version: 66.08
glider: 503
mission: 7
dive: 568
start: 1 4 111 13 39 38
data:
$ID,503
$MISSION,7
$DIVE,568
$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,-20221.482
$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,38
$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
$GPS1,040111,133126,-7635.004,17545.430,17,1.6,18,124.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.4
$GPS2,040111,133907,-7634.998,17545.768,33,1.0,33,124.4
$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,127.4,41718,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-94.22,0.000,2,0.000,0.000,170,2791,3548,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.9,-9.8,16,137,8.98,2.33,-6.00,0.000,4,0.210,0.044,2521,1363,3856,0,0,1,0,0,0
$GC,277,-0.84,-219.0,39.4,-15.4,44,284,0.00,2.30,0.00,0.000,6,0.000,0.044,2511,2769,3859,0,0,0,0,0,0
$GC,419,-0.84,-219.0,64.7,-18.2,69,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2769,3859,0,0,0,0,0,0
$GC,559,-0.84,-219.0,89.8,-17.5,94,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2769,3859,0,0,0,0,0,0
$GC,703,-0.84,-219.0,115.3,-17.5,112,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2769,3859,0,0,0,0,0,0
$GC,830,-0.84,-219.0,137.4,-16.8,124,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2769,3860,0,0,0,0,0,0
$GC,957,-0.84,-219.0,159.4,-17.3,136,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2769,3860,0,0,0,0,0,0
$GC,1088,-0.84,-219.0,181.6,-17.3,148,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2769,3860,0,0,0,0,0,0
$GC,1222,-0.84,-219.0,205.1,-17.1,161,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2769,3860,0,0,0,0,0,0
$GC,1350,-0.84,-219.0,226.7,-16.8,173,1353,0.00,1.60,0.00,0.000,4,0.000,0.051,2504,3754,3860,0,0,0,0,0,0
$GC,1409,-0.84,-219.0,237.2,-17.8,178,1413,0.00,1.52,0.00,0.000,6,0.000,0.030,2505,2774,3860,0,0,0,0,0,0
$GC,1551,-0.84,-219.0,262.6,-18.0,191,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2774,3860,0,0,0,0,0,0
$GC,1739,-0.84,-219.0,296.6,-18.1,209,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2774,3860,0,0,0,0,0,0
$GC,1932,-0.84,-219.0,330.6,-17.8,227,1935,0.00,1.62,0.00,0.000,4,0.000,0.050,2495,3795,3860,0,0,0,0,0,0
$GC,1978,-0.84,-219.0,339.4,-19.0,231,1983,0.08,1.58,0.00,0.000,6,0.142,0.030,2522,2781,3860,0,0,0,0,0,0
$GC,2183,-0.84,-219.0,372.8,-16.2,250,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2781,3860,0,0,0,0,0,0
$STATE,2200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2200,begin apogee
$GC,2206,-0.16,0.0,376.0,15.9,252,2387,0.68,0.00,174.60,0.969,4,0.119,0.000,2747,2692,2961,0,0,0,0,0,0
$STATE,2388,end apogee,CONTROL_FINISHED_OK
$STATE,2388,begin climb
$GC,2391,0.84,219.0,385.7,0.0,268,2590,0.93,0.00,192.27,0.917,6,0.073,0.000,3066,2692,2066,0,0,0,0,0,0
$GC,2789,0.84,223.3,347.4,13.2,305,2793,0.00,1.80,0.00,0.000,4,0.000,0.047,3066,3763,2058,0,0,0,0,0,0
$GC,2913,0.84,223.3,329.0,14.8,316,2917,0.00,1.62,0.00,0.000,6,0.000,0.029,3074,2728,2055,0,0,1,0,0,0
$GC,3117,0.85,225.6,301.9,13.2,335,3126,0.00,0.00,5.03,0.702,6,0.000,0.000,3074,2728,2040,0,0,0,0,0,0
$GC,3317,0.85,225.6,275.4,13.4,354,3321,0.00,1.67,0.00,0.000,4,0.000,0.047,3074,3765,2039,0,0,0,0,0,0
$GC,3385,0.85,225.6,265.5,14.8,360,3389,0.00,1.65,0.00,0.000,6,0.000,0.030,3082,2719,2038,0,0,1,0,0,0
$GC,3589,0.85,225.6,237.5,13.4,379,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2719,2038,0,0,0,0,0,0
$GC,3717,0.85,225.6,220.0,13.8,391,3720,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3765,2038,0,0,0,0,0,0
$GC,3766,0.85,225.6,212.3,15.1,395,3773,0.00,1.62,0.00,0.000,6,0.000,0.030,3091,2727,2038,0,0,1,0,0,0
$GC,3900,0.85,225.6,192.8,14.5,408,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2727,2038,0,0,0,0,0,0
$GC,4028,0.85,225.6,174.5,14.2,420,4032,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3761,2037,0,0,0,0,0,0
$GC,4073,0.85,225.6,167.2,16.2,424,4077,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2739,2037,0,0,0,0,0,0
$GC,4213,0.85,225.6,146.3,14.7,437,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2738,2037,0,0,0,0,0,0
$GC,4341,0.85,225.6,128.1,14.2,449,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2738,2036,0,0,0,0,0,0
$GC,4469,0.85,225.6,110.1,14.0,461,4472,0.00,1.65,0.00,0.000,4,0.000,0.049,3099,3773,2037,0,0,0,0,0,0
$GC,4514,0.85,225.6,102.8,16.2,465,4518,0.08,1.60,0.00,0.000,6,0.144,0.031,3073,2762,2036,0,0,0,0,0,0
$GC,4656,0.88,253.2,85.0,12.2,488,4688,0.00,0.00,25.27,0.801,6,0.000,0.000,3073,2762,1929,0,0,0,0,0,0
$GC,4823,0.88,253.2,63.3,13.5,517,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2762,1927,0,0,0,0,0,0
$GC,4965,0.90,270.7,45.2,12.6,542,4986,0.00,0.00,17.08,0.767,6,0.000,0.000,3073,2762,1856,0,0,0,0,0,0
$GC,5122,0.90,270.7,24.6,13.6,569,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2762,1855,0,0,0,0,0,0
$FREEZE,8.90,-0.551,-1.895,2,1,0
$FREEZE,8.21,-0.552,-1.895,2,1,0
$FREEZE,7.51,-0.552,-1.894,2,1,0
$FREEZE,6.70,-0.551,-1.894,2,1,0
$FREEZE,6.09,-0.553,-1.893,2,1,0
$FREEZE,5.03,-0.557,-1.892,2,1,0
$GC,5263,0.90,270.7,5.0,14.3,594,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2762,1854,0,0,0,0,0,0
$FREEZE,3.15,-0.556,-1.891,2,1,0
$FREEZE,2.62,-0.556,-1.891,2,1,0
$STATE,5280,end climb,SURFACE_DEPTH_REACHED
$STATE,5281,begin surface coast
$FREEZE,1.77,-0.555,-1.890,2,1,0
$FREEZE,1.13,-0.556,-1.889,2,1,0
$FREEZE,0.40,-0.558,-1.889,2,1,0
$FREEZE,-0.19,-0.563,-1.889,2,1,0
$FINISH,-0.2,1.027660
$STATE,5303,end surface coast,CONTROL_FINISHED_OK
$STATE,5303,begin surface
$SM_CCo,5319,23.27,0.101,0,0,1655,320.11
$SM_GC,1.04,0.00,0.00,23.27,0.000,0.000,0.101,166,2762,1655,-8.23,-0.51,320.11
$IRIDIUM_FIX,-7545.40,17550.25,040111,111118
$TT8_MAMPS,0.026964
$HUMID,52.67
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,22.3,56.692
$10V_AH,9.8,22.202
$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,18.275,27.650,414.250,23.275,0.000,58.532,49.194,147.048,1.000,0.000,37.240,1465.413,2368.909,471.816,1310.710,200.485,0.000,1074.286,0.000,981.899,0.000,7.756,0.000
$DEVICE_MAMPS,209.610,97.920,969.255,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.772,774.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40406,601
$CAP_FILE_SIZE,77712,0
$CFSIZE,260165632,226004992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.225, 85.3,1
$GPS,040111,150938,-7635.264,17544.744,16,2.0,17,124.4