version: 66.08
glider: 503
mission: 7
dive: 536
start: 1 2 111 11 13 1
data:
$ID,503
$MISSION,7
$DIVE,536
$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,-20176.912
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,020111,110707,-7614.924,17628.326,42,0.8,43,122.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.2
$GPS2,020111,111232,-7614.925,17628.385,8,1.7,8,122.1
$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,106.8,82954,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-88.47,0.000,2,0.000,0.000,177,2748,3422,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-6.9,15,138,8.93,2.25,-9.25,0.000,4,0.210,0.047,2521,1377,3857,0,0,0,0,0,0
$GC,235,-0.84,-219.0,30.7,-17.3,36,242,0.00,2.30,0.00,0.000,6,0.000,0.045,2509,2780,3859,0,0,0,0,0,0
$GC,375,-0.84,-219.0,56.6,-19.0,61,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2779,3859,0,0,0,0,0,0
$GC,518,-0.84,-219.0,83.5,-18.5,86,525,0.00,1.62,0.00,0.000,4,0.000,0.050,2503,3764,3860,0,0,0,0,0,0
$GC,554,-0.84,-219.0,90.8,-19.9,92,561,0.00,1.55,0.00,0.000,6,0.000,0.030,2503,2778,3860,0,0,0,0,0,0
$GC,692,-0.84,-219.0,116.9,-19.1,109,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2778,3860,0,0,0,0,0,0
$GC,819,-0.84,-219.0,141.3,-18.7,121,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2778,3861,0,0,0,0,0,0
$GC,946,-0.84,-219.0,165.1,-18.6,133,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2778,3861,0,0,0,0,0,0
$GC,1074,-0.84,-219.0,188.5,-18.2,145,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2778,3861,0,0,0,0,0,0
$GC,1201,-0.84,-219.0,212.0,-18.7,157,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2778,3860,0,0,0,0,0,0
$GC,1328,-0.84,-219.0,235.2,-18.2,169,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2778,3861,0,0,0,0,0,0
$GC,1457,-0.84,-219.0,258.5,-18.3,181,1460,0.00,1.60,0.00,0.000,4,0.000,0.050,2495,3755,3861,0,0,0,0,0,0
$GC,1494,-0.84,-219.0,266.2,-19.6,184,1502,0.08,1.52,0.00,0.000,6,0.144,0.031,2522,2784,3861,0,0,0,0,0,0
$GC,1693,-0.84,-219.0,299.2,-16.9,203,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2784,3861,0,0,0,0,0,0
$GC,1884,-0.84,-219.0,330.7,-16.1,221,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2784,3861,0,0,0,0,0,0
$GC,2075,-0.84,-219.0,361.3,-15.4,239,2079,0.00,1.60,0.00,0.000,4,0.000,0.050,2514,3760,3860,0,0,0,0,0,0
$GC,2112,-0.84,-219.0,367.9,-16.9,242,2120,0.00,1.52,0.00,0.000,6,0.000,0.030,2514,2793,3860,0,0,0,0,0,0
$STATE,2162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2162,begin apogee
$GC,2169,-0.16,0.0,375.6,16.3,247,2350,0.70,0.00,174.93,0.970,4,0.119,0.000,2747,2689,2959,0,0,0,0,0,0
$STATE,2350,end apogee,CONTROL_FINISHED_OK
$STATE,2350,begin climb
$GC,2353,0.84,219.0,385.9,0.0,263,2553,0.98,2.40,191.25,0.918,4,0.072,0.034,3071,1304,2067,0,0,0,0,0,0
$GC,2656,0.86,234.9,362.0,12.7,290,2679,0.00,2.42,15.18,0.849,6,0.000,0.041,3071,2700,2002,0,0,0,0,0,0
$GC,2873,0.86,234.9,332.6,13.9,310,2877,0.00,2.33,0.00,0.000,4,0.000,0.035,3081,1313,1998,0,0,0,0,0,0
$GC,3063,0.86,234.9,306.3,13.3,326,3070,0.00,2.30,0.00,0.000,6,0.000,0.043,3082,2705,1995,0,0,1,0,0,0
$GC,3262,0.86,234.9,278.4,13.9,345,3265,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3764,1995,0,0,0,0,0,0
$GC,3308,0.86,234.9,271.2,15.4,349,3311,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2710,1994,0,0,1,0,0,0
$GC,3511,0.86,234.9,241.2,14.8,368,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2707,1994,0,0,0,0,0,0
$GC,3639,0.86,234.9,222.5,14.9,380,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2707,1994,0,0,0,0,0,0
$GC,3767,0.86,234.9,203.7,14.6,392,3771,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3767,1994,0,0,0,0,0,0
$GC,3838,0.86,234.9,192.5,16.4,398,3841,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2700,1993,0,0,0,0,0,0
$GC,3978,0.86,234.9,171.0,15.1,411,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2700,1993,0,0,0,0,0,0
$GC,4105,0.86,234.9,151.8,15.0,423,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2700,1993,0,0,0,0,0,0
$GC,4232,0.86,234.9,133.3,14.3,435,4236,0.00,1.75,0.00,0.000,4,0.000,0.050,3098,3765,1993,0,0,0,0,0,0
$GC,4271,0.86,234.9,126.9,17.0,438,4278,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2711,1992,0,0,1,0,0,0
$GC,4405,0.86,234.9,106.5,14.9,451,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2711,1992,0,0,0,0,0,0
$GC,4536,0.86,234.9,86.9,15.4,470,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2711,1992,0,0,0,0,0,0
$GC,4676,0.86,234.9,65.9,14.9,495,4683,0.00,1.73,0.00,0.000,4,0.000,0.049,3106,3764,1992,0,0,0,0,0,0
$GC,4728,0.86,234.9,57.3,16.8,504,4736,0.10,1.65,0.00,0.000,6,0.137,0.031,3069,2727,1992,0,0,0,0,0,0
$GC,4871,0.88,251.8,39.2,12.6,529,4891,0.00,0.00,14.55,0.776,6,0.000,0.000,3069,2727,1933,0,0,0,0,0,0
$GC,5026,0.92,287.3,20.3,11.9,556,5065,0.00,0.00,32.25,0.759,6,0.000,0.000,3069,2727,1787,0,0,0,0,0,0
$FREEZE,8.50,-0.565,-1.894,2,1,0
$FREEZE,7.79,-0.565,-1.894,2,1,0
$FREEZE,7.29,-0.568,-1.894,2,1,0
$FREEZE,6.54,-0.567,-1.893,2,1,0
$FREEZE,5.65,-0.568,-1.892,2,1,0
$FREEZE,4.96,-0.574,-1.892,2,1,0
$FREEZE,4.39,-0.574,-1.891,2,1,0
$FREEZE,3.70,-0.573,-1.891,2,1,0
$FREEZE,2.95,-0.573,-1.890,2,1,0
$STATE,5159,end climb,SURFACE_DEPTH_REACHED
$STATE,5159,begin surface coast
$FREEZE,2.19,-0.574,-1.890,2,1,0
$FREEZE,1.42,-0.573,-1.889,2,1,0
$FREEZE,0.77,-0.572,-1.889,2,1,0
$FREEZE,0.02,-0.575,-1.888,2,1,0
$FINISH,0.0,1.027652
$STATE,5181,end surface coast,CONTROL_FINISHED_OK
$STATE,5181,begin surface
$SM_CCo,5198,15.62,0.103,0,0,1654,320.11
$SM_GC,0.54,0.00,0.00,15.62,0.000,0.000,0.103,169,2800,1654,-8.22,0.54,320.11
$IRIDIUM_FIX,-7528.04,17632.72,020111,090950
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$24V_AH,22.3,52.891
$10V_AH,9.9,20.707
$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,18.425,37.075,428.150,15.625,0.000,28.999,36.111,145.318,1.000,0.000,11.333,1422.644,2221.526,488.189,1229.506,189.060,0.000,1083.750,0.000,966.105,0.000,7.753,0.000
$DEVICE_MAMPS,209.610,95.625,970.020,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.402,746.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,37106,583
$CAP_FILE_SIZE,77770,0
$CFSIZE,260165632,227368960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.117, 94.7,1
$GPS,020111,124055,-7615.510,17626.930,14,1.1,19,122.2