version: 66.08
glider: 503
mission: 7
dive: 558
start: 1 3 111 21 54 7
data:
$ID,503
$MISSION,7
$DIVE,558
$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,-20207.334
$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
$GPS1,030111,214800,-7628.907,17556.217,45,1.3,45,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-73.0
$GPS2,030111,215336,-7628.918,17556.402,10,1.0,26,123.8
$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,96.9,53780,-18.2,-13.333
$D_GRID,377
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-92.15,0.000,2,0.000,0.000,184,2760,3500,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.5,-8.0,15,135,8.95,1.67,-7.18,0.000,4,0.210,0.063,2516,3771,3856,0,0,1,0,0,0
$GC,352,-0.84,-219.0,55.7,-17.4,57,360,0.00,1.58,0.00,0.000,6,0.000,0.030,2516,2767,3859,0,0,0,0,0,0
$GC,496,-0.84,-219.0,80.7,-17.3,82,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2766,3859,0,0,0,0,0,0
$GC,642,-0.84,-219.0,106.8,-18.6,105,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2766,3859,0,0,0,0,0,0
$GC,770,-0.84,-219.0,129.4,-16.8,117,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2766,3860,0,0,0,0,0,0
$GC,897,-0.84,-219.0,150.5,-16.1,129,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2766,3860,0,0,0,0,0,0
$GC,1024,-0.84,-219.0,173.2,-18.1,141,1028,0.00,1.62,0.00,0.000,4,0.000,0.049,2508,3755,3860,0,0,0,0,0,0
$GC,1081,-0.84,-219.0,183.3,-18.5,146,1084,0.00,1.50,0.00,0.000,6,0.000,0.030,2508,2795,3859,0,0,0,0,0,0
$GC,1221,-0.84,-219.0,207.1,-17.1,159,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2796,3860,0,0,0,0,0,0
$GC,1348,-0.84,-219.0,229.2,-17.9,171,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2796,3860,0,0,0,0,0,0
$GC,1477,-0.84,-219.0,251.4,-17.0,183,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2796,3860,0,0,0,0,0,0
$GC,1666,-0.84,-219.0,283.4,-16.8,201,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2796,3860,0,0,0,0,0,0
$GC,1859,-0.84,-219.0,316.5,-17.1,219,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2796,3861,0,0,0,0,0,0
$GC,2049,-0.84,-219.0,348.5,-16.9,237,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2796,3860,0,0,0,0,0,0
$STATE,2227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2227,begin apogee
$GC,2233,-0.16,0.0,378.0,15.6,254,2415,0.70,0.00,175.07,0.969,4,0.122,0.000,2740,2684,2959,0,0,0,0,0,0
$STATE,2416,end apogee,CONTROL_FINISHED_OK
$STATE,2416,begin climb
$GC,2418,0.84,219.0,388.6,0.0,270,2619,1.00,2.38,192.23,0.916,4,0.072,0.032,3071,1317,2066,0,0,0,0,0,0
$GC,2739,0.85,227.3,361.7,13.0,299,2752,0.00,2.40,7.93,0.776,6,0.000,0.040,3071,2703,2033,0,0,1,0,0,0
$GC,2946,0.85,227.3,334.2,13.5,318,2950,0.00,2.30,0.00,0.000,4,0.000,0.034,3082,1321,2030,0,0,0,0,0,0
$GC,3124,0.86,240.3,309.8,12.8,333,3144,0.00,2.28,12.70,0.853,6,0.000,0.041,3082,2708,1980,0,0,0,0,0,0
$GC,3336,0.86,240.3,280.3,14.2,353,3340,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3764,1978,0,0,0,0,0,0
$GC,3404,0.86,240.3,269.5,15.3,359,3408,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2704,1978,0,0,1,0,0,0
$GC,3609,0.86,240.3,239.2,14.7,378,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2704,1977,0,0,0,0,0,0
$GC,3738,0.86,240.3,220.3,14.4,390,3741,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3761,1977,0,0,0,0,0,0
$GC,3795,0.86,240.3,210.4,17.5,395,3798,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2699,1976,0,0,0,0,0,0
$GC,3935,0.86,240.3,187.5,16.0,408,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2699,1976,0,0,0,0,0,0
$GC,4062,0.86,240.3,166.6,16.3,420,4065,0.00,1.70,0.00,0.000,4,0.000,0.048,3098,3761,1976,0,0,0,0,0,0
$GC,4111,0.86,240.3,157.5,17.8,424,4118,0.00,1.65,0.00,0.000,6,0.000,0.031,3107,2721,1975,0,0,0,0,0,0
$GC,4246,0.86,240.3,135.2,16.0,437,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2721,1975,0,0,0,0,0,0
$GC,4373,0.86,240.3,114.4,16.4,449,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2721,1976,0,0,0,0,0,0
$GC,4502,0.86,240.3,93.6,15.9,464,4508,0.00,1.70,0.00,0.000,4,0.000,0.049,3107,3754,1975,0,0,0,0,0,0
$GC,4566,0.86,240.3,82.0,18.9,475,4574,0.10,1.60,0.00,0.000,6,0.135,0.032,3081,2732,1975,0,0,1,0,0,0
$GC,4709,0.86,240.6,61.8,13.3,500,4716,0.00,2.28,0.00,0.000,4,0.000,0.035,3091,1295,1975,0,0,0,0,0,0
$GC,4740,0.86,240.6,57.4,13.6,505,4747,0.00,2.33,0.00,0.000,6,0.000,0.042,3091,2733,1975,0,0,0,0,0,0
$GC,4881,0.86,240.6,36.7,15.5,530,4888,0.00,1.65,0.00,0.000,4,0.000,0.049,3091,3749,1974,0,0,0,0,0,0
$GC,4945,0.86,240.6,26.1,16.7,541,4952,0.00,1.58,0.00,0.000,6,0.000,0.031,3099,2736,1974,0,0,1,0,0,0
$FREEZE,8.55,-0.191,-1.898,2,1,0
$FREEZE,7.85,-0.194,-1.897,2,1,0
$FREEZE,6.97,-0.186,-1.896,2,1,0
$FREEZE,5.89,-0.182,-1.895,2,1,0
$FREEZE,5.10,-0.178,-1.895,2,1,0
$FREEZE,4.35,-0.175,-1.894,2,1,0
$GC,5087,0.86,240.6,4.3,15.2,566,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2736,1974,0,0,0,0,0,0
$FREEZE,2.04,-0.161,-1.892,2,1,0
$STATE,5100,end climb,SURFACE_DEPTH_REACHED
$STATE,5100,begin surface coast
$FREEZE,1.24,-0.163,-1.891,2,1,0
$FREEZE,0.42,-0.162,-1.891,2,1,0
$FREEZE,-0.20,-0.162,-1.890,2,1,0
$FINISH,-0.2,1.027665
$STATE,5117,end surface coast,CONTROL_FINISHED_OK
$STATE,5117,begin surface
$SM_CCo,5135,37.85,0.100,0,0,1655,320.11
$SM_GC,0.64,0.00,0.00,37.85,0.000,0.000,0.100,180,2782,1655,-8.19,0.06,320.11
$IRIDIUM_FIX,-7545.40,17551.59,030111,202026
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.7
$24V_AH,22.3,55.496
$10V_AH,9.9,21.733
$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,18.425,37.050,387.925,37.850,0.000,23.751,36.484,140.180,1.000,0.000,29.145,1408.557,2235.755,473.776,1212.664,192.873,0.000,1052.589,0.000,951.286,0.000,7.758,0.000
$DEVICE_MAMPS,209.610,119.340,969.255,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.942,724.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37027,571
$CAP_FILE_SIZE,75053,0
$CFSIZE,260165632,226422784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.116, 51.1,1
$GPS,030111,232136,-7629.298,17554.793,31,1.1,35,123.8