version: 66.08
glider: 503
mission: 7
dive: 553
start: 1 3 111 13 58 36
data:
$ID,503
$MISSION,7
$DIVE,553
$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,-20199.66
$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,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
$GPS1,030111,135236,-7627.464,17600.285,42,0.9,48,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-71.4
$GPS2,030111,135807,-7627.470,17600.438,8,1.3,13,123.6
$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,113.6,56933,-18.2,-13.333
$D_GRID,376
$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,-90.43,0.000,2,0.000,0.000,178,2759,3452,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.3,-6.8,15,141,8.93,1.70,-8.32,0.000,4,0.208,0.067,2518,3774,3857,0,0,1,0,0,0
$GC,296,-0.84,-219.0,44.8,-18.8,47,303,0.00,1.58,0.00,0.000,6,0.000,0.028,2518,2772,3859,0,0,0,0,0,0
$GC,440,-0.84,-219.0,70.7,-18.6,72,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3859,0,0,0,0,0,0
$GC,582,-0.84,-219.0,95.8,-17.2,97,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3859,0,0,0,0,0,0
$GC,724,-0.84,-219.0,120.8,-18.4,112,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3860,0,0,0,0,0,0
$GC,851,-0.84,-219.0,142.9,-17.5,124,854,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3786,3860,0,0,0,0,0,0
$GC,885,-0.84,-219.0,149.1,-18.0,127,889,0.00,1.58,0.00,0.000,6,0.000,0.030,2510,2790,3860,0,0,0,0,0,0
$GC,1025,-0.84,-219.0,174.2,-18.3,140,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3860,0,0,0,0,0,0
$GC,1155,-0.84,-219.0,197.7,-17.9,152,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2789,3860,0,0,0,0,0,0
$GC,1290,-0.84,-219.0,221.7,-17.3,165,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3860,0,0,0,0,0,0
$GC,1417,-0.84,-219.0,244.2,-18.3,177,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3860,0,0,0,0,0,0
$GC,1545,-0.84,-219.0,267.3,-17.7,189,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3860,0,0,0,0,0,0
$GC,1738,-0.84,-219.0,301.1,-17.6,207,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2789,3860,0,0,0,0,0,0
$GC,1937,-0.84,-219.0,336.0,-16.8,226,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2789,3860,0,0,0,0,0,0
$GC,2127,-0.84,-219.0,368.2,-17.6,244,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3860,0,0,0,0,0,0
$STATE,2178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2178,begin apogee
$GC,2184,-0.16,0.0,377.3,17.2,249,2366,0.70,0.00,174.80,0.972,4,0.121,0.000,2742,2688,2960,0,0,0,0,0,0
$STATE,2366,end apogee,CONTROL_FINISHED_OK
$STATE,2367,begin climb
$GC,2369,0.84,219.0,387.0,0.0,265,2574,1.00,2.40,191.95,0.918,4,0.073,0.032,3073,1314,2066,0,0,0,0,0,0
$GC,2744,0.88,253.8,354.4,11.9,298,2782,0.00,2.38,32.17,0.881,6,0.000,0.040,3073,2701,1925,0,0,0,0,0,0
$GC,2981,0.88,253.8,322.1,13.5,320,2985,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1307,1921,0,0,0,0,0,0
$GC,3169,0.88,253.8,296.6,13.6,336,3177,0.00,2.35,0.00,0.000,6,0.000,0.041,3084,2720,1919,0,0,0,0,0,0
$GC,3368,0.88,253.8,268.2,14.5,355,3372,0.00,1.67,0.00,0.000,4,0.000,0.050,3084,3764,1918,0,0,0,0,0,0
$GC,3417,0.88,253.8,260.0,16.6,359,3425,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2723,1917,0,0,1,0,0,0
$GC,3616,0.88,253.8,229.4,15.2,378,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2723,1917,0,0,0,0,0,0
$GC,3743,0.88,253.8,209.4,15.8,390,3747,0.00,1.67,0.00,0.000,4,0.000,0.049,3092,3764,1916,0,0,0,0,0,0
$GC,3793,0.88,253.8,200.5,18.0,394,3801,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2713,1916,0,0,1,0,0,0
$GC,3927,0.88,253.8,178.7,15.8,407,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2713,1916,0,0,0,0,0,0
$GC,4055,0.88,253.8,159.1,15.1,419,4058,0.00,1.70,0.00,0.000,4,0.000,0.050,3101,3767,1916,0,0,0,0,0,0
$GC,4113,0.88,253.8,149.6,17.4,424,4117,0.00,1.62,0.00,0.000,6,0.000,0.031,3109,2705,1916,0,0,1,0,0,0
$GC,4253,0.88,253.8,126.8,15.9,437,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2705,1915,0,0,0,0,0,0
$GC,4380,0.88,253.8,106.6,16.0,449,4384,0.00,1.70,0.00,0.000,4,0.000,0.050,3109,3764,1915,0,0,0,0,0,0
$GC,4419,0.88,253.8,99.5,18.1,452,4427,0.10,1.62,0.00,0.000,6,0.138,0.031,3072,2732,1915,0,0,1,0,0,0
$GC,4562,0.88,253.8,80.2,14.0,477,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2732,1914,0,0,0,0,0,0
$GC,4702,0.88,253.8,61.4,13.6,502,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2731,1915,0,0,0,0,0,0
$GC,4846,0.90,271.0,42.9,12.6,527,4865,0.00,1.73,14.68,0.776,4,0.000,0.050,3072,3764,1855,0,0,1,0,0,0
$GC,4895,0.90,271.0,36.1,15.1,535,4902,0.00,1.62,0.00,0.000,6,0.000,0.031,3080,2729,1855,0,0,1,0,0,0
$GC,5038,0.92,286.1,16.3,12.7,560,5059,0.00,2.38,15.20,0.752,4,0.000,0.034,3091,1293,1792,0,0,0,0,0,0
$GC,5083,0.92,286.1,9.8,13.6,567,5090,0.00,2.35,0.00,0.000,6,0.000,0.043,3091,2730,1792,0,0,0,0,0,0
$FREEZE,7.87,-0.264,-1.894,2,1,0
$FREEZE,7.06,-0.265,-1.893,2,1,0
$FREEZE,6.32,-0.262,-1.893,2,1,0
$FREEZE,5.61,-0.261,-1.892,2,1,0
$FREEZE,4.70,-0.261,-1.891,2,1,0
$FREEZE,3.91,-0.265,-1.891,2,1,0
$FREEZE,3.16,-0.259,-1.890,2,1,0
$FREEZE,2.37,-0.259,-1.890,2,1,0
$STATE,5133,end climb,SURFACE_DEPTH_REACHED
$STATE,5133,begin surface coast
$FREEZE,1.66,-0.260,-1.889,2,1,0
$FREEZE,0.91,-0.263,-1.889,2,1,0
$FREEZE,0.23,-0.261,-1.888,2,1,0
$FINISH,0.2,1.027636
$STATE,5153,end surface coast,CONTROL_FINISHED_OK
$STATE,5153,begin surface
$SM_CCo,5170,16.75,0.103,0,0,1654,320.11
$SM_GC,0.59,0.00,0.00,16.75,0.000,0.000,0.103,188,2782,1654,-8.16,0.06,320.11
$IRIDIUM_FIX,-7545.40,17600.76,030111,121223
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.5
$ALTIM_BOTTOM_PING,350.1,65.2
$24V_AH,22.3,54.911
$10V_AH,9.8,21.498
$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,18.475,37.475,428.800,16.750,0.000,30.756,37.925,141.773,1.250,0.000,15.794,1408.886,2193.373,500.574,1235.319,192.579,0.000,1100.206,0.000,971.203,0.000,10.642,0.000
$DEVICE_MAMPS,208.080,120.105,972.315,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.569,740.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258256
$DATA_FILE_SIZE,36952,579
$CAP_FILE_SIZE,76955,0
$CFSIZE,260165632,226639872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.182,104.8,1
$GPS,030111,152608,-7627.941,17559.285,20,1.5,21,123.6