version: 66.08
glider: 503
mission: 7
dive: 552
start: 1 3 111 12 25 49
data:
$ID,503
$MISSION,7
$DIVE,552
$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,-20198.402
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,030111,121937,-7626.802,17601.410,9,1.4,20,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.5
$GPS2,030111,122520,-7626.820,17601.531,14,1.7,14,123.5
$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,113.2,58216,-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,-219.0,0.0,0.0,0,109,0.00,0.00,-89.70,0.000,2,0.000,0.000,174,2753,3432,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.1,-5.7,15,141,8.93,1.67,-8.95,0.000,4,0.208,0.067,2513,3765,3857,0,0,1,0,0,0
$GC,286,-0.84,-219.0,43.4,-19.1,45,294,0.00,1.55,0.00,0.000,6,0.000,0.030,2513,2782,3859,0,0,0,0,0,0
$GC,431,-0.84,-219.0,70.4,-18.6,70,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$GC,574,-0.84,-219.0,95.9,-18.4,95,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2783,3859,0,0,0,0,0,0
$GC,715,-0.84,-219.0,121.0,-17.6,110,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$GC,842,-0.84,-219.0,143.9,-17.9,122,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2783,3860,0,0,0,0,0,0
$GC,969,-0.84,-219.0,167.3,-18.5,134,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,1097,-0.84,-219.0,190.4,-18.8,146,1100,0.00,1.62,0.00,0.000,4,0.000,0.051,2505,3792,3860,0,0,0,0,0,0
$GC,1134,-0.84,-219.0,198.2,-19.2,149,1143,0.00,1.58,0.00,0.000,6,0.000,0.029,2505,2785,3860,0,0,0,0,0,0
$GC,1270,-0.84,-219.0,223.8,-18.9,162,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2784,3860,0,0,0,0,0,0
$GC,1397,-0.84,-219.0,247.9,-19.0,174,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2784,3860,0,0,0,0,0,0
$GC,1525,-0.84,-219.0,271.1,-18.0,186,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2784,3860,0,0,0,0,0,0
$GC,1715,-0.84,-219.0,304.1,-16.8,204,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2785,3860,0,0,0,0,0,0
$GC,1908,-0.84,-219.0,336.2,-16.8,222,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2784,3860,0,0,0,0,0,0
$GC,2097,-0.84,-219.0,367.8,-16.1,240,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2784,3860,0,0,0,0,0,0
$STATE,2148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2148,begin apogee
$GC,2154,-0.16,0.0,376.6,16.4,245,2336,0.73,0.00,174.77,0.968,4,0.122,0.000,2744,2684,2959,0,0,0,0,0,0
$STATE,2337,end apogee,CONTROL_FINISHED_OK
$STATE,2337,begin climb
$GC,2339,0.84,219.0,384.9,0.0,261,2544,1.00,2.38,191.68,0.914,4,0.072,0.031,3076,1307,2066,0,0,0,0,0,0
$GC,2658,0.86,240.5,356.1,12.5,289,2684,0.00,2.42,20.45,0.861,6,0.000,0.041,3076,2703,1978,0,0,0,0,0,0
$GC,2884,0.86,240.5,324.2,14.2,310,2888,0.00,2.35,0.00,0.000,4,0.000,0.034,3086,1313,1974,0,0,0,0,0,0
$GC,3040,0.86,240.5,302.9,13.4,323,3047,0.00,2.33,0.00,0.000,6,0.000,0.041,3086,2711,1972,0,0,0,0,0,0
$GC,3238,0.86,240.5,273.5,15.1,342,3242,0.00,1.70,0.00,0.000,4,0.000,0.049,3086,3767,1972,0,0,0,0,0,0
$GC,3298,0.86,240.5,263.4,16.8,347,3306,0.00,1.65,0.00,0.000,6,0.000,0.029,3094,2731,1971,0,0,0,0,0,0
$GC,3497,0.86,240.5,233.5,14.9,366,3501,0.00,1.67,0.00,0.000,4,0.000,0.050,3095,3765,1971,0,0,0,0,0,0
$GC,3535,0.86,240.5,226.9,16.4,369,3542,0.00,1.65,0.00,0.000,6,0.000,0.030,3103,2722,1970,0,0,1,0,0,0
$GC,3670,0.86,240.5,206.5,14.9,382,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2722,1970,0,0,0,0,0,0
$GC,3797,0.86,240.5,187.1,14.9,394,3801,0.00,1.67,0.00,0.000,4,0.000,0.049,3103,3764,1970,0,0,0,0,0,0
$GC,3835,0.86,240.5,180.4,17.8,397,3843,0.10,1.62,0.00,0.000,6,0.142,0.031,3077,2734,1969,0,0,1,0,0,0
$GC,3970,0.86,240.5,162.1,13.6,410,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2734,1969,0,0,0,0,0,0
$GC,4098,0.86,240.5,144.6,13.7,422,4101,0.00,1.65,0.00,0.000,4,0.000,0.050,3077,3764,1969,0,0,0,0,0,0
$GC,4143,0.86,240.5,137.5,15.7,426,4147,0.00,1.62,0.00,0.000,6,0.000,0.031,3084,2738,1969,0,0,0,0,0,0
$GC,4284,0.86,240.5,117.2,14.4,439,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2737,1968,0,0,0,0,0,0
$GC,4412,0.86,240.5,98.7,14.7,451,4418,0.00,1.70,0.00,0.000,4,0.000,0.050,3084,3761,1969,0,0,0,0,0,0
$GC,4453,0.86,240.5,92.2,15.7,458,4460,0.00,1.58,0.00,0.000,6,0.000,0.031,3092,2753,1968,0,0,1,0,0,0
$GC,4597,0.86,240.5,71.5,14.3,483,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2753,1968,0,0,0,0,0,0
$GC,4739,0.86,240.5,49.8,15.4,508,4746,0.00,1.65,0.00,0.000,4,0.000,0.050,3092,3755,1969,0,0,0,0,0,0
$GC,4764,0.86,240.5,45.7,16.0,512,4770,0.00,1.55,0.00,0.000,6,0.000,0.031,3100,2760,1969,0,0,1,0,0,0
$GC,4906,0.86,240.5,23.8,16.2,537,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2760,1968,0,0,0,0,0,0
$FREEZE,8.84,-0.503,-1.892,2,1,0
$FREEZE,8.08,-0.503,-1.892,2,1,0
$FREEZE,7.36,-0.507,-1.891,2,1,0
$FREEZE,6.69,-0.512,-1.891,2,1,0
$FREEZE,5.91,-0.511,-1.890,2,1,0
$FREEZE,5.27,-0.504,-1.890,2,1,0
$FREEZE,4.57,-0.504,-1.889,2,1,0
$FREEZE,3.56,-0.498,-1.889,2,1,0
$FREEZE,3.02,-0.499,-1.888,2,1,0
$FREEZE,2.07,-0.499,-1.887,2,1,0
$STATE,5046,end climb,SURFACE_DEPTH_REACHED
$STATE,5046,begin surface coast
$FREEZE,1.14,-0.498,-1.887,2,1,0
$FREEZE,0.30,-0.498,-1.886,2,1,0
$FREEZE,-0.04,-0.544,-1.017,2,1,0
$FINISH,-0.0,1.015034
$STATE,5063,end surface coast,CONTROL_FINISHED_OK
$STATE,5063,begin surface
$SM_CCo,5080,37.80,0.101,0,0,1655,320.11
$SM_GC,0.70,0.00,0.00,37.80,0.000,0.000,0.101,179,2759,1655,-8.19,-0.59,320.11
$IRIDIUM_FIX,-7536.68,17552.91,030111,101059
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$24V_AH,22.3,54.788
$10V_AH,9.9,21.451
$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,18.450,35.725,386.900,37.800,0.000,29.110,38.386,154.272,1.000,0.000,16.811,1382.684,2198.124,490.351,1213.946,188.398,0.000,1068.267,0.000,937.304,0.000,7.756,0.000
$DEVICE_MAMPS,208.080,81.090,967.725,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.273,723.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,37048,565
$CAP_FILE_SIZE,75219,0
$CFSIZE,260165632,226680832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.176,113.6,1
$GPS,030111,135236,-7627.464,17600.285,42,0.9,48,123.6