version: 66.08
glider: 503
mission: 7
dive: 560
start: 1 4 111 1 0 31
data:
$ID,503
$MISSION,7
$DIVE,560
$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,-20209.85
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,040111,005432,-7629.727,17553.076,18,1.4,19,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.6
$GPS2,040111,010002,-7629.715,17553.100,12,1.4,12,123.9
$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,83.7,51849,-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,-219.0,0.0,0.0,0,114,0.00,0.00,-94.10,0.000,2,0.000,0.000,175,2800,3557,0,0,0,0,0,0
$GC,117,-0.84,-219.0,4.0,-10.5,16,139,9.02,1.58,-5.78,0.000,4,0.212,0.063,2517,3753,3856,0,0,0,0,0,0
$GC,319,-0.84,-219.0,50.2,-17.5,51,326,0.00,1.52,0.00,0.000,6,0.000,0.028,2518,2775,3859,0,0,0,0,0,0
$GC,462,-0.84,-219.0,75.4,-17.0,76,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3860,0,0,0,0,0,0
$GC,603,-0.84,-219.0,99.8,-16.3,101,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2774,3859,0,0,0,0,0,0
$GC,737,-0.84,-219.0,122.7,-17.3,114,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2775,3860,0,0,0,0,0,0
$GC,864,-0.84,-219.0,144.5,-16.8,126,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2775,3860,0,0,0,0,0,0
$GC,992,-0.84,-219.0,167.6,-18.5,138,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3861,0,0,0,0,0,0
$GC,1121,-0.84,-219.0,190.8,-18.2,150,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3860,0,0,0,0,0,0
$GC,1247,-0.84,-219.0,213.8,-17.9,162,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3861,0,0,0,0,0,0
$GC,1374,-0.84,-219.0,236.1,-17.1,174,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2775,3861,0,0,0,0,0,0
$GC,1501,-0.84,-219.0,257.8,-17.3,186,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2775,3860,0,0,0,0,0,0
$GC,1693,-0.84,-219.0,289.5,-16.3,204,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2774,3861,0,0,0,0,0,0
$GC,1884,-0.84,-219.0,320.1,-15.7,222,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3861,0,0,0,0,0,0
$GC,2075,-0.84,-219.0,349.8,-15.4,240,2084,0.00,1.58,0.00,0.000,4,0.000,0.050,2510,3739,3860,0,0,0,0,0,0
$GC,2114,-0.84,-219.0,355.9,-15.9,243,2118,0.00,1.48,0.00,0.000,6,0.000,0.031,2510,2779,3860,0,0,1,0,0,0
$STATE,2252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2252,begin apogee
$GC,2258,-0.16,0.0,377.7,15.3,256,2439,0.70,0.00,174.90,0.970,4,0.122,0.000,2741,2698,2959,0,0,0,0,0,0
$STATE,2440,end apogee,CONTROL_FINISHED_OK
$STATE,2440,begin climb
$GC,2442,0.84,219.0,386.1,0.0,272,2643,1.00,2.42,191.88,0.916,4,0.073,0.032,3072,1300,2066,0,0,0,0,0,0
$GC,2767,0.85,232.6,356.4,12.8,301,2787,0.00,2.40,12.80,0.835,6,0.000,0.040,3072,2688,2010,0,0,0,0,0,0
$GC,2980,0.85,232.6,326.5,14.4,321,2984,0.00,2.28,0.00,0.000,4,0.000,0.033,3083,1304,2008,0,0,0,0,0,0
$GC,3155,0.85,232.6,303.1,13.5,336,3159,0.00,2.33,0.00,0.000,6,0.000,0.041,3083,2709,2006,0,0,0,0,0,0
$GC,3354,0.85,232.6,274.1,14.6,354,3357,0.00,1.73,0.00,0.000,4,0.000,0.048,3083,3763,2006,0,0,0,0,0,0
$GC,3425,0.85,232.6,261.8,16.8,360,3432,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2729,2005,0,0,0,0,0,0
$GC,3624,0.85,232.6,231.4,15.3,379,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2729,2005,0,0,0,0,0,0
$GC,3752,0.85,232.6,212.2,15.0,391,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2729,2004,0,0,0,0,0,0
$GC,3878,0.85,232.6,193.4,15.0,403,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2729,2004,0,0,0,0,0,0
$GC,4006,0.85,232.6,174.3,14.8,415,4009,0.00,1.65,0.00,0.000,4,0.000,0.050,3091,3763,2003,0,0,0,0,0,0
$GC,4051,0.85,232.6,166.5,17.7,419,4055,0.00,1.62,0.00,0.000,6,0.000,0.032,3099,2701,2003,0,0,1,0,0,0
$GC,4191,0.85,232.6,144.3,15.8,432,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2701,2003,0,0,0,0,0,0
$GC,4320,0.85,232.6,124.6,15.3,444,4324,0.00,1.70,0.00,0.000,4,0.000,0.048,3099,3764,2003,0,0,0,0,0,0
$GC,4365,0.85,232.6,116.5,17.5,448,4370,0.12,1.65,0.00,0.000,6,0.165,0.031,3074,2695,2003,0,0,0,0,0,0
$GC,4501,0.85,232.6,97.4,13.6,462,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2694,2002,0,0,0,0,0,0
$GC,4643,0.86,235.0,78.5,13.2,487,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2694,2002,0,0,0,0,0,0
$GC,4784,0.86,235.0,59.9,13.7,512,4790,0.00,1.75,0.00,0.000,4,0.000,0.049,3074,3787,2003,0,0,0,0,0,0
$GC,4832,0.86,235.0,52.9,15.1,520,4838,0.00,1.67,0.00,0.000,6,0.000,0.031,3082,2728,2003,0,0,0,0,0,0
$GC,4974,0.86,235.0,32.6,14.3,545,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2728,2003,0,0,0,0,0,0
$GC,5118,0.87,241.7,13.2,13.1,570,5131,0.00,0.00,8.02,0.731,6,0.000,0.000,3081,2728,1974,0,0,0,0,0,0
$FREEZE,8.72,-0.519,-1.897,2,1,0
$FREEZE,8.06,-0.500,-1.896,2,1,0
$FREEZE,7.27,-0.503,-1.896,2,1,0
$FREEZE,6.63,-0.472,-1.895,2,1,0
$FREEZE,5.82,-0.468,-1.895,2,1,0
$FREEZE,5.10,-0.500,-1.894,2,1,0
$FREEZE,4.51,-0.492,-1.894,2,1,0
$FREEZE,3.63,-0.455,-1.893,2,1,0
$FREEZE,3.04,-0.458,-1.893,2,1,0
$FREEZE,2.12,-0.465,-1.892,2,1,0
$STATE,5195,end climb,SURFACE_DEPTH_REACHED
$STATE,5195,begin surface coast
$FREEZE,1.40,-0.468,-1.891,2,1,0
$FREEZE,0.57,-0.456,-1.891,2,1,0
$FREEZE,-0.09,-0.462,-1.890,2,1,0
$FREEZE,-0.01,-0.503,-1.891,2,1,0
$FINISH,-0.0,1.027687
$STATE,5217,end surface coast,CONTROL_FINISHED_OK
$STATE,5217,begin surface
$SM_CCo,5235,37.47,0.100,0,0,1655,320.11
$SM_GC,0.66,0.00,0.00,37.47,0.000,0.000,0.100,179,2802,1655,-8.19,0.62,320.11
$IRIDIUM_FIX,-7545.40,17601.40,030111,232325
$TT8_MAMPS,0.027713
$HUMID,52.44
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,350.8,66.4
$24V_AH,22.3,55.727
$10V_AH,9.9,21.825
$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,18.400,29.175,387.600,37.475,0.000,25.852,36.751,147.313,1.250,0.000,14.960,1444.699,2273.626,472.563,1230.685,193.644,0.000,1060.340,0.000,968.879,0.000,10.638,0.000
$DEVICE_MAMPS,211.905,98.685,970.020,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.019,753.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258232
$DATA_FILE_SIZE,37091,588
$CAP_FILE_SIZE,75091,0
$CFSIZE,260165632,226340864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.050, 56.8,1
$GPS,040111,022936,-7630.358,17551.699,30,1.8,31,124.0