version: 66.08
glider: 503
mission: 7
dive: 599
start: 1 6 111 12 52 13
data:
$ID,503
$MISSION,7
$DIVE,599
$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,-20261.943
$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,27
$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
$GPS1,060111,124550,-7651.288,17507.812,19,1.4,19,126.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-75.2
$GPS2,060111,125144,-7651.288,17507.924,14,1.4,14,126.4
$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,112.6,7636,-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,-219.0,0.0,0.0,0,110,0.00,0.00,-90.53,0.000,2,0.000,0.000,182,2744,3456,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.3,-7.3,15,136,8.90,1.70,-8.27,0.000,4,0.208,0.065,2516,3767,3855,0,0,1,0,0,0
$GC,387,-0.84,-219.0,61.3,-18.0,63,394,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2775,3859,0,0,0,0,0,0
$GC,529,-0.84,-219.0,86.5,-17.7,88,535,0.00,1.62,0.00,0.000,4,0.000,0.050,2507,3761,3859,0,0,0,0,0,0
$GC,610,-0.84,-219.0,101.8,-18.3,102,614,0.00,1.52,0.00,0.000,6,0.000,0.031,2507,2791,3859,0,0,0,0,0,0
$GC,750,-0.84,-219.0,127.5,-17.8,115,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3859,0,0,0,0,0,0
$GC,876,-0.84,-219.0,151.0,-18.3,127,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1004,-0.84,-219.0,174.3,-18.2,139,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2790,3860,0,0,0,0,0,0
$GC,1132,-0.84,-219.0,197.5,-18.3,151,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1259,-0.84,-219.0,220.3,-17.8,163,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1386,-0.84,-219.0,242.0,-17.2,175,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2790,3860,0,0,0,0,0,0
$GC,1516,-0.84,-219.0,263.9,-16.9,187,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3860,0,0,0,0,0,0
$GC,1704,-0.84,-219.0,295.7,-16.7,205,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3860,0,0,0,0,0,0
$GC,1896,-0.84,-219.0,328.2,-16.7,223,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$STATE,2011,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2011,begin apogee
$GC,2018,-0.16,0.0,347.6,16.7,234,2198,0.73,0.00,174.40,0.955,4,0.124,0.000,2745,2685,2960,0,0,0,0,0,0
$STATE,2199,end apogee,CONTROL_FINISHED_OK
$STATE,2199,begin climb
$GC,2202,0.84,219.0,357.5,0.0,250,2405,0.98,2.38,191.35,0.903,4,0.070,0.032,3072,1308,2067,0,0,0,0,0,0
$GC,2463,0.86,234.8,337.4,12.7,273,2486,0.00,2.45,15.62,0.832,6,0.000,0.041,3072,2701,2002,0,0,0,0,0,0
$GC,2680,0.86,234.8,307.1,13.8,293,2684,0.00,2.33,0.00,0.000,4,0.000,0.033,3083,1311,1996,0,0,0,0,0,0
$GC,2854,0.87,247.3,283.5,12.8,308,2871,0.00,2.33,11.57,0.828,6,0.000,0.041,3083,2713,1951,0,0,0,0,0,0
$GC,3067,0.87,247.3,252.8,14.7,327,3070,0.00,1.70,0.00,0.000,4,0.000,0.047,3083,3770,1950,0,0,0,0,0,0
$GC,3124,0.87,247.3,243.2,16.3,332,3128,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2712,1950,0,0,0,0,0,0
$GC,3265,0.87,247.3,221.8,14.9,345,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2710,1950,0,0,0,0,0,0
$GC,3392,0.87,247.3,203.1,14.8,357,3396,0.00,1.70,0.00,0.000,4,0.000,0.048,3091,3764,1950,0,0,0,0,0,0
$GC,3439,0.87,247.3,195.6,16.3,361,3443,0.00,1.62,0.00,0.000,6,0.000,0.031,3100,2701,1949,0,0,1,0,0,0
$GC,3579,0.87,247.3,174.1,15.0,374,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2702,1949,0,0,0,0,0,0
$GC,3706,0.87,247.3,154.7,15.0,386,3710,0.00,1.75,0.00,0.000,4,0.000,0.048,3100,3765,1949,0,0,0,0,0,0
$GC,3753,0.87,247.3,147.0,17.5,390,3756,0.00,1.65,0.00,0.000,6,0.000,0.031,3109,2696,1949,0,0,0,0,0,0
$GC,3893,0.87,247.3,124.7,15.8,403,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2696,1949,0,0,0,0,0,0
$GC,4020,0.87,247.3,104.5,15.9,415,4023,0.00,1.70,0.00,0.000,4,0.000,0.048,3108,3764,1948,0,0,0,0,0,0
$GC,4060,0.87,247.3,97.5,18.1,419,4068,0.10,1.65,0.00,0.000,6,0.142,0.031,3071,2729,1947,0,0,0,0,0,0
$GC,4204,0.88,251.0,77.7,13.2,444,4212,0.00,0.00,4.22,0.627,6,0.000,0.000,3071,2729,1936,0,0,0,0,0,0
$GC,4349,0.88,251.0,58.1,14.3,469,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2729,1935,0,0,0,0,0,0
$GC,4489,0.88,251.0,39.2,13.6,494,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2729,1935,0,0,0,0,0,0
$GC,4632,0.88,253.9,20.4,13.2,519,4641,0.00,1.70,4.32,0.617,4,0.000,0.049,3071,3769,1923,0,0,0,0,0,0
$GC,4671,0.88,253.9,14.8,15.4,525,4678,0.00,1.65,0.00,0.000,6,0.000,0.031,3079,2723,1923,0,0,0,0,0,0
$FREEZE,8.79,-0.135,-1.897,2,1,0
$FREEZE,7.87,-0.020,-1.895,2,1,0
$FREEZE,7.20,0.008,-1.895,2,1,0
$FREEZE,6.33,0.018,-1.894,2,1,0
$FREEZE,5.72,0.020,-1.894,2,1,0
$FREEZE,5.04,0.025,-1.893,2,1,0
$FREEZE,4.35,0.027,-1.893,2,1,0
$FREEZE,3.65,0.034,-1.893,2,1,0
$FREEZE,3.03,0.041,-1.892,2,1,0
$FREEZE,2.36,0.047,-1.892,2,1,0
$STATE,4762,end climb,SURFACE_DEPTH_REACHED
$STATE,4762,begin surface coast
$FREEZE,1.22,0.034,-1.891,2,1,0
$FREEZE,0.57,0.022,-1.890,2,1,0
$FREEZE,-0.11,0.010,-1.890,2,1,0
$FREEZE,-0.21,-0.139,-1.899,2,1,0
$FINISH,-0.2,1.027782
$STATE,4785,end surface coast,CONTROL_FINISHED_OK
$STATE,4785,begin surface
$SM_CCo,4802,32.25,0.100,0,0,1655,320.11
$SM_GC,0.81,0.00,0.00,32.25,0.000,0.000,0.100,179,2805,1655,-8.19,0.74,320.11
$IRIDIUM_FIX,-7603.11,17507.93,060111,111142
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,301.2,61.3
$24V_AH,22.2,60.353
$10V_AH,9.9,23.614
$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,18.275,32.850,401.500,32.250,0.000,29.629,36.842,163.218,1.000,0.000,17.170,1349.186,2011.603,464.926,1179.741,196.557,0.000,1019.197,0.000,900.312,0.000,8.909,0.000
$DEVICE_MAMPS,208.080,93.330,955.485,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.673,717.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258244
$DATA_FILE_SIZE,37037,545
$CAP_FILE_SIZE,72750,0
$CFSIZE,260165632,224698368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.209, 94.7,1
$GPS,060111,141407,-7651.660,17507.305,37,0.8,37,126.4