version: 66.08
glider: 503
mission: 7
dive: 551
start: 1 3 111 10 52 13
data:
$ID,503
$MISSION,7
$DIVE,551
$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,-20197.145
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,030111,104607,-7626.007,17602.842,48,0.9,48,123.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.1
$GPS2,030111,105144,-7626.046,17602.930,11,1.6,11,123.4
$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,110.2,59761,-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,16,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-93.72,0.000,2,0.000,0.000,185,2786,3562,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.2,-10.3,16,138,8.98,1.62,-5.62,0.000,4,0.213,0.064,2516,3765,3856,0,0,0,0,0,0
$GC,319,-0.84,-219.0,50.6,-17.4,51,325,0.00,1.55,0.00,0.000,6,0.000,0.028,2516,2776,3859,0,0,0,0,0,0
$GC,461,-0.84,-219.0,75.5,-17.8,76,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,602,-0.84,-219.0,100.4,-18.2,101,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3859,0,0,0,0,0,0
$GC,730,-0.84,-219.0,123.3,-17.8,113,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2776,3860,0,0,0,0,0,0
$GC,856,-0.84,-219.0,146.1,-17.5,125,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2776,3860,0,0,0,0,0,0
$GC,984,-0.84,-219.0,168.1,-17.2,137,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,1111,-0.84,-219.0,189.8,-17.0,149,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2776,3860,0,0,0,0,0,0
$GC,1239,-0.84,-219.0,211.8,-17.1,161,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3861,0,0,0,0,0,0
$GC,1366,-0.84,-219.0,233.8,-17.1,173,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,1494,-0.84,-219.0,256.0,-17.3,185,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3861,0,0,0,0,0,0
$GC,1686,-0.84,-219.0,288.1,-16.6,203,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2776,3860,0,0,0,0,0,0
$GC,1878,-0.84,-219.0,319.6,-16.5,221,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2776,3861,0,0,0,0,0,0
$GC,2071,-0.84,-219.0,351.0,-16.2,239,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2776,3860,0,0,0,0,0,0
$STATE,2214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2214,begin apogee
$GC,2220,-0.16,0.0,375.1,16.0,253,2400,0.70,0.00,174.38,0.970,4,0.121,0.000,2746,2690,2960,0,0,0,0,0,0
$STATE,2400,end apogee,CONTROL_FINISHED_OK
$STATE,2400,begin climb
$GC,2403,0.84,219.0,383.8,0.0,269,2606,0.98,2.38,191.60,0.916,4,0.072,0.032,3071,1309,2066,0,0,0,0,0,0
$GC,2709,0.86,239.0,359.5,12.5,296,2735,0.00,2.40,19.02,0.856,6,0.000,0.041,3071,2694,1985,0,0,0,0,0,0
$GC,2934,0.86,239.0,328.1,14.2,317,2938,0.00,2.30,0.00,0.000,4,0.000,0.032,3081,1312,1980,0,0,0,0,0,0
$GC,3100,0.87,244.0,305.3,13.1,331,3112,0.00,2.33,5.18,0.705,6,0.000,0.041,3081,2716,1965,0,0,0,0,0,0
$GC,3313,0.87,244.0,275.4,14.1,351,3316,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3768,1964,0,0,0,0,0,0
$GC,3370,0.87,244.0,266.1,16.9,356,3374,0.00,1.65,0.00,0.000,6,0.000,0.030,3089,2721,1963,0,0,1,0,0,0
$GC,3574,0.87,244.0,235.2,15.3,375,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,1963,0,0,0,0,0,0
$GC,3700,0.87,244.0,215.8,15.2,387,3704,0.00,1.67,0.00,0.000,4,0.000,0.049,3089,3761,1962,0,0,0,0,0,0
$GC,3738,0.87,244.0,209.2,18.0,390,3745,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2727,1963,0,0,1,0,0,0
$GC,3873,0.87,244.0,188.3,15.3,403,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2726,1962,0,0,0,0,0,0
$GC,4000,0.87,244.0,168.9,15.4,415,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2727,1962,0,0,0,0,0,0
$GC,4128,0.87,244.0,150.0,14.7,427,4131,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3767,1962,0,0,0,0,0,0
$GC,4173,0.87,244.0,142.5,16.6,431,4176,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2702,1961,0,0,0,0,0,0
$GC,4314,0.87,244.0,120.9,15.3,444,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2701,1961,0,0,0,0,0,0
$GC,4440,0.87,244.0,101.3,15.1,456,4443,0.00,1.70,0.00,0.000,4,0.000,0.050,3107,3761,1961,0,0,0,0,0,0
$GC,4497,0.87,244.0,91.4,17.5,465,4505,0.10,1.62,0.00,0.000,6,0.142,0.031,3081,2741,1962,0,0,0,0,0,0
$GC,4640,0.87,244.0,72.0,13.5,490,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2741,1961,0,0,0,0,0,0
$GC,4782,0.87,244.0,52.7,14.0,515,4789,0.00,1.67,0.00,0.000,4,0.000,0.050,3081,3757,1961,0,0,0,0,0,0
$GC,4819,0.87,244.0,47.1,15.7,521,4825,0.00,1.60,0.00,0.000,6,0.000,0.031,3087,2731,1961,0,0,1,0,0,0
$GC,4964,0.87,244.0,26.4,13.7,546,4970,0.00,1.70,0.00,0.000,4,0.000,0.050,3087,3764,1961,0,0,0,0,0,0
$GC,5006,0.87,244.0,19.4,16.5,553,5013,0.00,1.58,0.00,0.000,6,0.000,0.032,3095,2753,1961,0,0,1,0,0,0
$FREEZE,8.95,-0.309,-1.895,2,1,0
$FREEZE,8.20,-0.306,-1.894,2,1,0
$FREEZE,7.44,-0.315,-1.894,2,1,0
$FREEZE,6.55,-0.314,-1.894,2,1,0
$FREEZE,6.05,-0.304,-1.893,2,1,0
$FREEZE,5.02,-0.297,-1.892,2,1,0
$FREEZE,4.32,-0.299,-1.892,2,1,0
$FREEZE,3.31,-0.299,-1.891,2,1,0
$FREEZE,2.55,-0.298,-1.890,2,1,0
$STATE,5112,end climb,SURFACE_DEPTH_REACHED
$STATE,5112,begin surface coast
$FREEZE,1.49,-0.299,-1.890,2,1,0
$FREEZE,0.70,-0.299,-1.889,2,1,0
$FREEZE,0.01,-0.301,-1.888,2,1,0
$FINISH,0.0,1.027645
$STATE,5129,end surface coast,CONTROL_FINISHED_OK
$STATE,5129,begin surface
$SM_CCo,5146,36.42,0.100,0,0,1655,320.11
$SM_GC,0.60,0.00,0.00,36.42,0.000,0.000,0.100,174,2753,1655,-8.21,-0.76,320.11
$IRIDIUM_FIX,-7536.68,17602.03,030111,090926
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.1
$ALTIM_BOTTOM_PING,351.0,71.5
$24V_AH,22.3,54.673
$10V_AH,9.9,21.405
$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,18.375,32.500,390.175,36.425,0.000,29.292,42.270,146.611,1.250,0.000,14.039,1409.948,2245.878,474.686,1210.914,190.829,0.000,1048.280,0.000,942.635,0.000,10.656,0.000
$DEVICE_MAMPS,212.670,100.980,970.020,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.760,735.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37014,575
$CAP_FILE_SIZE,74768,0
$CFSIZE,260165632,226721792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.181,132.7,1
$GPS,030111,121937,-7626.802,17601.410,9,1.4,20,123.5