version: 66.08
glider: 503
mission: 7
dive: 543
start: 1 2 111 22 20 0
data:
$ID,503
$MISSION,7
$DIVE,543
$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,-20187.088
$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,48
$R_STBD_OVSHOOT,32
$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
$GPS1,020111,221337,-7617.556,17618.432,38,0.9,39,122.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.6
$GPS2,020111,221932,-7617.534,17618.416,14,1.0,14,122.5
$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,71.6,76781,-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,-88.12,0.000,2,0.000,0.000,185,2792,3403,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.0,-6.3,15,138,9.00,2.28,-9.73,0.000,4,0.213,0.046,2523,1376,3857,0,0,1,0,0,0
$GC,189,-0.84,-219.0,22.9,-16.3,28,196,0.00,2.30,0.00,0.000,6,0.000,0.045,2513,2772,3858,0,0,0,0,0,0
$GC,330,-0.84,-219.0,48.8,-18.3,53,338,0.00,1.62,0.00,0.000,4,0.000,0.050,2506,3764,3859,0,0,0,0,0,0
$GC,373,-0.84,-219.0,57.3,-20.1,60,380,0.00,1.55,0.00,0.000,6,0.000,0.030,2506,2782,3859,0,0,0,0,0,0
$GC,515,-0.84,-219.0,83.7,-18.1,85,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3859,0,0,0,0,0,0
$GC,661,-0.84,-219.0,110.5,-18.7,106,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3859,0,0,0,0,0,0
$GC,788,-0.84,-219.0,133.7,-18.1,118,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3860,0,0,0,0,0,0
$GC,916,-0.84,-219.0,156.8,-18.3,130,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3860,0,0,0,0,0,0
$GC,1044,-0.84,-219.0,180.1,-18.3,142,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2782,3860,0,0,0,0,0,0
$GC,1170,-0.84,-219.0,203.1,-18.0,154,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3860,0,0,0,0,0,0
$GC,1298,-0.84,-219.0,225.8,-17.9,166,1301,0.00,1.62,0.00,0.000,4,0.000,0.050,2498,3796,3860,0,0,0,0,0,0
$GC,1332,-0.84,-219.0,232.4,-19.6,169,1336,0.05,1.58,0.00,0.000,6,0.153,0.029,2530,2787,3860,0,0,0,0,0,0
$GC,1472,-0.84,-219.0,254.8,-15.7,182,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2787,3860,0,0,0,0,0,0
$GC,1662,-0.84,-219.0,286.0,-16.4,200,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2787,3859,0,0,0,0,0,0
$GC,1856,-0.84,-219.0,316.5,-15.5,218,1860,0.00,1.60,0.00,0.000,4,0.000,0.049,2524,3766,3859,0,0,0,0,0,0
$GC,1902,-0.84,-219.0,324.3,-16.1,222,1905,0.00,1.52,0.00,0.000,6,0.000,0.029,2524,2791,3859,0,0,0,0,0,0
$GC,2107,-0.84,-219.0,357.0,-16.0,241,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2790,3859,0,0,0,0,0,0
$STATE,2220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2220,begin apogee
$GC,2226,-0.16,0.0,375.5,15.7,252,2406,0.65,0.00,174.68,0.971,4,0.119,0.000,2741,2686,2961,0,0,0,0,0,0
$STATE,2407,end apogee,CONTROL_FINISHED_OK
$STATE,2407,begin climb
$GC,2410,0.84,219.0,385.0,0.0,268,2614,1.00,2.40,191.70,0.919,4,0.073,0.034,3071,1315,2066,0,0,0,0,0,0
$GC,2741,0.86,233.6,357.8,12.7,297,2765,0.00,2.40,13.93,0.842,6,0.000,0.041,3072,2703,2007,0,0,0,0,0,0
$GC,2959,0.86,233.6,328.5,13.8,317,2963,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1311,2003,0,0,0,0,0,0
$GC,3134,0.87,241.4,305.1,13.0,332,3146,0.00,2.33,7.50,0.793,6,0.000,0.042,3082,2713,1975,0,0,0,0,0,0
$GC,3337,0.87,241.4,275.9,14.6,351,3341,0.00,1.67,0.00,0.000,4,0.000,0.049,3082,3764,1975,0,0,0,0,0,0
$GC,3398,0.87,241.4,265.8,16.3,356,3406,0.00,1.65,0.00,0.000,6,0.000,0.030,3090,2735,1974,0,0,0,0,0,0
$GC,3596,0.87,241.4,236.5,14.9,375,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2734,1974,0,0,0,0,0,0
$GC,3724,0.87,241.4,217.7,14.7,387,3728,0.00,1.65,0.00,0.000,4,0.000,0.050,3090,3764,1974,0,0,0,0,0,0
$GC,3762,0.87,241.4,211.0,17.3,390,3770,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2729,1973,0,0,0,0,0,0
$GC,3897,0.87,241.4,190.4,15.0,403,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2729,1973,0,0,0,0,0,0
$GC,4025,0.87,241.4,171.0,15.1,415,4029,0.00,1.65,0.00,0.000,4,0.000,0.050,3099,3764,1972,0,0,0,0,0,0
$GC,4072,0.87,241.4,163.4,16.2,419,4076,0.00,1.65,0.00,0.000,6,0.000,0.031,3107,2700,1973,0,0,0,0,0,0
$GC,4212,0.87,241.4,141.7,14.7,432,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2700,1973,0,0,0,0,0,0
$GC,4340,0.87,241.4,122.8,14.8,444,4344,0.00,1.70,0.00,0.000,4,0.000,0.050,3107,3766,1972,0,0,1,0,0,0
$GC,4398,0.87,241.4,113.1,17.5,449,4402,0.12,1.62,0.00,0.000,6,0.171,0.031,3081,2744,1972,0,0,0,0,0,0
$GC,4533,0.88,255.0,94.4,12.8,465,4552,0.00,0.00,13.00,0.799,6,0.000,0.000,3081,2742,1920,0,0,0,0,0,0
$GC,4689,0.88,255.0,73.5,14.0,492,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2742,1920,0,0,0,0,0,0
$GC,4831,0.88,255.0,53.2,14.8,517,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2742,1919,0,0,0,0,0,0
$GC,4972,0.89,260.2,33.6,13.1,542,4985,0.00,1.65,6.07,0.701,4,0.000,0.048,3081,3765,1899,0,0,0,0,0,0
$GC,5031,0.89,260.2,24.5,15.8,552,5038,0.00,1.60,0.00,0.000,6,0.000,0.031,3087,2742,1899,0,0,1,0,0,0
$FREEZE,8.48,-0.659,-1.896,2,1,0
$FREEZE,7.82,-0.651,-1.896,2,1,0
$FREEZE,6.90,-0.643,-1.895,2,1,0
$FREEZE,5.97,-0.635,-1.894,2,1,0
$FREEZE,5.30,-0.625,-1.894,2,1,0
$FREEZE,4.57,-0.624,-1.893,2,1,0
$FREEZE,3.63,-0.613,-1.892,2,1,0
$GC,5173,0.89,260.2,3.6,13.9,577,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2742,1898,0,0,0,0,0,0
$FREEZE,1.38,-0.539,-1.890,2,1,0
$STATE,5187,end climb,SURFACE_DEPTH_REACHED
$STATE,5187,begin surface coast
$FREEZE,0.60,-0.537,-1.890,2,1,0
$FREEZE,-0.10,-0.513,-1.890,2,1,0
$FREEZE,-0.09,-0.666,-1.622,2,1,0
$FINISH,-0.1,1.023863
$STATE,5206,end surface coast,CONTROL_FINISHED_OK
$STATE,5206,begin surface
$SM_CCo,5223,28.92,0.101,0,0,1654,320.11
$SM_GC,1.13,0.00,0.00,28.92,0.000,0.000,0.101,168,2788,1654,-8.23,0.23,320.11
$IRIDIUM_FIX,-7536.68,17622.60,020111,202024
$TT8_MAMPS,0.027713
$HUMID,53.22
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.3
$24V_AH,22.3,53.722
$10V_AH,9.9,21.036
$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,18.425,40.200,406.875,28.925,0.000,28.709,48.814,156.516,1.000,0.000,17.061,1433.925,2235.832,495.993,1262.448,191.020,0.000,1093.691,0.000,973.313,0.000,7.758,0.000
$DEVICE_MAMPS,213.435,113.985,970.785,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.111,744.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,37066,582
$CAP_FILE_SIZE,78702,0
$CFSIZE,260165632,227053568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.082,339.4,1
$GPS,020111,234852,-7618.151,17616.908,20,3.5,39,122.6