version: 66.08
glider: 503
mission: 7
dive: 555
start: 1 3 111 17 9 35
data:
$ID,503
$MISSION,7
$DIVE,555
$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,-20203.564
$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,49
$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
$GPS1,030111,170300,-7628.284,17558.475,50,1.9,55,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-71.1
$GPS2,030111,170904,-7628.279,17558.596,10,2.4,29,123.7
$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,107.7,55248,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.00,0.000,2,0.000,0.000,182,2786,3449,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.4,-7.7,15,139,9.02,1.62,-8.40,0.000,4,0.213,0.067,2513,3763,3856,0,0,0,0,0,0
$GC,274,-0.84,-219.0,40.7,-18.3,43,280,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2776,3859,0,0,0,0,0,0
$GC,417,-0.84,-219.0,66.0,-18.2,68,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3859,0,0,0,0,0,0
$GC,559,-0.84,-219.0,91.9,-17.5,93,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3859,0,0,0,0,0,0
$GC,702,-0.84,-219.0,117.1,-17.7,110,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3859,0,0,0,0,0,0
$GC,830,-0.84,-219.0,139.7,-17.7,122,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3860,0,0,0,0,0,0
$GC,957,-0.84,-219.0,162.3,-18.2,134,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3860,0,0,0,0,0,0
$GC,1085,-0.84,-219.0,183.7,-16.9,146,1089,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3753,3859,0,0,0,0,0,0
$GC,1134,-0.84,-219.0,192.4,-17.0,150,1141,0.00,1.52,0.00,0.000,6,0.000,0.028,2505,2773,3860,0,0,0,0,0,0
$GC,1269,-0.84,-219.0,214.4,-16.3,163,1272,0.00,1.60,0.00,0.000,4,0.000,0.050,2498,3753,3860,0,0,0,0,0,0
$GC,1348,-0.84,-219.0,228.1,-16.6,170,1352,0.08,1.40,0.00,0.000,6,0.142,0.030,2524,2848,3860,0,0,0,0,0,0
$GC,1489,-0.84,-219.0,248.9,-14.2,183,1493,0.00,1.48,0.00,0.000,4,0.000,0.050,2518,3751,3860,0,0,0,0,0,0
$GC,1582,-0.84,-219.0,263.5,-15.0,191,1589,0.00,1.33,0.00,0.000,6,0.000,0.030,2517,2903,3860,0,0,0,0,0,0
$GC,1781,-0.84,-219.0,293.3,-15.2,210,1785,0.00,1.40,0.00,0.000,4,0.000,0.050,2511,3764,3860,0,0,0,0,0,0
$GC,1943,-0.84,-219.0,319.4,-15.6,224,1950,0.00,1.23,0.00,0.000,6,0.000,0.030,2511,2973,3860,0,0,0,0,0,0
$GC,2143,-0.84,-219.0,351.6,-16.7,243,2146,0.00,1.27,0.00,0.000,4,0.000,0.051,2505,3754,3859,0,0,0,0,0,0
$STATE,2290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2291,begin apogee
$GC,2297,-0.16,0.0,376.1,16.7,256,2478,0.73,0.00,174.85,0.971,4,0.120,0.000,2744,2693,2960,0,0,0,0,0,0
$STATE,2479,end apogee,CONTROL_FINISHED_OK
$STATE,2479,begin climb
$GC,2481,0.84,219.0,386.4,0.0,272,2685,0.98,2.42,192.15,0.917,4,0.071,0.032,3068,1294,2066,0,0,0,0,0,0
$GC,2711,0.89,263.2,372.6,11.5,292,2759,0.00,2.50,42.05,0.883,6,0.000,0.039,3067,2700,1885,0,0,0,0,0,0
$GC,2959,0.89,263.2,339.9,13.5,315,2963,0.00,2.35,0.00,0.000,4,0.000,0.034,3079,1302,1879,0,0,1,0,0,0
$GC,3025,0.92,283.4,331.1,12.5,320,3055,0.00,2.25,18.35,0.861,6,0.000,0.041,3079,2625,1805,0,0,0,0,0,0
$GC,3248,0.92,283.4,301.1,14.0,341,3252,0.00,2.17,0.00,0.000,4,0.000,0.034,3089,1299,1803,0,0,0,0,0,0
$GC,3270,0.92,286.7,297.4,13.2,342,3279,0.00,2.10,4.32,0.641,6,0.000,0.041,3089,2560,1791,0,0,0,0,0,0
$GC,3472,0.93,290.3,270.9,13.2,361,3479,0.00,0.00,5.00,0.698,6,0.000,0.000,3088,2560,1776,0,0,0,0,0,0
$GC,3670,0.93,290.3,243.9,13.6,380,3673,0.00,1.95,0.00,0.000,4,0.000,0.047,3089,3772,1776,0,0,0,0,0,0
$GC,3741,0.93,290.3,232.8,15.2,386,3749,0.00,2.08,0.00,0.000,6,0.000,0.030,3098,2476,1776,0,0,0,0,0,0
$GC,3877,0.93,290.3,213.8,14.1,399,3880,0.00,1.88,0.00,0.000,4,0.000,0.036,3108,1295,1776,0,0,0,0,0,0
$GC,4001,0.93,290.3,196.8,13.3,410,4004,0.00,1.77,0.00,0.000,6,0.000,0.040,3108,2409,1776,0,0,0,0,0,0
$GC,4142,0.93,290.3,176.5,15.2,423,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2409,1775,0,0,0,0,0,0
$GC,4268,0.93,290.3,157.3,14.8,435,4272,0.00,1.80,0.00,0.000,4,0.000,0.037,3117,1300,1775,0,0,0,0,0,0
$GC,4384,0.93,290.3,140.6,14.5,445,4391,0.00,1.73,0.00,0.000,6,0.000,0.041,3117,2360,1774,0,0,0,0,0,0
$GC,4519,0.93,290.3,120.4,15.1,458,4523,0.00,2.25,0.00,0.000,4,0.000,0.049,3117,3764,1775,0,0,0,0,0,0
$GC,4564,0.93,290.3,112.6,17.4,462,4568,0.00,2.15,0.00,0.000,6,0.000,0.032,3127,2398,1774,0,0,0,0,0,0
$GC,4702,0.93,290.3,90.0,16.1,479,4708,0.00,1.75,0.00,0.000,4,0.000,0.037,3135,1290,1774,0,0,0,0,0,0
$GC,4832,0.93,290.3,69.6,15.3,502,4840,0.08,1.73,0.00,0.000,6,0.104,0.041,3097,2349,1774,0,0,0,0,0,0
$GC,4978,0.93,290.7,49.7,13.3,527,4985,0.00,2.30,0.00,0.000,4,0.000,0.049,3097,3770,1774,0,0,0,0,0,0
$GC,5020,0.93,290.7,43.1,15.0,534,5028,0.00,2.22,0.00,0.000,6,0.000,0.031,3107,2362,1774,0,0,0,0,0,0
$GC,5165,0.93,290.7,21.8,16.2,559,5173,0.00,1.70,0.00,0.000,4,0.000,0.037,3115,1301,1774,0,0,0,0,0,0
$FREEZE,8.83,-0.285,-1.895,2,1,0
$FREEZE,8.20,-0.286,-1.895,2,1,0
$FREEZE,7.37,-0.282,-1.894,2,1,0
$FREEZE,6.67,-0.281,-1.894,2,1,0
$FREEZE,5.90,-0.286,-1.893,2,1,0
$FREEZE,4.86,-0.286,-1.892,2,1,0
$FREEZE,4.14,-0.286,-1.892,2,1,0
$GC,5291,0.93,290.7,4.1,14.9,581,5298,0.00,1.70,0.00,0.000,6,0.000,0.041,3115,2347,1774,0,0,0,0,0,0
$FREEZE,1.99,-0.273,-1.890,2,1,0
$STATE,5305,end climb,SURFACE_DEPTH_REACHED
$STATE,5305,begin surface coast
$FREEZE,1.04,-0.273,-1.889,2,1,0
$FREEZE,0.32,-0.270,-1.889,2,1,0
$FREEZE,0.14,-0.270,-1.889,2,1,0
$FREEZE,-0.04,-0.271,-1.889,2,1,0
$FINISH,-0.0,1.027646
$STATE,5329,end surface coast,CONTROL_FINISHED_OK
$STATE,5329,begin surface
$SM_CCo,5348,14.07,0.103,0,0,1654,320.11
$SM_GC,0.49,0.00,0.00,14.07,0.000,0.000,0.103,179,2783,1654,-8.19,0.08,320.11
$IRIDIUM_FIX,-7545.40,17610.55,030111,151519
$TT8_MAMPS,0.027713
$HUMID,52.99
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,22.3,55.151
$10V_AH,9.9,21.594
$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,18.600,59.175,436.725,14.075,0.000,27.597,42.264,155.298,1.000,0.000,33.444,1453.627,2221.804,518.018,1340.153,206.277,0.000,1159.627,0.000,1043.281,0.000,7.751,0.000
$DEVICE_MAMPS,213.435,66.555,970.785,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.168,748.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40394,587
$CAP_FILE_SIZE,83283,0
$CFSIZE,260165632,226545664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.156, 68.6,1
$GPS,030111,184006,-7628.174,17558.174,13,1.0,29,123.7