version: 66.08
glider: 503
mission: 7
dive: 520
start: 1 1 111 9 56 36
data:
$ID,503
$MISSION,7
$DIVE,520
$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,-20155.441
$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,42
$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
$GPS1,010111,094427,-7606.028,17650.918,15,1.7,16,121.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-74.4
$GPS2,010111,095606,-7606.053,17650.867,40,0.8,40,121.0
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$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,295.5,4511,-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,15,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-89.32,0.000,2,0.000,0.000,184,2800,3446,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.4,-7.6,15,138,8.95,2.33,-8.45,0.000,4,0.212,0.044,2522,1371,3857,0,0,1,0,0,0
$GC,218,-0.84,-219.0,28.6,-16.1,33,226,0.00,2.30,0.00,0.000,6,0.000,0.044,2511,2772,3859,0,0,0,0,0,0
$GC,362,-0.84,-219.0,54.7,-17.9,58,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2772,3860,0,0,0,0,0,0
$GC,502,-0.84,-219.0,81.4,-18.1,83,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3860,0,0,0,0,0,0
$GC,646,-0.84,-219.0,107.9,-18.1,105,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2772,3861,0,0,0,0,0,0
$GC,774,-0.84,-219.0,131.0,-18.2,117,778,0.00,1.60,0.00,0.000,4,0.000,0.050,2504,3763,3860,0,0,0,0,0,0
$GC,812,-0.84,-219.0,138.6,-18.7,120,819,0.00,1.55,0.00,0.000,6,0.000,0.030,2504,2769,3860,0,0,0,0,0,0
$GC,947,-0.84,-219.0,162.7,-18.6,133,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2769,3860,0,0,0,0,0,0
$GC,1075,-0.84,-219.0,186.0,-18.3,145,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2769,3861,0,0,0,0,0,0
$GC,1201,-0.84,-219.0,209.9,-18.6,157,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2769,3861,0,0,0,0,0,0
$GC,1329,-0.84,-219.0,233.5,-18.5,169,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2769,3861,0,0,0,0,0,0
$GC,1458,-0.84,-219.0,257.1,-18.2,181,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2769,3861,0,0,0,0,0,0
$GC,1647,-0.84,-219.0,291.7,-18.0,199,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2769,3861,0,0,0,0,0,0
$GC,1838,-0.84,-219.0,326.2,-18.1,217,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2769,3861,0,0,0,0,0,0
$GC,2030,-0.84,-219.0,359.8,-17.7,235,2034,0.00,1.62,0.00,0.000,4,0.000,0.050,2496,3763,3861,0,0,0,0,0,0
$GC,2064,-0.84,-219.0,366.0,-18.1,238,2069,0.08,1.55,0.00,0.000,6,0.142,0.031,2523,2773,3860,0,0,0,0,0,0
$STATE,2117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2117,begin apogee
$GC,2124,-0.16,0.0,375.0,15.6,243,2303,0.65,0.00,174.55,0.971,4,0.117,0.000,2742,2696,2960,0,0,0,0,0,0
$STATE,2304,end apogee,CONTROL_FINISHED_OK
$STATE,2304,begin climb
$GC,2307,0.84,219.0,383.8,0.0,259,2511,1.00,2.40,191.20,0.918,4,0.073,0.032,3073,1305,2066,0,0,0,0,0,0
$GC,2674,0.85,226.8,349.8,13.0,291,2686,0.00,2.40,7.15,0.762,6,0.000,0.041,3073,2702,2035,0,0,0,0,0,0
$GC,2879,0.85,226.8,320.9,13.9,310,2883,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1300,2032,0,0,0,0,0,0
$GC,3045,0.85,227.0,298.7,13.3,324,3049,0.00,2.33,0.00,0.000,6,0.000,0.041,3083,2711,2031,0,0,0,0,0,0
$GC,3243,0.85,227.0,269.9,14.0,342,3246,0.00,1.67,0.00,0.000,4,0.000,0.048,3083,3762,2030,0,0,0,0,0,0
$GC,3304,0.85,227.0,260.2,16.1,347,3310,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2701,2029,0,0,0,0,0,0
$GC,3501,0.85,227.0,231.0,14.9,366,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2701,2029,0,0,0,0,0,0
$GC,3629,0.85,227.0,212.4,14.1,378,3632,0.00,1.70,0.00,0.000,4,0.000,0.048,3092,3763,2029,0,0,0,0,0,0
$GC,3667,0.85,227.0,206.2,16.4,381,3674,0.00,1.65,0.00,0.000,6,0.000,0.030,3100,2726,2028,0,0,0,0,0,0
$GC,3801,0.85,227.0,186.2,14.6,394,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2725,2029,0,0,0,0,0,0
$GC,3928,0.85,227.0,167.3,15.1,406,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2726,2028,0,0,0,0,0,0
$GC,4056,0.85,227.0,148.7,14.5,418,4060,0.00,1.65,0.00,0.000,4,0.000,0.049,3100,3763,2028,0,0,0,0,0,0
$GC,4092,0.85,227.0,143.0,17.1,421,4096,0.12,1.65,0.00,0.000,6,0.171,0.031,3074,2697,2028,0,0,0,0,0,0
$GC,4231,0.86,234.7,124.2,13.0,434,4241,0.00,0.00,7.25,0.767,6,0.000,0.000,3074,2696,2003,0,0,0,0,0,0
$GC,4369,0.87,241.0,106.6,13.1,447,4382,0.00,1.77,7.53,0.757,4,0.000,0.049,3073,3766,1977,0,0,1,0,0,0
$GC,4423,0.87,241.0,98.9,14.6,452,4431,0.00,1.65,0.00,0.000,6,0.000,0.031,3081,2729,1977,0,0,0,0,0,0
$GC,4569,0.87,248.8,78.8,13.0,477,4582,0.00,0.00,8.93,0.761,6,0.000,0.000,3082,2730,1945,0,0,0,0,0,0
$GC,4717,0.87,248.8,59.2,13.4,503,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2729,1944,0,0,0,0,0,0
$GC,4858,0.87,248.8,40.1,14.8,528,4866,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3761,1943,0,0,0,0,0,0
$GC,4894,0.87,248.8,34.6,16.0,534,4901,0.00,1.62,0.00,0.000,6,0.000,0.031,3089,2740,1943,0,0,0,0,0,0
$GC,5036,0.87,248.8,14.8,14.4,559,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2740,1943,0,0,0,0,0,0
$FREEZE,8.62,-0.430,-1.893,2,1,0
$FREEZE,8.17,-0.426,-1.893,2,1,0
$FREEZE,7.15,-0.404,-1.892,2,1,0
$FREEZE,6.55,-0.397,-1.891,2,1,0
$FREEZE,5.74,-0.412,-1.891,2,1,0
$FREEZE,4.93,-0.409,-1.891,2,1,0
$FREEZE,4.19,-0.357,-1.890,2,1,0
$FREEZE,3.44,-0.276,-1.889,2,1,0
$FREEZE,2.70,-0.283,-1.888,2,1,0
$STATE,5119,end climb,SURFACE_DEPTH_REACHED
$STATE,5119,begin surface coast
$FREEZE,1.74,-0.282,-1.888,2,1,0
$FREEZE,0.82,-0.332,-1.888,2,1,0
$FREEZE,-0.08,-0.339,-1.887,2,1,0
$FREEZE,-0.11,-0.372,-1.887,2,1,0
$FINISH,-0.1,1.027633
$STATE,5143,end surface coast,CONTROL_FINISHED_OK
$STATE,5143,begin surface
$SM_CCo,5160,34.80,0.103,0,0,1655,320.11
$SM_GC,0.69,0.00,0.00,34.80,0.000,0.000,0.103,176,2790,1655,-8.20,0.25,320.11
$IRIDIUM_FIX,-7519.49,17643.26,010111,090953
$TT8_MAMPS,0.027713
$HUMID,52.40
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.0
$24V_AH,22.4,50.945
$10V_AH,9.9,19.958
$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,18.450,37.275,396.600,34.800,0.000,88.975,78.574,233.953,1.000,0.000,43.081,1428.106,2318.017,489.173,1466.025,206.210,0.000,1081.137,0.000,965.468,0.000,7.760,0.000
$DEVICE_MAMPS,211.905,110.925,970.785,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.546,746.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37119,578
$CAP_FILE_SIZE,82421,0
$CFSIZE,260165632,228057088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.092,217.8,1
$GPS,010111,112413,-7605.812,17653.209,15,1.6,21,120.9