version: 66.08
glider: 503
mission: 7
dive: 572
start: 1 4 111 20 1 19
data:
$ID,503
$MISSION,7
$DIVE,572
$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,-20226.514
$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,41
$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
$GPS1,040111,195520,-7635.625,17543.443,20,1.6,20,124.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-74.0
$GPS2,040111,200050,-7635.596,17543.555,10,1.7,10,124.5
$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,98.4,40308,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,116,0.00,0.00,-95.35,0.000,2,0.000,0.000,180,2794,3572,0,0,0,0,0,0
$GC,119,-0.84,-219.0,4.1,-10.6,16,141,9.00,2.33,-5.43,0.000,4,0.210,0.044,2525,1368,3856,0,0,1,0,0,0
$GC,220,-0.84,-219.0,30.7,-15.5,33,227,0.00,2.30,0.00,0.000,6,0.000,0.044,2514,2774,3859,0,0,0,0,0,0
$GC,363,-0.84,-219.0,55.8,-17.9,58,371,0.00,1.60,0.00,0.000,4,0.000,0.050,2507,3763,3859,0,0,0,0,0,0
$GC,406,-0.84,-219.0,64.2,-18.7,65,412,0.00,1.52,0.00,0.000,6,0.000,0.030,2507,2795,3859,0,0,0,0,0,0
$GC,546,-0.84,-219.0,90.6,-19.3,90,554,0.00,2.25,0.00,0.000,4,0.000,0.031,2507,1368,3860,0,0,0,0,0,0
$GC,579,-0.84,-219.0,96.3,-17.7,95,586,0.12,2.33,0.00,0.000,6,0.153,0.044,2531,2791,3859,0,0,0,0,0,0
$GC,722,-0.84,-219.0,120.1,-16.3,110,725,0.00,1.58,0.00,0.000,4,0.000,0.050,2524,3756,3860,0,0,0,0,0,0
$GC,779,-0.84,-219.0,130.3,-17.5,115,783,0.00,1.52,0.00,0.000,6,0.000,0.031,2524,2786,3860,0,0,0,0,0,0
$GC,920,-0.84,-219.0,152.9,-15.8,128,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2787,3860,0,0,0,0,0,0
$GC,1047,-0.84,-219.0,174.2,-16.5,140,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2787,3861,0,0,0,0,0,0
$GC,1174,-0.84,-219.0,195.1,-16.1,152,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2787,3861,0,0,0,0,0,0
$GC,1302,-0.84,-219.0,214.8,-15.3,164,1306,0.00,1.60,0.00,0.000,4,0.000,0.049,2517,3760,3860,0,0,0,0,0,0
$GC,1373,-0.84,-219.0,227.1,-16.5,170,1382,0.00,1.50,0.00,0.000,6,0.000,0.030,2517,2799,3861,0,0,0,0,0,0
$GC,1508,-0.84,-219.0,248.6,-16.0,183,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2799,3861,0,0,0,0,0,0
$GC,1637,-0.84,-219.0,269.4,-16.3,195,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2799,3861,0,0,0,0,0,0
$GC,1827,-0.84,-219.0,300.2,-16.3,213,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2799,3861,0,0,0,0,0,0
$GC,2018,-0.84,-219.0,331.8,-16.9,231,2022,0.00,1.58,0.00,0.000,4,0.000,0.050,2510,3755,3860,0,0,0,0,0,0
$GC,2056,-0.84,-219.0,338.8,-17.9,234,2064,0.00,1.50,0.00,0.000,6,0.000,0.031,2510,2797,3860,0,0,0,0,0,0
$GC,2254,-0.84,-219.0,372.4,-17.0,253,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2797,3861,0,0,0,0,0,0
$STATE,2274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2274,begin apogee
$GC,2280,-0.16,0.0,376.1,17.5,255,2462,0.70,0.00,175.55,0.968,4,0.120,0.000,2741,2693,2959,0,0,0,0,0,0
$STATE,2462,end apogee,CONTROL_FINISHED_OK
$STATE,2462,begin climb
$GC,2465,0.84,219.0,383.6,0.0,271,2666,1.00,2.40,192.35,0.914,4,0.073,0.032,3071,1311,2067,0,0,0,0,0,0
$GC,2800,0.84,220.0,354.2,13.3,301,2807,0.00,2.40,0.00,0.000,6,0.000,0.041,3072,2702,2060,0,0,0,0,0,0
$GC,2998,0.84,220.0,326.5,14.0,320,3002,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1304,2057,0,0,0,0,0,0
$GC,3178,0.84,222.4,302.7,13.2,336,3182,0.00,2.33,0.00,0.000,6,0.000,0.041,3082,2712,2055,0,0,0,0,0,0
$GC,3376,0.84,222.4,274.2,14.0,354,3379,0.00,1.67,0.00,0.000,4,0.000,0.047,3082,3763,2055,0,0,0,0,0,0
$GC,3437,0.84,222.4,264.1,16.7,359,3443,0.00,1.65,0.00,0.000,6,0.000,0.030,3091,2702,2054,0,0,0,0,0,0
$GC,3635,0.84,222.4,234.8,14.6,378,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2703,2054,0,0,0,0,0,0
$GC,3762,0.84,222.4,215.6,15.3,390,3765,0.00,1.70,0.00,0.000,4,0.000,0.048,3091,3766,2054,0,0,0,0,0,0
$GC,3841,0.84,222.4,202.2,17.4,397,3845,0.00,1.65,0.00,0.000,6,0.000,0.030,3099,2726,2053,0,0,0,0,0,0
$GC,3981,0.84,222.4,179.9,15.0,410,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2726,2053,0,0,0,0,0,0
$GC,4109,0.84,222.4,160.4,15.1,422,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2726,2053,0,0,0,0,0,0
$GC,4237,0.84,222.4,140.9,15.0,434,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2726,2053,0,0,0,0,0,0
$GC,4364,0.84,222.4,121.6,15.2,446,4367,0.00,1.65,0.00,0.000,4,0.000,0.048,3099,3764,2052,0,0,0,0,0,0
$GC,4413,0.84,222.4,112.7,18.0,450,4421,0.10,1.65,0.00,0.000,6,0.139,0.030,3074,2724,2052,0,0,0,0,0,0
$GC,4551,0.85,226.3,93.7,13.2,467,4558,0.00,0.00,5.20,0.694,6,0.000,0.000,3074,2724,2037,0,0,0,0,0,0
$GC,4692,0.85,226.3,74.7,13.6,492,4701,0.00,1.70,0.00,0.000,4,0.000,0.048,3074,3761,2037,0,0,0,0,0,0
$GC,4729,0.85,226.3,69.3,15.1,498,4736,0.00,1.62,0.00,0.000,6,0.000,0.031,3082,2732,2037,0,0,0,0,0,0
$GC,4874,0.85,226.3,49.2,14.6,523,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2732,2036,0,0,0,0,0,0
$GC,5015,0.85,227.9,28.9,13.3,548,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2732,2036,0,0,0,0,0,0
$GC,5157,0.85,227.9,9.4,14.4,573,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2733,2036,0,0,0,0,0,0
$FREEZE,7.37,-0.484,-1.897,2,1,0
$FREEZE,6.68,-0.482,-1.896,2,1,0
$FREEZE,5.95,-0.482,-1.896,2,1,0
$FREEZE,5.20,-0.481,-1.895,2,1,0
$FREEZE,4.47,-0.479,-1.895,2,1,0
$FREEZE,3.67,-0.478,-1.894,2,1,0
$FREEZE,3.01,-0.477,-1.894,2,1,0
$FREEZE,2.20,-0.476,-1.893,2,1,0
$STATE,5206,end climb,SURFACE_DEPTH_REACHED
$STATE,5206,begin surface coast
$FREEZE,1.37,-0.477,-1.892,2,1,0
$FREEZE,0.66,-0.477,-1.892,2,1,0
$FREEZE,-0.05,-0.485,-1.892,2,1,0
$FREEZE,-0.17,-0.813,-1.913,2,1,0
$FINISH,-0.2,1.028018
$STATE,5229,end surface coast,CONTROL_FINISHED_OK
$STATE,5229,begin surface
$SM_CCo,5247,45.35,0.099,0,0,1655,320.11
$SM_GC,0.83,0.00,0.00,45.35,0.000,0.000,0.099,173,2787,1655,-8.21,0.23,320.11
$IRIDIUM_FIX,-7554.21,17539.64,040111,181825
$TT8_MAMPS,0.027713
$HUMID,52.44
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.0
$24V_AH,22.2,57.163
$10V_AH,9.9,22.391
$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,18.550,44.525,373.100,45.350,0.000,29.217,35.604,145.884,1.250,0.000,13.551,1444.780,2247.174,489.576,1249.844,203.107,0.000,1092.937,0.000,987.633,0.000,10.651,0.000
$DEVICE_MAMPS,210.375,112.455,968.490,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.245,753.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37068,586
$CAP_FILE_SIZE,79723,0
$CFSIZE,260165632,225820672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.168, 46.0,1
$GPS,040111,213100,-7635.840,17542.486,46,1.0,47,124.5