version: 66.08
glider: 503
mission: 7
dive: 547
start: 1 3 111 4 37 19
data:
$ID,503
$MISSION,7
$DIVE,547
$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,-20192.113
$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,27
$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
$GPS1,030111,043124,-7621.444,17610.912,40,1.6,41,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-75.1
$GPS2,030111,043650,-7621.496,17610.803,11,1.1,11,122.9
$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,86.9,68783,-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,-90.57,0.000,2,0.000,0.000,182,2773,3483,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.5,-8.6,15,135,8.93,1.65,-7.55,0.000,4,0.210,0.066,2513,3767,3856,0,0,1,0,0,0
$GC,385,-0.84,-219.0,62.4,-18.6,63,392,0.00,1.55,0.00,0.000,6,0.000,0.028,2513,2778,3859,0,0,0,0,0,0
$GC,527,-0.84,-219.0,88.2,-18.0,88,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3859,0,0,0,0,0,0
$GC,669,-0.84,-219.0,113.6,-17.6,107,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2777,3859,0,0,0,0,0,0
$GC,797,-0.84,-219.0,136.2,-17.9,119,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3860,0,0,0,0,0,0
$GC,924,-0.84,-219.0,159.0,-17.4,131,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2778,3860,0,0,0,0,0,0
$GC,1052,-0.84,-219.0,181.8,-18.2,143,1055,0.00,1.60,0.00,0.000,4,0.000,0.051,2506,3752,3860,0,0,0,0,0,0
$GC,1090,-0.84,-219.0,189.0,-18.4,146,1098,0.00,1.52,0.00,0.000,6,0.000,0.029,2505,2780,3860,0,0,0,0,0,0
$GC,1225,-0.84,-219.0,213.4,-18.2,159,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1352,-0.84,-219.0,236.0,-17.4,171,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1479,-0.84,-219.0,258.5,-17.7,183,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1671,-0.84,-219.0,292.0,-17.5,201,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1862,-0.84,-219.0,324.8,-17.1,219,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,2054,-0.84,-219.0,357.7,-17.2,237,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$STATE,2157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2157,begin apogee
$GC,2163,-0.16,0.0,375.8,16.7,247,2343,0.73,0.00,174.38,0.972,4,0.122,0.000,2744,2695,2960,0,0,0,0,0,0
$STATE,2343,end apogee,CONTROL_FINISHED_OK
$STATE,2344,begin climb
$GC,2346,0.84,219.0,384.8,0.0,263,2549,1.00,2.42,191.30,0.917,4,0.072,0.031,3075,1299,2069,0,0,0,0,0,0
$GC,2666,0.88,253.1,357.3,11.9,291,2708,0.00,2.42,31.55,0.876,6,0.000,0.040,3075,2703,1929,0,0,0,0,0,0
$GC,2898,0.88,253.1,324.5,14.0,313,2903,0.00,2.35,0.00,0.000,4,0.000,0.033,3086,1303,1924,0,0,0,0,0,0
$GC,3066,0.88,254.6,301.7,13.3,327,3073,0.00,2.35,0.00,0.000,6,0.000,0.041,3086,2716,1923,0,0,0,0,0,0
$GC,3265,0.88,254.6,273.2,14.9,346,3269,0.00,1.67,0.00,0.000,4,0.000,0.050,3086,3762,1922,0,0,0,0,0,0
$GC,3326,0.88,254.6,262.7,16.9,351,3333,0.00,1.65,0.00,0.000,6,0.000,0.030,3094,2731,1921,0,0,0,0,0,0
$GC,3525,0.88,254.6,232.2,15.3,370,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2731,1921,0,0,0,0,0,0
$GC,3652,0.88,254.6,213.2,15.1,382,3655,0.00,1.67,0.00,0.000,4,0.000,0.050,3094,3771,1921,0,0,0,0,0,0
$GC,3686,0.88,254.6,207.3,17.0,385,3690,0.00,1.65,0.00,0.000,6,0.000,0.031,3103,2709,1921,0,0,0,0,0,0
$GC,3827,0.88,254.6,185.5,15.6,398,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2706,1920,0,0,0,0,0,0
$GC,3954,0.88,254.6,166.0,15.3,410,3957,0.00,1.70,0.00,0.000,4,0.000,0.050,3103,3766,1920,0,0,0,0,0,0
$GC,4000,0.88,254.6,158.1,17.6,414,4004,0.00,1.65,0.00,0.000,6,0.000,0.031,3111,2702,1920,0,0,0,0,0,0
$GC,4140,0.88,254.6,135.2,16.7,427,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2702,1919,0,0,0,0,0,0
$GC,4270,0.88,254.6,114.2,16.5,439,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2701,1920,0,0,0,0,0,0
$GC,4397,0.88,254.6,93.0,15.6,454,4404,0.00,1.75,0.00,0.000,4,0.000,0.050,3111,3787,1919,0,0,0,0,0,0
$GC,4460,0.88,254.6,81.7,17.8,465,4468,0.08,1.65,0.00,0.000,6,0.145,0.031,3083,2731,1919,0,0,1,0,0,0
$GC,4606,0.88,256.9,61.7,13.2,490,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2731,1919,0,0,0,0,0,0
$GC,4749,0.89,261.5,42.4,13.1,515,4761,0.00,0.00,7.50,0.737,6,0.000,0.000,3083,2731,1893,0,0,0,0,0,0
$GC,4897,0.89,261.5,22.4,13.7,541,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2731,1893,0,0,0,0,0,0
$FREEZE,8.85,-0.448,-1.895,2,1,0
$FREEZE,8.07,-0.454,-1.895,2,1,0
$FREEZE,7.38,-0.454,-1.894,2,1,0
$FREEZE,6.67,-0.451,-1.894,2,1,0
$FREEZE,5.91,-0.449,-1.893,2,1,0
$FREEZE,5.24,-0.433,-1.893,2,1,0
$FREEZE,4.53,-0.340,-1.891,2,1,0
$FREEZE,3.66,-0.155,-1.891,2,1,0
$FREEZE,2.89,-0.120,-1.889,2,1,0
$STATE,5036,end climb,SURFACE_DEPTH_REACHED
$STATE,5037,begin surface coast
$FREEZE,1.92,-0.050,-1.888,2,1,0
$FREEZE,1.37,-0.008,-1.888,2,1,0
$FREEZE,0.60,-0.002,-1.888,2,1,0
$FREEZE,0.01,0.001,-1.888,2,1,0
$FINISH,0.0,1.027619
$STATE,5059,end surface coast,CONTROL_FINISHED_OK
$STATE,5059,begin surface
$SM_CCo,5076,28.77,0.102,0,0,1655,320.11
$SM_GC,1.19,0.00,0.00,28.77,0.000,0.000,0.102,170,2789,1655,-8.22,0.25,320.11
$IRIDIUM_FIX,-7536.68,17506.58,030111,030310
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.7
$24V_AH,22.3,54.197
$10V_AH,9.9,21.220
$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,18.375,29.425,404.725,28.775,0.000,24.458,37.863,144.978,1.250,0.000,13.553,1393.256,2188.870,476.924,1195.673,189.212,0.000,1048.817,0.000,941.376,0.000,7.757,0.000
$DEVICE_MAMPS,209.610,112.455,972.315,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.079,729.364,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258256
$DATA_FILE_SIZE,37154,570
$CAP_FILE_SIZE,72740,0
$CFSIZE,260165632,226893824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.194,187.1,1
$GPS,030111,060337,-7622.686,17608.580,31,1.2,32,123.1