version: 66.08
glider: 503
mission: 7
dive: 541
start: 1 2 111 19 6 43
data:
$ID,503
$MISSION,7
$DIVE,541
$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,-20183.211
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,020111,190038,-7616.745,17621.414,17,1.8,18,122.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-74.4
$GPS2,020111,190614,-7616.715,17621.404,12,1.2,12,122.4
$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,77.3,78689,-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,-88.75,0.000,2,0.000,0.000,176,2748,3424,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.3,-7.1,15,133,8.95,0.00,-9.07,0.000,6,0.210,0.000,2526,2747,3855,0,0,0,0,0,0
$GC,268,-0.84,-219.0,37.7,-17.4,42,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2748,3859,0,0,0,0,0,0
$GC,409,-0.84,-219.0,62.6,-17.1,67,416,0.00,1.67,0.00,0.000,4,0.000,0.050,2518,3755,3859,0,0,0,0,0,0
$GC,451,-0.84,-219.0,70.3,-18.7,74,458,0.00,1.55,0.00,0.000,6,0.000,0.031,2518,2774,3860,0,0,0,0,0,0
$GC,593,-0.84,-219.0,96.0,-17.5,99,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,734,-0.84,-219.0,120.9,-17.9,114,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,861,-0.84,-219.0,143.0,-17.3,126,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,989,-0.84,-219.0,165.3,-17.8,138,992,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3762,3860,0,0,0,0,0,0
$GC,1035,-0.84,-219.0,173.9,-18.3,142,1039,0.00,1.52,0.00,0.000,6,0.000,0.030,2510,2793,3860,0,0,0,0,0,0
$GC,1175,-0.84,-219.0,199.7,-17.9,155,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3860,0,0,0,0,0,0
$GC,1303,-0.84,-219.0,222.1,-17.5,167,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3860,0,0,0,0,0,0
$GC,1431,-0.84,-219.0,244.2,-17.2,179,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3860,0,0,0,0,0,0
$GC,1559,-0.84,-219.0,266.1,-16.6,191,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3860,0,0,0,0,0,0
$GC,1748,-0.84,-219.0,299.2,-17.3,209,1753,0.00,1.58,0.00,0.000,4,0.000,0.050,2503,3753,3860,0,0,0,0,0,0
$GC,1798,-0.84,-219.0,308.5,-18.3,213,1805,0.00,1.52,0.00,0.000,6,0.000,0.029,2503,2775,3860,0,0,0,0,0,0
$GC,1995,-0.84,-219.0,343.8,-18.2,232,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2776,3861,0,0,0,0,0,0
$STATE,2185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2185,begin apogee
$GC,2192,-0.16,0.0,376.7,16.9,250,2373,0.73,0.00,174.57,0.970,4,0.121,0.000,2743,2692,2959,0,0,0,0,0,0
$STATE,2374,end apogee,CONTROL_FINISHED_OK
$STATE,2374,begin climb
$GC,2376,0.84,219.0,386.1,0.0,266,2576,1.00,2.40,191.38,0.918,4,0.073,0.033,3074,1308,2067,0,0,0,0,0,0
$GC,2729,0.85,230.1,355.1,12.9,298,2744,0.00,2.40,10.45,0.815,6,0.000,0.041,3074,2701,2021,0,0,0,0,0,0
$GC,2940,0.85,230.1,326.6,13.5,317,2945,0.00,2.33,0.00,0.000,4,0.000,0.035,3084,1306,2018,0,0,0,0,0,0
$GC,3119,0.86,238.9,302.1,13.0,332,3137,0.00,2.33,8.55,0.812,6,0.000,0.043,3085,2705,1986,0,0,0,0,0,0
$GC,3330,0.86,238.9,271.7,14.4,352,3333,0.00,1.70,0.00,0.000,4,0.000,0.048,3084,3770,1986,0,0,0,0,0,0
$GC,3390,0.86,238.9,261.3,17.2,357,3397,0.00,1.67,0.00,0.000,6,0.000,0.030,3093,2726,1985,0,0,0,0,0,0
$GC,3589,0.86,238.9,231.6,14.9,376,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2725,1985,0,0,0,0,0,0
$GC,3716,0.86,238.9,212.4,14.9,388,3720,0.00,1.67,0.00,0.000,4,0.000,0.049,3093,3771,1985,0,0,0,0,0,0
$GC,3762,0.86,238.9,204.6,18.0,392,3766,0.00,1.65,0.00,0.000,6,0.000,0.030,3101,2709,1984,0,0,0,0,0,0
$GC,3902,0.86,238.9,182.8,15.4,405,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2707,1984,0,0,0,0,0,0
$GC,4030,0.86,238.9,163.3,15.3,417,4034,0.00,1.70,0.00,0.000,4,0.000,0.050,3101,3772,1983,0,0,0,0,0,0
$GC,4079,0.86,238.9,154.4,17.8,421,4087,0.08,1.65,0.00,0.000,6,0.151,0.031,3084,2734,1984,0,0,0,0,0,0
$GC,4213,0.86,238.9,135.4,13.8,434,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2734,1983,0,0,0,0,0,0
$GC,4341,0.86,238.9,117.7,13.9,446,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2734,1983,0,0,0,0,0,0
$GC,4468,0.86,238.9,99.8,14.4,458,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2734,1983,0,0,0,0,0,0
$GC,4608,0.86,238.9,80.3,13.7,483,4616,0.00,1.67,0.00,0.000,4,0.000,0.049,3084,3757,1983,0,0,0,0,0,0
$GC,4645,0.86,238.9,74.8,15.8,489,4652,0.00,1.62,0.00,0.000,6,0.000,0.031,3092,2721,1982,0,0,1,0,0,0
$GC,4785,0.86,238.9,54.2,14.7,514,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2721,1983,0,0,0,0,0,0
$GC,4927,0.86,238.9,34.1,14.7,539,4934,0.00,1.70,0.00,0.000,4,0.000,0.048,3092,3764,1982,0,0,0,0,0,0
$GC,4980,0.86,238.9,26.0,15.9,548,4987,0.00,1.62,0.00,0.000,6,0.000,0.031,3100,2736,1982,0,0,0,0,0,0
$FREEZE,8.77,-0.598,-1.895,2,1,0
$FREEZE,7.91,-0.583,-1.895,2,1,0
$FREEZE,7.13,-0.589,-1.894,2,1,0
$FREEZE,6.19,-0.584,-1.893,2,1,0
$FREEZE,5.51,-0.582,-1.893,2,1,0
$FREEZE,4.73,-0.579,-1.892,2,1,0
$GC,5121,0.86,238.9,4.7,14.3,573,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2736,1982,0,0,0,0,0,0
$FREEZE,2.55,-0.578,-1.891,2,1,0
$STATE,5133,end climb,SURFACE_DEPTH_REACHED
$STATE,5133,begin surface coast
$FREEZE,1.74,-0.585,-1.890,2,1,0
$FREEZE,0.93,-0.568,-1.889,2,1,0
$FREEZE,0.11,-0.575,-1.889,2,1,0
$FINISH,0.1,1.027662
$STATE,5150,end surface coast,CONTROL_FINISHED_OK
$STATE,5150,begin surface
$SM_CCo,5168,39.50,0.102,0,0,1655,320.11
$SM_GC,0.68,0.00,0.00,39.50,0.000,0.000,0.102,174,2790,1655,-8.21,0.28,320.11
$IRIDIUM_FIX,-7528.04,17359.46,020111,171731
$TT8_MAMPS,0.027713
$HUMID,52.28
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,351.2,80.5
$24V_AH,22.3,53.482
$10V_AH,9.9,20.941
$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,18.400,35.750,384.950,39.500,0.000,27.495,37.654,150.845,1.250,0.000,15.050,1416.026,2225.171,485.902,1240.171,189.277,0.000,1077.696,0.000,968.503,0.000,10.677,0.000
$DEVICE_MAMPS,209.610,110.925,970.020,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.554,741.857,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,37045,578
$CAP_FILE_SIZE,76845,0
$CFSIZE,260165632,227143680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.157,  7.2,1
$GPS,020111,203454,-7617.021,17619.926,42,1.9,43,122.4