version: 66.08
glider: 503
mission: 7
dive: 559
start: 1 3 111 23 27 37
data:
$ID,503
$MISSION,7
$DIVE,559
$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,-20208.59
$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,48
$R_STBD_OVSHOOT,29
$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
$GPS1,030111,232136,-7629.298,17554.793,31,1.1,35,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-72.7
$GPS2,030111,232708,-7629.274,17554.834,9,1.8,9,123.8
$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,90.3,52899,-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,-219.0,0.0,0.0,0,114,0.00,0.00,-94.28,0.000,2,0.000,0.000,179,2782,3560,0,0,0,0,0,0
$GC,118,-0.84,-219.0,3.9,-9.5,16,139,9.00,1.65,-5.75,0.000,4,0.212,0.063,2513,3774,3856,0,0,0,0,0,0
$GC,340,-0.84,-219.0,54.9,-18.2,55,347,0.00,1.58,0.00,0.000,6,0.000,0.028,2513,2766,3859,0,0,0,0,0,0
$GC,482,-0.84,-219.0,80.8,-18.8,80,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2766,3860,0,0,0,0,0,0
$GC,623,-0.84,-219.0,105.8,-17.9,102,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2766,3860,0,0,0,0,0,0
$GC,749,-0.84,-219.0,127.7,-17.0,114,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2766,3860,0,0,0,0,0,0
$GC,876,-0.84,-219.0,150.1,-17.6,126,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2766,3861,0,0,0,0,0,0
$GC,1004,-0.84,-219.0,172.6,-17.9,138,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2766,3861,0,0,0,0,0,0
$GC,1131,-0.84,-219.0,195.4,-17.9,150,1135,0.00,1.62,0.00,0.000,4,0.000,0.049,2505,3788,3861,0,0,0,0,0,0
$GC,1170,-0.84,-219.0,202.9,-18.9,153,1177,0.00,1.58,0.00,0.000,6,0.000,0.030,2505,2781,3860,0,0,0,0,0,0
$GC,1304,-0.84,-219.0,227.8,-18.3,166,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$GC,1434,-0.84,-219.0,252.0,-19.0,178,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3860,0,0,0,0,0,0
$GC,1632,-0.84,-219.0,287.7,-17.5,197,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$GC,1825,-0.84,-219.0,319.9,-16.5,215,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$GC,2017,-0.84,-219.0,350.9,-16.8,233,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$STATE,2150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2150,begin apogee
$GC,2156,-0.16,0.0,375.2,17.6,246,2338,0.73,0.00,174.77,0.968,4,0.122,0.000,2743,2691,2959,0,0,0,0,0,0
$STATE,2339,end apogee,CONTROL_FINISHED_OK
$STATE,2339,begin climb
$GC,2342,0.84,219.0,385.9,0.0,262,2546,1.00,2.38,191.73,0.916,4,0.073,0.032,3075,1312,2067,0,0,0,0,0,0
$GC,2661,0.87,244.6,359.9,12.3,290,2695,0.00,2.40,24.20,0.871,6,0.000,0.040,3075,2697,1962,0,0,0,0,0,0
$GC,2886,0.87,244.6,329.1,13.8,311,2890,0.00,2.30,0.00,0.000,4,0.000,0.033,3085,1315,1958,0,0,0,0,0,0
$GC,3053,0.87,245.3,306.4,13.3,325,3060,0.00,2.30,0.00,0.000,6,0.000,0.041,3085,2712,1957,0,0,1,0,0,0
$GC,3252,0.87,245.3,277.7,15.0,344,3255,0.00,1.67,0.00,0.000,4,0.000,0.048,3085,3764,1956,0,0,0,0,0,0
$GC,3298,0.87,245.3,269.9,17.2,348,3302,0.00,1.67,0.00,0.000,6,0.000,0.031,3094,2721,1956,0,0,0,0,0,0
$GC,3502,0.87,245.3,238.7,14.8,367,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2721,1955,0,0,0,0,0,0
$GC,3628,0.87,245.3,219.7,15.4,379,3632,0.00,1.67,0.00,0.000,4,0.000,0.048,3093,3765,1954,0,0,0,0,0,0
$GC,3674,0.87,245.3,212.0,17.3,383,3677,0.00,1.62,0.00,0.000,6,0.000,0.031,3102,2701,1954,0,0,1,0,0,0
$GC,3814,0.87,245.3,188.7,16.5,396,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2701,1953,0,0,0,0,0,0
$GC,3942,0.87,245.3,167.5,16.9,408,3946,0.00,1.75,0.00,0.000,4,0.000,0.049,3101,3763,1954,0,0,0,0,0,0
$GC,3976,0.87,245.3,161.1,18.4,411,3981,0.08,1.65,0.00,0.000,6,0.142,0.031,3084,2728,1953,0,0,0,0,0,0
$GC,4117,0.87,245.3,140.4,14.4,424,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2728,1953,0,0,0,0,0,0
$GC,4243,0.87,245.3,121.9,14.1,436,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2727,1953,0,0,0,0,0,0
$GC,4371,0.87,245.3,104.1,14.0,448,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2728,1953,0,0,0,0,0,0
$GC,4504,0.88,251.4,86.3,13.1,469,4517,0.00,1.67,5.93,0.720,4,0.000,0.047,3084,3764,1934,0,0,0,0,0,0
$GC,4541,0.88,251.4,80.9,15.2,475,4548,0.00,1.65,0.00,0.000,6,0.000,0.032,3091,2726,1934,0,0,0,0,0,0
$GC,4685,0.88,251.4,60.6,14.4,500,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2726,1934,0,0,0,0,0,0
$GC,4829,0.88,251.4,39.8,14.2,525,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2726,1933,0,0,0,0,0,0
$GC,4970,0.88,256.6,20.5,13.1,550,4985,0.00,1.70,5.97,0.696,4,0.000,0.050,3091,3763,1914,0,0,1,0,0,0
$GC,5015,0.88,256.6,13.8,15.3,557,5022,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2725,1914,0,0,0,0,0,0
$FREEZE,8.37,-0.265,-1.895,2,1,0
$FREEZE,7.72,-0.250,-1.895,2,1,0
$FREEZE,6.68,-0.274,-1.895,2,1,0
$FREEZE,6.14,-0.268,-1.894,2,1,0
$FREEZE,5.17,-0.252,-1.894,2,1,0
$FREEZE,4.12,-0.254,-1.893,2,1,0
$FREEZE,3.36,-0.248,-1.893,2,1,0
$FREEZE,2.63,-0.250,-1.892,2,1,0
$STATE,5087,end climb,SURFACE_DEPTH_REACHED
$STATE,5087,begin surface coast
$FREEZE,1.74,-0.248,-1.892,2,1,0
$FREEZE,0.81,-0.252,-1.891,2,1,0
$FREEZE,-0.07,-0.253,-1.890,2,1,0
$FINISH,-0.1,1.027669
$STATE,5106,end surface coast,CONTROL_FINISHED_OK
$STATE,5106,begin surface
$SM_CCo,5123,31.20,0.101,0,0,1655,320.11
$SM_GC,0.79,0.00,0.00,31.20,0.000,0.000,0.101,176,2800,1655,-8.20,0.57,320.11
$IRIDIUM_FIX,-7545.40,17552.25,030111,212141
$TT8_MAMPS,0.027713
$HUMID,52.32
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,22.3,55.613
$10V_AH,9.9,21.779
$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,18.500,32.700,402.600,31.200,0.000,28.467,44.247,141.911,1.250,0.000,11.744,1398.445,2213.876,490.538,1205.143,191.953,0.000,1071.974,0.000,943.103,0.000,10.643,0.000
$DEVICE_MAMPS,211.905,100.980,967.725,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.857,734.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37106,573
$CAP_FILE_SIZE,74723,0
$CFSIZE,260165632,226381824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.090, 33.9,1
$GPS,040111,005432,-7629.727,17553.076,18,1.4,19,123.9