version: 66.08
glider: 503
mission: 7
dive: 538
start: 1 2 111 14 26 1
data:
$ID,503
$MISSION,7
$DIVE,538
$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,-20179.434
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,020111,141425,-7615.970,17625.711,48,1.1,48,122.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.4
$GPS2,020111,142532,-7615.917,17625.760,17,1.2,17,122.2
$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,98.2,80819,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-91.50,0.000,2,0.000,0.000,173,2798,3501,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.7,-8.9,15,135,8.93,2.35,-7.15,0.000,4,0.208,0.045,2525,1370,3856,0,0,1,0,0,0
$GC,175,-0.84,-219.0,22.4,-17.4,25,183,0.00,2.30,0.00,0.000,6,0.000,0.045,2514,2769,3859,0,0,0,0,0,0
$GC,318,-0.84,-219.0,48.5,-18.6,50,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3859,0,0,0,0,0,0
$GC,460,-0.84,-219.0,75.6,-18.5,75,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3860,0,0,0,0,0,0
$GC,608,-0.84,-219.0,102.8,-18.0,100,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3860,0,0,0,0,0,0
$GC,735,-0.84,-219.0,125.9,-18.2,112,738,0.00,1.62,0.00,0.000,4,0.000,0.050,2506,3792,3860,0,0,0,0,0,0
$GC,780,-0.84,-219.0,134.5,-18.6,116,784,0.00,1.60,0.00,0.000,6,0.000,0.031,2506,2772,3860,0,0,0,0,0,0
$GC,921,-0.84,-219.0,159.6,-17.5,129,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3860,0,0,0,0,0,0
$GC,1047,-0.84,-219.0,182.3,-17.5,141,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2771,3860,0,0,0,0,0,0
$GC,1175,-0.84,-219.0,205.1,-17.8,153,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3860,0,0,0,0,0,0
$GC,1303,-0.84,-219.0,227.4,-17.3,165,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3860,0,0,0,0,0,0
$GC,1430,-0.84,-219.0,249.3,-17.0,177,1435,0.00,1.62,0.00,0.000,4,0.000,0.049,2499,3763,3860,0,0,0,0,0,0
$GC,1468,-0.84,-219.0,256.5,-18.0,180,1476,0.08,1.52,0.00,0.000,6,0.142,0.029,2524,2793,3860,0,0,0,0,0,0
$GC,1667,-0.84,-219.0,286.8,-14.9,199,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2793,3860,0,0,0,0,0,0
$GC,1859,-0.84,-219.0,316.9,-15.6,217,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2793,3860,0,0,0,0,0,0
$GC,2048,-0.84,-219.0,347.1,-15.7,235,2051,0.00,1.58,0.00,0.000,4,0.000,0.049,2517,3757,3860,0,0,0,0,0,0
$GC,2084,-0.84,-219.0,353.0,-17.5,238,2088,0.00,1.52,0.00,0.000,6,0.000,0.031,2518,2785,3860,0,0,0,0,0,0
$STATE,2221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2222,begin apogee
$GC,2227,-0.16,0.0,375.4,15.6,251,2407,0.68,0.00,174.52,0.971,4,0.120,0.000,2742,2684,2960,0,0,0,0,0,0
$STATE,2408,end apogee,CONTROL_FINISHED_OK
$STATE,2408,begin climb
$GC,2410,0.84,219.0,384.6,0.0,267,2615,1.00,2.40,191.43,0.916,4,0.073,0.033,3073,1305,2066,0,0,0,0,0,0
$GC,2721,0.89,260.8,359.5,11.6,294,2765,0.00,2.45,38.72,0.880,6,0.000,0.042,3073,2705,1896,0,0,0,0,0,0
$GC,2964,0.89,260.8,326.5,14.1,317,2968,0.00,2.35,0.00,0.000,4,0.000,0.034,3084,1311,1890,0,0,0,0,0,0
$GC,3132,0.89,260.8,303.0,13.7,331,3139,0.00,2.30,0.00,0.000,6,0.000,0.042,3084,2706,1889,0,0,1,0,0,0
$GC,3330,0.89,260.8,274.3,14.6,350,3334,0.00,1.73,0.00,0.000,4,0.000,0.049,3084,3754,1888,0,0,0,0,0,0
$GC,3379,0.89,260.8,266.2,16.3,354,3386,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2725,1888,0,0,0,0,0,0
$GC,3578,0.89,260.8,236.3,15.5,373,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2725,1887,0,0,0,0,0,0
$GC,3705,0.89,260.8,216.9,15.2,385,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2725,1887,0,0,0,0,0,0
$GC,3833,0.89,260.8,197.7,15.5,397,3837,0.00,1.70,0.00,0.000,4,0.000,0.048,3092,3760,1886,0,0,0,0,0,0
$GC,3872,0.89,260.8,190.9,17.1,400,3880,0.00,1.67,0.00,0.000,6,0.000,0.031,3100,2708,1885,0,0,0,0,0,0
$GC,4006,0.89,260.8,169.8,15.8,413,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2707,1886,0,0,0,0,0,0
$GC,4134,0.89,260.8,149.4,16.2,425,4137,0.00,1.67,0.00,0.000,4,0.000,0.049,3100,3764,1885,0,0,0,0,0,0
$GC,4172,0.89,260.8,142.5,17.5,428,4180,0.00,1.65,0.00,0.000,6,0.000,0.031,3108,2725,1885,0,0,0,0,0,0
$GC,4307,0.89,260.8,120.3,16.7,441,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2725,1885,0,0,0,0,0,0
$GC,4434,0.89,260.8,99.8,16.1,453,4441,0.00,1.70,0.00,0.000,4,0.000,0.050,3109,3761,1885,0,0,0,0,0,0
$GC,4465,0.89,260.8,94.5,17.3,458,4472,0.08,1.62,0.00,0.000,6,0.145,0.032,3090,2740,1885,0,0,0,0,0,0
$GC,4608,0.89,260.8,73.9,14.1,483,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2740,1885,0,0,0,0,0,0
$GC,4749,0.89,260.8,53.6,13.7,508,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2740,1885,0,0,0,0,0,0
$GC,4892,0.89,260.8,32.7,14.8,533,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2739,1885,0,0,0,0,0,0
$GC,5035,0.89,260.8,11.1,15.4,558,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2740,1884,0,0,0,0,0,0
$FREEZE,8.43,-0.691,-1.895,2,1,0
$FREEZE,7.62,-0.690,-1.895,2,1,0
$FREEZE,6.89,-0.690,-1.894,2,1,0
$FREEZE,6.10,-0.687,-1.894,2,1,0
$FREEZE,5.27,-0.685,-1.893,2,1,0
$FREEZE,4.45,-0.691,-1.893,2,1,0
$FREEZE,3.65,-0.691,-1.892,2,1,0
$FREEZE,2.87,-0.691,-1.891,2,1,0
$STATE,5089,end climb,SURFACE_DEPTH_REACHED
$STATE,5089,begin surface coast
$FREEZE,1.97,-0.689,-1.891,2,1,0
$FREEZE,1.08,-0.690,-1.890,2,1,0
$FREEZE,0.23,-0.692,-1.889,2,1,0
$FINISH,0.2,1.027673
$STATE,5109,end surface coast,CONTROL_FINISHED_OK
$STATE,5109,begin surface
$SM_CCo,5126,27.23,0.102,0,0,1654,320.11
$SM_GC,1.17,0.00,0.00,27.23,0.000,0.000,0.102,170,2786,1654,-8.22,0.17,320.11
$IRIDIUM_FIX,-7536.68,17622.02,020111,141454
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.7
$24V_AH,22.3,53.135
$10V_AH,9.8,20.802
$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,18.325,37.200,404.675,27.225,0.000,87.467,188.343,140.438,1.000,0.000,19.733,1398.152,2325.612,491.642,1428.255,188.661,0.000,1081.847,0.000,953.620,0.000,7.750,0.000
$DEVICE_MAMPS,208.080,113.985,970.785,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.425,727.892,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258304
$DATA_FILE_SIZE,37133,571
$CAP_FILE_SIZE,77542,0
$CFSIZE,260165632,227278848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.136, 44.9,1
$GPS,020111,155250,-7616.279,17624.232,15,1.7,15,122.3