STATE,2274,end apogee,CONTROL_FINISHED_OK
$STATE,2274,begin climb
$GC,2276,0.84,219.0,357.7,0.0,256,2479,0.95,2.35,191.48,0.900,4,0.057,0.032,3077,1314,2067,0,0,0,0,0,0
$GC,2498,0.86,238.7,343.1,12.5,275,2527,0.00,2.42,19.70,0.839,6,0.000,0.039,3077,2690,1987,0,0,1,0,0,0
$GC,2718,0.86,238.7,312.5,14.1,296,2723,0.00,2.30,0.00,0.000,4,0.000,0.031,3088,1316,1980,0,0,0,0,0,0
$GC,2905,0.86,238.7,287.6,13.5,312,2910,0.00,2.33,0.00,0.000,6,0.000,0.041,3088,2716,1979,0,0,0,0,0,0
$GC,3105,0.86,238.7,258.1,14.9,330,3109,0.00,1.67,0.00,0.000,4,0.000,0.048,3088,3764,1978,0,0,0,0,0,0
$GC,3162,0.86,238.7,248.6,16.8,335,3166,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2700,1977,0,0,0,0,0,0
$GC,3303,0.86,238.7,226.7,15.4,348,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2700,1977,0,0,0,0,0,0
$GC,3430,0.86,238.7,206.9,15.5,360,3433,0.00,1.73,0.00,0.000,4,0.000,0.047,3096,3772,1976,0,0,0,0,0,0
$GC,3476,0.86,238.7,199.0,17.3,364,3480,0.00,1.65,0.00,0.000,6,0.000,0.031,3105,2706,1976,0,0,0,0,0,0
$GC,3617,0.86,238.7,176.0,15.9,377,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2706,1976,0,0,0,0,0,0
$GC,3743,0.86,238.7,155.5,15.6,389,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2706,1976,0,0,0,0,0,0
$GC,3871,0.86,238.7,135.3,15.9,401,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2706,1976,0,0,0,0,0,0
$GC,3999,0.86,238.7,115.5,15.3,413,4003,0.00,1.75,0.00,0.000,4,0.000,0.049,3105,3765,1975,0,0,0,0,0,0
$GC,4056,0.86,238.7,105.7,16.9,418,4060,0.12,1.65,0.00,0.000,6,0.165,0.032,3078,2696,1975,0,0,0,0,0,0
$GC,4198,0.86,238.7,86.5,13.4,439,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2696,1975,0,0,0,0,0,0
$GC,4340,0.86,238.7,67.2,13.6,464,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2696,1974,0,0,0,0,0,0
$GC,4482,0.88,252.4,48.4,12.8,489,4502,0.00,1.75,11.57,0.769,4,0.000,0.050,3078,3770,1930,0,0,0,0,0,0
$GC,4538,0.88,252.4,40.0,16.1,498,4544,0.00,1.65,0.00,0.000,6,0.000,0.030,3084,2729,1930,0,0,0,0,0,0
$GC,4682,0.88,252.4,19.6,13.8,523,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2729,1929,0,0,0,0,0,0
$FREEZE,8.67,-0.184,-1.897,2,1,0
$FREEZE,7.94,-0.180,-1.896,2,1,0
$FREEZE,7.24,-0.171,-1.896,2,1,0
$FREEZE,6.48,-0.161,-1.895,2,1,0
$FREEZE,5.80,-0.155,-1.895,2,1,0
$FREEZE,5.05,-0.156,-1.894,2,1,0
$FREEZE,4.22,-0.147,-1.894,2,1,0
$FREEZE,3.48,-0.142,-1.893,2,1,0
$FREEZE,2.80,-0.132,-1.892,2,1,0
$STATE,4802,end climb,SURFACE_DEPTH_REACHED
$STATE,4803,begin surface coast
$FREEZE,1.45,-0.129,-1.891,2,1,0
$FREEZE,0.74,-0.124,-1.891,2,1,0
$FREEZE,0.00,-0.151,-1.891,2,1,0
$FREEZE,0.06,-0.177,-1.891,2,1,0
$FINISH,0.1,1.027673
$STATE,4825,end surface coast,CONTROL_FINISHED_OK
$STATE,4825,begin surface
$SM_CCo,4843,32.90,0.100,0,0,1655,320.11
$SM_GC,0.80,0.00,0.00,32.90,0.000,0.000,0.100,181,2798,1655,-8.19,0.54,320.11
$IRIDIUM_FIX,-7603.11,17517.31,060111,080810
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.0
$ALTIM_BOTTOM_PING,350.8,8.5
$24V_AH,22.2,60.109
$10V_AH,9.8,23.524
$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,18.475,29.375,397.825,32.900,0.000,59.993,51.911,180.807,1.500,0.000,17.127,1345.736,2106.097,471.950,1249.350,199.546,0.000,1028.371,0.000,901.692,0.000,14.718,0.000
$DEVICE_MAMPS,210.375,99.450,953.955,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.634,720.542,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258184
$DATA_FILE_SIZE,37196,548
$CAP_FILE_SIZE,73139,0
$CFSIZE,260165632,224780288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.164,118.7,1
$GPS,060111,111401,-7650.796,17508.500,19,1.9,30,126.3