version: 66.08
glider: 503
mission: 7
dive: 576
start: 1 5 111 2 19 19
data:
$ID,503
$MISSION,7
$DIVE,576
$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,-20231.545
$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,27
$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
$GPS1,050111,021255,-7637.785,17537.371,48,1.2,48,124.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-72.0
$GPS2,050111,021850,-7637.800,17537.314,11,2.0,11,124.8
$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,86.6,35488,-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,-219.0,0.0,0.0,0,111,0.00,0.00,-91.97,0.000,2,0.000,0.000,180,2750,3467,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.3,-7.2,15,137,8.88,1.70,-8.05,0.000,4,0.207,0.064,2513,3772,3855,0,0,1,0,0,0
$GC,230,-0.84,-219.0,32.4,-19.6,34,236,0.00,1.58,0.00,0.000,6,0.000,0.029,2514,2772,3859,0,0,0,0,0,0
$GC,371,-0.84,-219.0,59.6,-19.1,59,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,512,-0.84,-219.0,85.7,-18.7,84,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,651,-0.84,-219.0,110.2,-17.2,104,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3860,0,0,0,0,0,0
$GC,779,-0.84,-219.0,132.7,-17.5,116,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3860,0,0,0,0,0,0
$GC,906,-0.84,-219.0,155.4,-18.2,128,909,0.00,1.62,0.00,0.000,4,0.000,0.050,2506,3761,3860,0,0,0,0,0,0
$GC,944,-0.84,-219.0,162.7,-18.3,131,951,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2793,3860,0,0,0,0,0,0
$GC,1079,-0.84,-219.0,187.4,-18.6,144,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2793,3860,0,0,0,0,0,0
$GC,1206,-0.84,-219.0,210.2,-17.3,156,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2793,3860,0,0,0,0,0,0
$GC,1333,-0.84,-219.0,232.3,-17.4,168,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2793,3860,0,0,0,0,0,0
$GC,1461,-0.84,-219.0,254.2,-17.1,180,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2793,3860,0,0,0,0,0,0
$GC,1652,-0.84,-219.0,286.3,-16.1,198,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2793,3860,0,0,0,0,0,0
$GC,1843,-0.84,-219.0,317.8,-16.6,216,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2793,3860,0,0,0,0,0,0
$GC,2035,-0.84,-219.0,349.9,-16.9,234,2044,0.00,1.60,0.00,0.000,4,0.000,0.050,2498,3766,3860,0,0,0,0,0,0
$GC,2073,-0.84,-219.0,356.9,-18.9,237,2078,0.08,1.52,0.00,0.000,6,0.141,0.031,2524,2790,3860,0,0,0,0,0,0
$STATE,2190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2190,begin apogee
$GC,2197,-0.16,0.0,375.3,15.3,248,2378,0.65,0.00,174.62,0.967,4,0.116,0.000,2743,2688,2960,0,0,0,0,0,0
$STATE,2379,end apogee,CONTROL_FINISHED_OK
$STATE,2379,begin climb
$GC,2382,0.84,219.0,384.6,0.0,264,2586,1.00,2.38,192.10,0.916,4,0.071,0.032,3075,1309,2066,0,0,0,0,0,0
$GC,2726,0.87,246.9,355.4,12.2,294,2757,0.00,2.40,25.98,0.871,6,0.000,0.041,3075,2699,1952,0,0,0,0,0,0
$GC,2948,0.87,246.9,325.0,13.6,315,2952,0.00,2.30,0.00,0.000,4,0.000,0.034,3086,1314,1948,0,0,0,0,0,0
$GC,3126,0.88,249.5,300.3,13.2,330,3133,0.00,2.33,0.00,0.000,6,0.000,0.041,3086,2713,1946,0,0,0,0,0,0
$GC,3325,0.88,249.5,270.7,15.7,349,3329,0.00,1.67,0.00,0.000,4,0.000,0.048,3086,3765,1945,0,0,0,0,0,0
$GC,3394,0.88,249.5,258.8,17.3,355,3398,0.00,1.65,0.00,0.000,6,0.000,0.030,3094,2730,1944,0,0,0,0,0,0
$GC,3597,0.88,249.5,226.4,15.5,374,3601,0.00,1.67,0.00,0.000,4,0.000,0.048,3094,3772,1944,0,0,0,0,0,0
$GC,3632,0.88,249.5,220.5,17.0,377,3636,0.00,1.62,0.00,0.000,6,0.000,0.031,3103,2706,1944,0,0,1,0,0,0
$GC,3772,0.88,249.5,197.9,15.6,390,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2706,1944,0,0,0,0,0,0
$GC,3900,0.88,249.5,178.7,15.1,402,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2706,1943,0,0,0,0,0,0
$GC,4027,0.88,249.5,160.0,14.7,414,4030,0.00,1.70,0.00,0.000,4,0.000,0.048,3102,3768,1943,0,0,0,0,0,0
$GC,4054,0.88,249.5,155.4,15.8,416,4062,0.00,1.62,0.00,0.000,6,0.000,0.031,3110,2731,1943,0,0,1,0,0,0
$GC,4189,0.88,249.5,133.9,15.9,429,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2731,1943,0,0,0,0,0,0
$GC,4316,0.88,249.5,114.0,15.7,441,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2731,1943,0,0,0,0,0,0
$GC,4446,0.88,249.5,93.9,15.5,456,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2731,1943,0,0,0,0,0,0
$GC,4588,0.88,249.5,70.8,16.6,481,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2731,1943,0,0,0,0,0,0
$GC,4729,0.88,249.5,47.4,15.8,506,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2731,1943,0,0,0,0,0,0
$GC,4870,0.88,249.5,24.6,15.9,531,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2731,1943,0,0,0,0,0,0
$FREEZE,8.14,-0.393,-1.899,2,1,0
$FREEZE,7.50,-0.403,-1.899,2,1,0
$FREEZE,6.47,-0.424,-1.898,2,1,0
$FREEZE,5.62,-0.382,-1.897,2,1,0
$FREEZE,4.90,-0.378,-1.897,2,1,0
$FREEZE,3.98,-0.362,-1.896,2,1,0
$FREEZE,2.95,-0.356,-1.895,2,1,0
$STATE,5000,end climb,SURFACE_DEPTH_REACHED
$STATE,5000,begin surface coast
$FREEZE,1.69,-0.363,-1.895,2,1,0
$FREEZE,0.66,-0.359,-1.894,2,1,0
$FREEZE,-0.13,-0.356,-1.893,2,1,0
$FINISH,-0.1,1.027715
$STATE,5017,end surface coast,CONTROL_FINISHED_OK
$STATE,5017,begin surface
$SM_CCo,5035,33.90,0.099,0,0,1655,320.11
$SM_GC,0.61,0.00,0.00,33.90,0.000,0.000,0.099,186,2791,1655,-8.17,0.31,320.11
$IRIDIUM_FIX,-7554.21,17530.38,050111,000046
$TT8_MAMPS,0.026964
$HUMID,52.87
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.8
$ALTIM_BOTTOM_PING,351.1,48.4
$24V_AH,22.2,57.632
$10V_AH,9.8,22.577
$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,18.175,29.075,392.700,33.900,0.000,30.464,56.578,144.366,1.250,0.000,14.162,1366.028,2191.268,476.153,1213.585,189.208,0.000,1046.784,0.000,930.137,0.000,10.590,0.000
$DEVICE_MAMPS,206.550,115.515,966.960,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.014,709.841,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37112,557
$CAP_FILE_SIZE,72371,0
$CFSIZE,260165632,225652736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.116,205.1,1
$GPS,050111,034506,-7638.756,17534.496,37,1.1,37,124.9