version: 66.08
glider: 503
mission: 7
dive: 598
start: 1 6 111 11 25 1
data:
$ID,503
$MISSION,7
$DIVE,598
$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,-20260.684
$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,49
$R_STBD_OVSHOOT,38
$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
$GPS1,060111,111401,-7650.796,17508.500,19,1.9,30,126.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.5
$GPS2,060111,112432,-7650.759,17508.742,10,1.0,10,126.3
$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,107.2,8667,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-91.80,0.000,2,0.000,0.000,180,2799,3507,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.6,-8.0,16,135,8.95,1.60,-7.00,0.000,4,0.210,0.063,2514,3756,3856,0,0,0,0,0,0
$GC,245,-0.84,-219.0,35.9,-17.8,38,253,0.00,1.55,0.00,0.000,6,0.000,0.028,2514,2774,3860,0,0,0,0,0,0
$GC,388,-0.84,-219.0,61.7,-17.7,63,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,530,-0.84,-219.0,87.2,-17.6,88,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,668,-0.84,-219.0,111.9,-18.0,107,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,796,-0.84,-219.0,134.4,-17.9,119,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,922,-0.84,-219.0,156.7,-17.9,131,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3861,0,0,0,0,0,0
$GC,1050,-0.84,-219.0,179.1,-17.5,143,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3861,0,0,0,0,0,0
$GC,1178,-0.84,-219.0,201.3,-17.3,155,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3861,0,0,0,0,0,0
$GC,1304,-0.84,-219.0,223.3,-17.0,167,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3861,0,0,0,0,0,0
$GC,1432,-0.84,-219.0,244.9,-17.1,179,1436,0.00,1.60,0.00,0.000,4,0.000,0.049,2506,3746,3861,0,0,0,0,0,0
$GC,1466,-0.84,-219.0,251.2,-18.9,182,1470,0.00,1.52,0.00,0.000,6,0.000,0.030,2506,2774,3860,0,0,0,0,0,0
$GC,1670,-0.84,-219.0,286.4,-17.1,201,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2773,3860,0,0,0,0,0,0
$GC,1863,-0.84,-219.0,319.3,-16.7,219,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3861,0,0,0,0,0,0
$STATE,2043,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2043,begin apogee
$GC,2050,-0.16,0.0,350.5,17.6,236,2230,0.73,0.00,174.52,0.955,4,0.123,0.000,2744,2682,2960,0,0,0,0,0,0
$STATE,2231,end apogee,CONTROL_FINISHED_OK
$STATE,2231,begin climb
$GC,2234,0.84,219.0,359.2,0.0,252,2437,0.98,2.33,191.48,0.902,4,0.067,0.031,3074,1318,2066,0,0,0,0,0,0
$GC,2532,0.89,261.9,333.3,11.6,278,2577,0.00,2.40,39.85,0.866,6,0.000,0.038,3074,2692,1892,0,0,0,0,0,0
$GC,2770,0.89,261.9,299.9,14.2,300,2774,0.00,2.30,0.00,0.000,4,0.000,0.031,3084,1314,1888,0,0,0,0,0,0
$GC,2945,0.89,261.9,276.3,14.6,315,2949,0.00,2.30,0.00,0.000,6,0.000,0.041,3085,2707,1886,0,0,0,0,0,0
$GC,3144,0.89,261.9,247.2,14.8,333,3147,0.00,1.73,0.00,0.000,4,0.000,0.048,3085,3755,1885,0,0,0,0,0,0
$GC,3193,0.89,261.9,238.8,16.0,337,3200,0.00,1.60,0.00,0.000,6,0.000,0.030,3093,2733,1884,0,0,1,0,0,0
$GC,3327,0.89,261.9,218.1,15.5,350,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2733,1884,0,0,0,0,0,0
$GC,3455,0.89,261.9,198.9,14.9,362,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2733,1884,0,0,0,0,0,0
$GC,3582,0.89,261.9,179.8,15.2,374,3586,0.00,1.65,0.00,0.000,4,0.000,0.049,3093,3765,1884,0,0,0,0,0,0
$GC,3617,0.89,261.9,174.0,16.8,377,3621,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2694,1883,0,0,0,0,0,0
$GC,3757,0.89,261.9,152.2,15.5,390,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2694,1883,0,0,0,0,0,0
$GC,3885,0.89,261.9,132.9,14.9,402,3888,0.00,1.75,0.00,0.000,4,0.000,0.049,3101,3762,1883,0,0,0,0,0,0
$GC,3920,0.89,261.9,127.2,16.8,405,3924,0.00,1.62,0.00,0.000,6,0.000,0.031,3109,2733,1883,0,0,0,0,0,0
$GC,4060,0.89,261.9,104.4,15.6,418,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2733,1883,0,0,0,0,0,0
$GC,4192,0.89,261.9,83.7,16.0,439,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2733,1883,0,0,0,0,0,0
$GC,4333,0.89,261.9,60.9,17.2,464,4341,0.00,1.67,0.00,0.000,4,0.000,0.050,3110,3752,1882,0,0,0,0,0,0
$GC,4370,0.89,261.9,54.5,18.1,470,4378,0.08,1.58,0.00,0.000,6,0.149,0.032,3091,2745,1882,0,0,1,0,0,0
$GC,4514,0.89,261.9,32.9,14.5,495,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2745,1882,0,0,0,0,0,0
$GC,4655,0.89,261.9,12.2,14.5,520,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2745,1882,0,0,0,0,0,0
$FREEZE,8.38,-0.288,-1.897,2,1,0
$FREEZE,7.63,-0.280,-1.896,2,1,0
$FREEZE,6.78,-0.271,-1.896,2,1,0
$FREEZE,6.21,-0.262,-1.895,2,1,0
$FREEZE,5.34,-0.225,-1.894,2,1,0
$FREEZE,4.68,-0.141,-1.893,2,1,0
$FREEZE,3.95,-0.032,-1.891,2,1,0
$FREEZE,3.29,-0.014,-1.891,2,1,0
$FREEZE,2.49,0.010,-1.891,2,1,0
$STATE,4720,end climb,SURFACE_DEPTH_REACHED
$STATE,4720,begin surface coast
$FREEZE,1.71,0.004,-1.890,2,1,0
$FREEZE,0.90,-0.008,-1.891,2,1,0
$FREEZE,0.12,-0.026,-1.890,2,1,0
$FREEZE,-0.04,-0.106,-0.978,2,1,0
$FINISH,-0.0,1.014453
$STATE,4744,end surface coast,CONTROL_FINISHED_OK
$STATE,4745,begin surface
$SM_CCo,4761,26.65,0.100,0,0,1655,320.11
$SM_GC,1.03,0.00,0.00,26.65,0.000,0.000,0.100,184,2745,1655,-8.18,-0.99,320.11
$IRIDIUM_FIX,-7603.11,17456.90,060111,111152
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,350.5,9.1
$24V_AH,22.2,60.237
$10V_AH,9.8,23.570
$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,18.275,28.925,405.850,26.650,0.000,57.320,74.612,283.101,1.250,0.000,13.440,1309.870,2072.241,469.093,1363.480,217.422,0.000,1022.317,0.000,890.558,0.000,10.484,0.000
$DEVICE_MAMPS,210.375,98.685,954.720,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.001,702.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37104,536
$CAP_FILE_SIZE,74650,0
$CFSIZE,260165632,224735232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.192,104.6,1
$GPS,060111,124550,-7651.288,17507.812,19,1.4,19,126.4