version: 66.08
glider: 503
mission: 7
dive: 534
start: 1 2 111 8 3 55
data:
$ID,503
$MISSION,7
$DIVE,534
$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,-20174.396
$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,33
$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
$GPS1,020111,075736,-7613.325,17631.371,19,0.8,36,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-70.7
$GPS2,020111,080326,-7613.325,17631.385,15,1.4,15,121.9
$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,101.0,86168,-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,-219.0,0.0,0.0,0,110,0.00,0.00,-91.07,0.000,2,0.000,0.000,178,2792,3499,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.7,-8.6,15,135,8.93,0.00,-7.18,0.000,6,0.210,0.000,2526,2792,3856,0,0,0,0,0,0
$GC,271,-0.84,-219.0,40.5,-18.0,42,278,0.00,2.30,0.00,0.000,4,0.000,0.044,2526,1368,3860,0,0,0,0,0,0
$GC,319,-0.84,-219.0,48.5,-15.4,50,326,0.00,2.30,0.00,0.000,6,0.000,0.044,2515,2773,3859,0,0,0,0,0,0
$GC,462,-0.84,-219.0,73.3,-17.1,75,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$GC,603,-0.84,-219.0,98.2,-17.6,100,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3861,0,0,0,0,0,0
$GC,745,-0.84,-219.0,123.1,-18.1,114,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3861,0,0,0,0,0,0
$GC,871,-0.84,-219.0,145.8,-18.2,126,875,0.00,1.60,0.00,0.000,4,0.000,0.050,2507,3757,3861,0,0,0,0,0,0
$GC,918,-0.84,-219.0,154.2,-18.9,130,921,0.00,1.55,0.00,0.000,6,0.000,0.031,2508,2771,3861,0,0,0,0,0,0
$GC,1058,-0.84,-219.0,180.0,-18.5,143,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2771,3861,0,0,0,0,0,0
$GC,1185,-0.84,-219.0,203.4,-18.2,155,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2771,3861,0,0,0,0,0,0
$GC,1312,-0.84,-219.0,226.5,-18.3,167,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2771,3861,0,0,0,0,0,0
$GC,1440,-0.84,-219.0,249.2,-17.9,179,1445,0.00,1.62,0.00,0.000,4,0.000,0.050,2500,3790,3861,0,0,0,0,0,0
$GC,1485,-0.84,-219.0,257.7,-19.0,183,1489,0.00,1.58,0.00,0.000,6,0.000,0.030,2500,2783,3861,0,0,0,0,0,0
$GC,1689,-0.84,-219.0,294.8,-18.3,202,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2782,3861,0,0,0,0,0,0
$GC,1880,-0.84,-219.0,329.3,-17.9,220,1882,0.10,0.00,0.00,0.000,6,0.183,0.000,2526,2782,3860,0,0,0,0,0,0
$GC,2071,-0.84,-219.0,358.5,-15.0,238,2075,0.00,1.60,0.00,0.000,4,0.000,0.050,2519,3761,3860,0,0,0,0,0,0
$GC,2118,-0.84,-219.0,365.8,-16.2,242,2121,0.00,1.52,0.00,0.000,6,0.000,0.031,2519,2791,3861,0,0,0,0,0,0
$STATE,2181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2182,begin apogee
$GC,2188,-0.16,0.0,376.1,15.5,248,2369,0.68,0.00,175.02,0.968,4,0.119,0.000,2744,2688,2959,0,0,0,0,0,0
$STATE,2370,end apogee,CONTROL_FINISHED_OK
$STATE,2370,begin climb
$GC,2373,0.84,219.0,385.4,0.0,264,2573,1.00,2.40,191.15,0.916,4,0.073,0.034,3075,1311,2067,0,0,0,0,0,0
$GC,2681,0.86,240.7,360.3,12.4,292,2707,0.00,2.42,20.58,0.863,6,0.000,0.041,3075,2704,1977,0,0,0,0,0,0
$GC,2906,0.86,240.7,329.6,13.6,313,2910,0.00,2.35,0.00,0.000,4,0.000,0.035,3085,1306,1972,0,0,0,0,0,0
$GC,3092,0.88,249.7,305.1,13.0,329,3107,0.00,2.33,8.40,0.805,6,0.000,0.043,3086,2707,1940,0,0,0,0,0,0
$GC,3307,0.88,249.7,274.3,14.7,349,3311,0.00,1.70,0.00,0.000,4,0.000,0.049,3086,3768,1938,0,0,0,0,0,0
$GC,3375,0.88,249.7,263.0,17.0,355,3379,0.00,1.62,0.00,0.000,6,0.000,0.031,3094,2713,1938,0,0,1,0,0,0
$GC,3580,0.88,249.7,232.0,14.9,374,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2712,1938,0,0,0,0,0,0
$GC,3706,0.88,249.7,213.1,14.7,386,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2711,1938,0,0,0,0,0,0
$GC,3834,0.88,249.7,194.4,14.5,398,3837,0.00,1.67,0.00,0.000,4,0.000,0.049,3094,3762,1937,0,0,0,0,0,0
$GC,3879,0.88,249.7,187.1,16.4,402,3883,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2698,1936,0,0,0,0,0,0
$GC,4020,0.88,249.7,165.9,15.1,415,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2699,1937,0,0,0,0,0,0
$GC,4147,0.88,249.7,146.6,15.2,427,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2699,1937,0,0,0,0,0,0
$GC,4275,0.88,249.7,127.1,15.5,439,4279,0.00,1.70,0.00,0.000,4,0.000,0.048,3102,3765,1936,0,0,0,0,0,0
$GC,4325,0.88,249.7,118.3,17.9,443,4332,0.08,1.65,0.00,0.000,6,0.151,0.031,3085,2727,1936,0,0,0,0,0,0
$GC,4459,0.88,249.7,99.3,14.0,456,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2727,1936,0,0,0,0,0,0
$GC,4602,0.88,249.7,79.5,13.7,481,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2727,1936,0,0,0,0,0,0
$GC,4743,0.88,249.7,60.4,13.5,506,4751,0.00,1.70,0.00,0.000,4,0.000,0.050,3085,3765,1936,0,0,0,0,0,0
$GC,4779,0.88,249.7,55.1,14.7,512,4786,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2723,1936,0,0,0,0,0,0
$GC,4923,0.88,249.8,35.2,13.3,537,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2723,1936,0,0,0,0,0,0
$GC,5065,0.88,249.8,15.1,14.5,562,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2723,1936,0,0,0,0,0,0
$FREEZE,8.29,-0.535,-1.894,2,1,0
$FREEZE,7.55,-0.533,-1.893,2,1,0
$FREEZE,6.78,-0.532,-1.893,2,1,0
$FREEZE,6.01,-0.532,-1.892,2,1,0
$FREEZE,5.11,-0.532,-1.891,2,1,0
$FREEZE,4.42,-0.531,-1.891,2,1,0
$FREEZE,3.55,-0.530,-1.890,2,1,0
$FREEZE,2.57,-0.531,-1.889,2,1,0
$STATE,5148,end climb,SURFACE_DEPTH_REACHED
$STATE,5149,begin surface coast
$FREEZE,1.79,-0.530,-1.889,2,1,0
$FREEZE,0.90,-0.532,-1.888,2,1,0
$FREEZE,0.09,-0.555,-1.889,2,1,0
$FINISH,0.1,1.027663
$STATE,5168,end surface coast,CONTROL_FINISHED_OK
$STATE,5168,begin surface
$SM_CCo,5185,33.03,0.101,0,0,1654,320.11
$SM_GC,0.90,0.00,0.00,33.03,0.000,0.000,0.101,173,2805,1654,-8.21,0.68,320.11
$IRIDIUM_FIX,-7528.04,17623.73,020111,060604
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.5
$24V_AH,22.3,52.653
$10V_AH,9.9,20.614
$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,18.425,37.125,395.150,33.025,0.000,30.203,37.949,161.557,1.250,0.000,17.531,1427.720,2223.983,475.012,1261.632,192.361,0.000,1073.822,0.000,975.172,0.000,7.752,0.000
$DEVICE_MAMPS,209.610,94.860,968.490,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.317,744.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258252
$DATA_FILE_SIZE,36949,580
$CAP_FILE_SIZE,77423,0
$CFSIZE,260165632,227459072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.127,130.7,1
$GPS,020111,093201,-7614.184,17629.861,22,1.4,27,122.0