version: 66.08
glider: 503
mission: 7
dive: 556
start: 1 3 111 18 46 13
data:
$ID,503
$MISSION,7
$DIVE,556
$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,-20204.822
$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
$GPS1,030111,184006,-7628.174,17558.174,13,1.0,29,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-72.7
$GPS2,030111,184544,-7628.174,17558.268,14,0.9,14,123.7
$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,100.4,55362,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-88.80,0.000,2,0.000,0.000,178,2783,3409,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.1,-6.7,15,139,9.02,1.60,-9.45,0.000,4,0.212,0.067,2517,3754,3856,0,0,0,0,0,0
$GC,273,-0.84,-219.0,39.8,-17.9,43,279,0.00,1.52,0.00,0.000,6,0.000,0.028,2517,2778,3858,0,0,0,0,0,0
$GC,416,-0.84,-219.0,65.5,-17.4,68,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3858,0,0,0,0,0,0
$GC,558,-0.84,-219.0,90.6,-17.2,93,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2778,3858,0,0,0,0,0,0
$GC,696,-0.84,-219.0,115.7,-18.0,110,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2778,3859,0,0,0,0,0,0
$GC,824,-0.84,-219.0,137.9,-17.5,122,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3859,0,0,0,0,0,0
$GC,951,-0.84,-219.0,159.6,-16.6,134,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2778,3859,0,0,0,0,0,0
$GC,1079,-0.84,-219.0,180.5,-16.4,146,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,1207,-0.84,-219.0,201.6,-16.8,158,1210,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3793,3859,0,0,0,0,0,0
$GC,1245,-0.84,-219.0,208.8,-18.4,161,1253,0.00,1.55,0.00,0.000,6,0.000,0.028,2510,2799,3859,0,0,0,0,0,0
$GC,1380,-0.84,-219.0,232.0,-17.0,174,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2799,3859,0,0,0,0,0,0
$GC,1508,-0.84,-219.0,253.6,-16.3,186,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2799,3860,0,0,0,0,0,0
$GC,1698,-0.84,-219.0,286.1,-17.6,204,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2799,3859,0,0,0,0,0,0
$GC,1890,-0.84,-219.0,320.3,-18.0,222,1894,0.00,1.58,0.00,0.000,4,0.000,0.050,2502,3760,3859,0,0,0,0,0,0
$GC,1939,-0.84,-219.0,329.7,-18.2,226,1946,0.00,1.50,0.00,0.000,6,0.000,0.031,2502,2791,3859,0,0,1,0,0,0
$GC,2138,-0.84,-219.0,363.9,-17.0,245,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2791,3859,0,0,0,0,0,0
$STATE,2209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2209,begin apogee
$GC,2215,-0.16,0.0,376.4,16.9,252,2396,0.73,0.00,174.80,0.968,4,0.122,0.000,2741,2678,2960,0,0,0,0,0,0
$STATE,2397,end apogee,CONTROL_FINISHED_OK
$STATE,2397,begin climb
$GC,2400,0.84,219.0,386.8,0.0,268,2604,1.00,2.38,191.57,0.916,4,0.074,0.031,3072,1304,2068,0,0,0,0,0,0
$GC,2763,0.86,236.6,354.2,12.6,300,2788,0.00,2.40,16.90,0.855,6,0.000,0.041,3071,2700,1995,0,0,0,0,0,0
$GC,2980,0.86,236.6,324.7,14.0,320,2984,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1301,1990,0,0,1,0,0,0
$GC,3144,0.86,236.6,302.3,13.9,334,3148,0.00,2.33,0.00,0.000,6,0.000,0.041,3082,2711,1989,0,0,0,0,0,0
$GC,3341,0.86,236.6,274.9,14.0,352,3345,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3764,1988,0,0,0,0,0,0
$GC,3444,0.86,236.6,258.5,15.8,361,3448,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2702,1987,0,0,0,0,0,0
$GC,3648,0.86,236.6,228.6,14.3,380,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2701,1987,0,0,0,0,0,0
$GC,3775,0.86,236.6,210.5,14.2,392,3778,0.00,1.70,0.00,0.000,4,0.000,0.050,3091,3764,1987,0,0,0,0,0,0
$GC,3831,0.86,236.6,201.1,16.8,397,3835,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2700,1987,0,0,1,0,0,0
$GC,3972,0.86,236.6,179.1,15.5,410,3975,0.00,1.73,0.00,0.000,4,0.000,0.049,3099,3773,1987,0,0,0,0,0,0
$GC,4011,0.86,236.6,172.1,18.2,413,4018,0.00,1.62,0.00,0.000,6,0.000,0.031,3107,2751,1986,0,0,0,0,0,0
$GC,4145,0.86,236.6,150.1,16.2,426,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2751,1986,0,0,0,0,0,0
$GC,4273,0.86,236.6,129.7,16.2,438,4277,0.00,1.62,0.00,0.000,4,0.000,0.049,3107,3764,1986,0,0,0,0,0,0
$GC,4331,0.86,236.6,119.4,17.5,443,4335,0.08,1.58,0.00,0.000,6,0.139,0.032,3080,2758,1986,0,0,1,0,0,0
$GC,4470,0.86,236.6,99.6,13.5,456,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2757,1985,0,0,0,0,0,0
$GC,4611,0.87,245.0,81.4,13.0,481,4625,0.00,0.00,7.47,0.750,6,0.000,0.000,3080,2758,1961,0,0,0,0,0,0
$GC,4762,0.88,251.3,61.9,13.1,507,4775,0.00,1.65,7.43,0.730,4,0.000,0.047,3079,3770,1935,0,0,0,0,0,0
$GC,4815,0.88,251.3,53.8,14.9,516,4822,0.00,1.60,0.00,0.000,6,0.000,0.030,3087,2760,1935,0,0,0,0,0,0
$GC,4957,0.88,251.3,33.3,14.6,541,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2760,1934,0,0,0,0,0,0
$GC,5099,0.88,252.5,13.2,13.3,566,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2760,1934,0,0,0,0,0,0
$FREEZE,8.81,-0.438,-1.894,2,1,0
$FREEZE,8.01,-0.433,-1.893,2,1,0
$FREEZE,7.33,-0.415,-1.892,2,1,0
$FREEZE,6.58,-0.416,-1.892,2,1,0
$FREEZE,5.86,-0.409,-1.891,2,1,0
$FREEZE,4.92,-0.420,-1.891,2,1,0
$FREEZE,4.39,-0.410,-1.890,2,1,0
$FREEZE,3.50,-0.398,-1.889,2,1,0
$FREEZE,2.88,-0.399,-1.889,2,1,0
$STATE,5169,end climb,SURFACE_DEPTH_REACHED
$STATE,5169,begin surface coast
$FREEZE,2.24,-0.389,-1.888,2,1,0
$FREEZE,1.56,-0.391,-1.888,2,1,0
$FREEZE,0.59,-0.381,-1.887,2,1,0
$FREEZE,-0.15,-0.391,-1.886,2,1,0
$FINISH,-0.2,1.027618
$STATE,5193,end surface coast,CONTROL_FINISHED_OK
$STATE,5193,begin surface
$SM_CCo,5209,33.92,0.101,0,0,1654,320.11
$SM_GC,0.95,0.00,0.00,33.92,0.000,0.000,0.101,174,2760,1654,-8.21,-0.57,320.11
$IRIDIUM_FIX,-7545.40,17609.93,030111,171751
$TT8_MAMPS,0.027713
$HUMID,53.11
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.7
$ALTIM_BOTTOM_PING,351.3,63.7
$24V_AH,22.3,55.268
$10V_AH,9.9,21.641
$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,18.500,35.375,398.175,33.925,0.000,25.810,40.246,147.911,1.250,0.000,17.031,1431.093,2220.690,491.404,1254.252,195.346,0.000,1088.600,0.000,985.728,0.000,10.636,0.000
$DEVICE_MAMPS,211.905,68.850,967.725,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.119,749.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37079,583
$CAP_FILE_SIZE,77252,0
$CFSIZE,260165632,226508800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.152, 64.1,1
$GPS,030111,201438,-7628.527,17557.160,20,1.5,20,123.7