version: 66.08
glider: 503
mission: 7
dive: 562
start: 1 4 111 4 8 43
data:
$ID,503
$MISSION,7
$DIVE,562
$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,-20212.365
$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,42
$R_STBD_OVSHOOT,47
$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
$GPS1,040111,040232,-7631.077,17550.469,16,1.6,16,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-72.5
$GPS2,040111,040814,-7631.055,17550.402,10,1.4,10,124.0
$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,93.1,49123,-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,-88.62,0.000,2,0.000,0.000,179,2809,3399,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.0,-6.0,15,139,8.95,2.33,-9.90,0.000,4,0.210,0.044,2521,1366,3857,0,0,0,0,0,0
$GC,296,-0.84,-219.0,39.4,-15.2,47,303,0.00,2.28,0.00,0.000,6,0.000,0.042,2510,2762,3860,0,0,0,0,0,0
$GC,438,-0.84,-219.0,64.6,-17.9,72,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2762,3859,0,0,0,0,0,0
$GC,578,-0.84,-219.0,90.3,-18.0,97,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2762,3859,0,0,0,0,0,0
$GC,721,-0.84,-219.0,116.1,-17.9,115,725,0.00,1.60,0.00,0.000,4,0.000,0.049,2503,3754,3860,0,0,0,0,0,0
$GC,759,-0.84,-219.0,123.7,-19.5,118,767,0.00,1.52,0.00,0.000,6,0.000,0.029,2503,2772,3860,0,0,0,0,0,0
$GC,894,-0.84,-219.0,148.7,-18.7,131,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1021,-0.84,-219.0,172.4,-18.8,143,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2772,3860,0,0,0,0,0,0
$GC,1149,-0.84,-219.0,195.6,-17.8,155,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3861,0,0,0,0,0,0
$GC,1277,-0.84,-219.0,218.8,-18.6,167,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1404,-0.84,-219.0,242.0,-18.0,179,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2773,3861,0,0,0,0,0,0
$GC,1533,-0.84,-219.0,264.5,-17.5,191,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2773,3860,0,0,0,0,0,0
$GC,1722,-0.84,-219.0,297.4,-16.5,209,1726,0.00,1.62,0.00,0.000,4,0.000,0.048,2495,3791,3860,0,0,0,0,0,0
$GC,1756,-0.84,-219.0,303.8,-18.3,212,1761,0.05,1.58,0.00,0.000,6,0.148,0.030,2528,2780,3860,0,0,0,0,0,0
$GC,1962,-0.84,-219.0,335.0,-15.2,231,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2780,3860,0,0,0,0,0,0
$GC,2151,-0.84,-219.0,363.5,-14.3,249,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2780,3860,0,0,0,0,0,0
$STATE,2244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2244,begin apogee
$GC,2251,-0.16,0.0,377.4,14.4,258,2431,0.65,0.00,174.80,0.968,4,0.117,0.000,2746,2691,2959,0,0,0,0,0,0
$STATE,2432,end apogee,CONTROL_FINISHED_OK
$STATE,2432,begin climb
$GC,2435,0.84,219.0,385.5,0.0,274,2635,0.98,2.40,191.52,0.916,4,0.071,0.032,3071,1310,2066,0,0,0,0,0,0
$GC,2691,0.86,236.8,364.9,12.6,297,2713,0.00,2.42,17.33,0.850,6,0.000,0.040,3071,2699,1994,0,0,1,0,0,0
$GC,2912,0.86,236.8,333.3,14.4,318,2916,0.00,2.33,0.00,0.000,4,0.000,0.033,3082,1313,1989,0,0,0,0,0,0
$GC,3091,0.87,242.0,308.5,13.1,333,3102,0.00,2.30,5.10,0.698,6,0.000,0.041,3082,2704,1972,0,0,0,0,0,0
$GC,3302,0.87,242.0,278.1,14.2,353,3306,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3761,1972,0,0,0,0,0,0
$GC,3364,0.87,242.0,267.8,15.8,358,3371,0.00,1.67,0.00,0.000,6,0.000,0.030,3090,2720,1971,0,0,0,0,0,0
$GC,3562,0.87,242.0,238.8,14.7,377,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,1970,0,0,0,0,0,0
$GC,3690,0.87,242.0,220.2,14.5,389,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,1970,0,0,0,0,0,0
$GC,3816,0.87,242.0,202.0,14.4,401,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,1970,0,0,0,0,0,0
$GC,3944,0.87,242.0,184.2,13.6,413,3947,0.00,1.67,0.00,0.000,4,0.000,0.049,3090,3763,1969,0,0,0,0,0,0
$GC,3993,0.87,242.0,176.2,16.5,417,4002,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2710,1970,0,0,1,0,0,0
$GC,4129,0.87,242.0,157.0,14.4,430,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2710,1969,0,0,0,0,0,0
$GC,4256,0.87,242.0,138.4,14.8,442,4259,0.00,1.70,0.00,0.000,4,0.000,0.049,3098,3767,1969,0,0,0,0,0,0
$GC,4294,0.87,242.0,131.8,17.1,445,4302,0.00,1.65,0.00,0.000,6,0.000,0.031,3107,2714,1969,0,0,1,0,0,0
$GC,4430,0.87,242.0,111.0,15.3,458,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2714,1969,0,0,0,0,0,0
$GC,4558,0.87,242.0,90.9,15.4,475,4565,0.00,1.73,0.00,0.000,4,0.000,0.049,3107,3758,1969,0,0,0,0,0,0
$GC,4605,0.87,242.0,83.0,17.2,483,4612,0.10,1.62,0.00,0.000,6,0.138,0.032,3070,2724,1969,0,0,1,0,0,0
$GC,4749,0.89,263.6,64.0,12.5,508,4774,0.00,0.00,19.90,0.787,6,0.000,0.000,3070,2724,1884,0,0,0,0,0,0
$GC,4912,0.90,271.0,42.6,13.0,536,4926,0.00,0.00,8.12,0.719,6,0.000,0.000,3070,2724,1854,0,0,0,0,0,0
$GC,5063,0.91,274.7,22.8,13.2,562,5070,0.00,0.00,5.03,0.639,6,0.000,0.000,3070,2724,1840,0,0,0,0,0,0
$FREEZE,8.31,-0.484,-1.896,2,1,0
$FREEZE,7.62,-0.483,-1.895,2,1,0
$FREEZE,7.01,-0.482,-1.895,2,1,0
$FREEZE,6.31,-0.482,-1.894,2,1,0
$FREEZE,5.47,-0.488,-1.894,2,1,0
$FREEZE,4.69,-0.490,-1.893,2,1,0
$FREEZE,4.03,-0.483,-1.893,2,1,0
$FREEZE,3.35,-0.489,-1.892,2,1,0
$FREEZE,2.42,-0.493,-1.891,2,1,0
$GC,5205,0.92,284.9,3.3,12.9,587,5216,0.00,1.88,6.15,0.665,3,0.000,0.034,3078,1585,1798,0,0,0,0,0,0
$STATE,5217,end climb,SURFACE_DEPTH_REACHED
$STATE,5217,begin surface coast
$FREEZE,0.68,-0.508,-1.890,2,1,0
$FREEZE,0.06,-0.502,-1.890,2,1,0
$FREEZE,-0.06,-0.599,-1.892,2,1,0
$FREEZE,0.05,-0.520,-1.176,2,1,0
$FINISH,0.0,1.017377
$STATE,5240,end surface coast,CONTROL_FINISHED_OK
$STATE,5240,begin surface
$SM_CCo,5259,16.95,0.102,0,0,1655,320.11
$SM_GC,0.46,0.00,0.00,16.95,0.000,0.000,0.102,183,2778,1655,-8.18,-0.06,320.11
$IRIDIUM_FIX,-7545.40,17532.54,040111,020218
$TT8_MAMPS,0.027713
$HUMID,53.22
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.8
$ALTIM_BOTTOM_PING,351.0,65.4
$24V_AH,22.3,55.969
$10V_AH,9.9,21.919
$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,18.325,37.725,427.950,16.950,0.000,30.841,35.767,157.580,1.250,0.000,13.383,1443.680,2251.556,487.777,1248.167,200.309,0.000,1083.479,0.000,971.942,0.000,10.642,0.000
$DEVICE_MAMPS,210.375,99.450,968.490,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.046,760.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40482,592
$CAP_FILE_SIZE,78209,0
$CFSIZE,260165632,226254848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.107,124.5,1
$GPS,040111,053750,-7631.893,17549.219,30,1.6,30,124.1