version: 66.08
glider: 503
mission: 7
dive: 550
start: 1 3 111 9 17 31
data:
$ID,503
$MISSION,7
$DIVE,550
$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,-20195.885
$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,50
$R_STBD_OVSHOOT,26
$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
$GPS1,030111,091137,-7625.021,17604.479,32,1.2,32,123.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-72.6
$GPS2,030111,091702,-7625.059,17604.520,13,1.2,13,123.3
$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,105.6,61696,-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,-90.45,0.000,2,0.000,0.000,176,2779,3455,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.2,-6.3,15,141,8.98,1.65,-8.40,0.000,4,0.211,0.065,2516,3772,3856,0,0,1,0,0,0
$GC,347,-0.84,-219.0,54.2,-18.3,56,354,0.00,1.55,0.00,0.000,6,0.000,0.028,2517,2780,3858,0,0,0,0,0,0
$GC,489,-0.84,-219.0,79.8,-17.8,81,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,636,-0.84,-219.0,106.5,-18.1,104,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,764,-0.84,-219.0,129.7,-18.6,116,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,891,-0.84,-219.0,152.7,-18.1,128,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3860,0,0,0,0,0,0
$GC,1018,-0.84,-219.0,174.8,-17.4,140,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,1146,-0.84,-219.0,196.7,-17.1,152,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3860,0,0,0,0,0,0
$GC,1274,-0.84,-219.0,218.8,-17.8,164,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3860,0,0,0,0,0,0
$GC,1401,-0.84,-219.0,241.1,-17.4,176,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3860,0,0,0,0,0,0
$GC,1528,-0.84,-219.0,263.0,-17.4,188,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3860,0,0,0,0,0,0
$GC,1722,-0.84,-219.0,296.2,-17.2,206,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2781,3860,0,0,0,0,0,0
$GC,1920,-0.84,-219.0,328.9,-16.4,225,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3860,0,0,0,0,0,0
$GC,2111,-0.84,-219.0,360.4,-16.6,243,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$STATE,2204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2204,begin apogee
$GC,2210,-0.16,0.0,375.8,16.2,252,2391,0.68,0.00,174.20,0.974,4,0.121,0.000,2740,2699,2959,0,0,0,0,0,0
$STATE,2392,end apogee,CONTROL_FINISHED_OK
$STATE,2392,begin climb
$GC,2394,0.84,219.0,385.3,0.0,268,2599,1.00,2.42,191.45,0.920,4,0.074,0.031,3070,1299,2067,0,0,0,0,0,0
$GC,2739,0.85,231.0,355.3,12.8,298,2757,0.00,2.42,11.30,0.825,6,0.000,0.040,3070,2701,2018,0,0,0,0,0,0
$GC,2952,0.85,231.0,326.1,13.9,318,2956,0.00,2.33,0.00,0.000,4,0.000,0.033,3081,1303,2015,0,0,0,0,0,0
$GC,3115,0.86,234.7,303.5,13.2,332,3127,0.00,2.33,4.03,0.627,6,0.000,0.041,3081,2708,2004,0,0,0,0,0,0
$GC,3318,0.86,234.7,274.2,14.2,351,3322,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3764,2003,0,0,0,0,0,0
$GC,3388,0.86,234.7,263.3,15.7,357,3392,0.00,1.62,0.00,0.000,6,0.000,0.030,3089,2703,2002,0,0,1,0,0,0
$GC,3592,0.86,234.7,233.5,14.0,376,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2703,2002,0,0,0,0,0,0
$GC,3719,0.86,234.7,215.7,14.1,388,3723,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3764,2002,0,0,0,0,0,0
$GC,3767,0.86,234.7,207.7,16.7,392,3775,0.00,1.65,0.00,0.000,6,0.000,0.030,3098,2715,2002,0,0,1,0,0,0
$GC,3903,0.86,234.7,187.9,14.5,405,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2716,2002,0,0,0,0,0,0
$GC,4029,0.86,234.7,169.3,14.7,417,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2715,2002,0,0,0,0,0,0
$GC,4157,0.86,234.7,150.3,14.9,429,4161,0.00,1.73,0.00,0.000,4,0.000,0.050,3098,3760,2002,0,0,0,0,0,0
$GC,4214,0.86,234.7,140.6,17.7,434,4218,0.00,1.62,0.00,0.000,6,0.000,0.031,3106,2695,2002,0,0,1,0,0,0
$GC,4355,0.86,234.7,118.7,15.6,447,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2695,2001,0,0,0,0,0,0
$GC,4482,0.86,234.7,98.9,15.3,459,4488,0.00,1.75,0.00,0.000,4,0.000,0.050,3106,3781,2001,0,0,0,0,0,0
$GC,4540,0.86,234.7,89.0,17.3,469,4548,0.08,1.65,0.00,0.000,6,0.148,0.031,3079,2730,2001,0,0,1,0,0,0
$GC,4685,0.87,241.9,69.3,13.0,494,4698,0.00,0.00,7.45,0.751,6,0.000,0.000,3079,2730,1975,0,0,0,0,0,0
$GC,4834,0.88,256.0,49.3,12.8,520,4853,0.00,0.00,14.38,0.773,6,0.000,0.000,3079,2730,1917,0,0,0,0,0,0
$GC,4989,0.92,284.4,28.8,12.2,547,5022,0.00,1.75,26.58,0.757,4,0.000,0.050,3079,3764,1800,0,0,1,0,0,0
$GC,5068,0.92,284.4,17.4,15.8,560,5075,0.00,1.62,0.00,0.000,6,0.000,0.030,3086,2737,1800,0,0,1,0,0,0
$FREEZE,8.36,-0.476,-1.894,2,1,0
$FREEZE,7.59,-0.473,-1.893,2,1,0
$FREEZE,6.89,-0.474,-1.893,2,1,0
$FREEZE,6.12,-0.477,-1.892,2,1,0
$FREEZE,5.37,-0.473,-1.892,2,1,0
$FREEZE,4.64,-0.476,-1.891,2,1,0
$FREEZE,3.89,-0.481,-1.891,2,1,0
$FREEZE,3.16,-0.480,-1.890,2,1,0
$FREEZE,2.56,-0.477,-1.890,2,1,0
$STATE,5168,end climb,SURFACE_DEPTH_REACHED
$STATE,5169,begin surface coast
$FREEZE,1.44,-0.473,-1.889,2,1,0
$FREEZE,0.66,-0.475,-1.888,2,1,0
$FREEZE,0.04,-0.477,-1.888,2,1,0
$FREEZE,0.14,-0.479,-1.888,2,1,0
$FINISH,0.1,1.027645
$STATE,5191,end surface coast,CONTROL_FINISHED_OK
$STATE,5191,begin surface
$SM_CCo,5209,17.20,0.102,0,0,1655,320.11
$SM_GC,0.67,0.00,0.00,17.20,0.000,0.000,0.102,185,2785,1655,-8.17,0.14,320.11
$IRIDIUM_FIX,-7536.68,17630.53,030111,070729
$TT8_MAMPS,0.027713
$HUMID,52.36
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.3
$ALTIM_BOTTOM_PING,351.6,70.2
$24V_AH,22.3,54.557
$10V_AH,9.9,21.359
$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,18.325,29.650,429.375,17.200,0.000,30.213,36.471,138.184,1.250,0.000,15.845,1412.217,2254.196,488.153,1216.063,192.561,0.000,1071.306,0.000,956.007,0.000,10.653,0.000
$DEVICE_MAMPS,211.140,111.690,973.845,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.909,744.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,36981,582
$CAP_FILE_SIZE,75073,0
$CFSIZE,260165632,226762752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.187,148.5,1
$GPS,030111,104607,-7626.007,17602.842,48,0.9,48,123.4