version: 66.08
glider: 503
mission: 7
dive: 548
start: 1 3 111 6 9 36
data:
$ID,503
$MISSION,7
$DIVE,548
$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,-20193.369
$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,35
$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
$GPS1,030111,060337,-7622.686,17608.580,31,1.2,32,123.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.0
$GPS2,030111,060907,-7622.743,17608.510,9,1.6,14,123.1
$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,92.9,66285,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-92.82,0.000,2,0.000,0.000,170,2789,3537,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.8,-9.6,16,138,9.00,1.62,-6.28,0.000,4,0.210,0.065,2518,3763,3857,0,0,0,0,0,0
$GC,390,-0.84,-219.0,63.7,-18.4,64,397,0.00,1.55,0.00,0.000,6,0.000,0.028,2518,2773,3860,0,0,0,0,0,0
$GC,533,-0.84,-219.0,89.3,-18.0,89,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2774,3860,0,0,0,0,0,0
$GC,671,-0.84,-219.0,113.7,-17.2,107,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,798,-0.84,-219.0,136.3,-17.7,119,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3861,0,0,0,0,0,0
$GC,925,-0.84,-219.0,158.7,-17.6,131,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3861,0,0,0,0,0,0
$GC,1053,-0.84,-219.0,180.6,-16.9,143,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2774,3861,0,0,0,0,0,0
$GC,1180,-0.84,-219.0,202.2,-16.6,155,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3861,0,0,0,0,0,0
$GC,1308,-0.84,-219.0,223.3,-16.5,167,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3861,0,0,0,0,0,0
$GC,1435,-0.84,-219.0,244.2,-16.4,179,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3861,0,0,0,0,0,0
$GC,1563,-0.84,-219.0,265.6,-17.0,191,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3861,0,0,0,0,0,0
$GC,1754,-0.84,-219.0,298.1,-17.0,209,1758,0.00,1.60,0.00,0.000,4,0.000,0.050,2511,3745,3861,0,0,0,0,0,0
$GC,1792,-0.84,-219.0,305.1,-17.2,212,1799,0.00,1.50,0.00,0.000,6,0.000,0.028,2510,2786,3861,0,0,0,0,0,0
$GC,1991,-0.84,-219.0,338.0,-16.7,231,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2785,3861,0,0,0,0,0,0
$GC,2182,-0.84,-219.0,370.5,-17.0,249,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2786,3861,0,0,0,0,0,0
$STATE,2211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2211,begin apogee
$GC,2217,-0.16,0.0,376.0,16.9,252,2396,0.70,0.00,174.75,0.972,4,0.121,0.000,2741,2685,2960,0,0,0,0,0,0
$STATE,2397,end apogee,CONTROL_FINISHED_OK
$STATE,2397,begin climb
$GC,2399,0.84,219.0,385.1,0.0,268,2605,1.00,2.38,191.88,0.918,4,0.073,0.032,3073,1311,2066,0,0,0,0,0,0
$GC,2730,0.85,225.2,356.6,13.1,297,2743,0.00,2.40,6.00,0.721,6,0.000,0.041,3073,2698,2041,0,0,0,0,0,0
$GC,2937,0.85,226.8,329.1,13.3,316,2941,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1314,2038,0,0,0,0,0,0
$GC,3134,0.88,253.9,303.5,12.2,333,3169,0.00,2.30,26.48,0.885,6,0.000,0.042,3082,2715,1923,0,0,1,0,0,0
$GC,3360,0.88,253.9,271.9,14.1,354,3364,0.00,1.70,0.00,0.000,4,0.000,0.050,3083,3767,1921,0,0,0,0,0,0
$GC,3433,0.88,253.9,260.0,15.9,360,3440,0.00,1.67,0.00,0.000,6,0.000,0.030,3091,2726,1920,0,0,0,0,0,0
$GC,3631,0.88,253.9,230.7,14.6,379,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2726,1920,0,0,0,0,0,0
$GC,3758,0.88,253.9,211.7,15.0,391,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2726,1919,0,0,0,0,0,0
$GC,3886,0.88,253.9,192.5,15.0,403,3890,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3752,1919,0,0,0,0,0,0
$GC,3925,0.88,253.9,185.7,17.3,406,3932,0.00,1.62,0.00,0.000,6,0.000,0.030,3099,2719,1918,0,0,1,0,0,0
$GC,4059,0.88,253.9,164.5,15.9,419,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2719,1918,0,0,0,0,0,0
$GC,4187,0.88,253.9,144.4,15.7,431,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2719,1918,0,0,0,0,0,0
$GC,4315,0.88,253.9,124.9,15.1,443,4319,0.00,1.67,0.00,0.000,4,0.000,0.049,3099,3762,1918,0,0,0,0,0,0
$GC,4365,0.88,253.9,116.0,17.4,447,4372,0.00,1.62,0.00,0.000,6,0.000,0.031,3107,2725,1917,0,0,1,0,0,0
$GC,4502,0.88,253.9,95.2,15.0,462,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2725,1917,0,0,0,0,0,0
$GC,4644,0.88,253.9,73.3,14.8,487,4651,0.00,1.70,0.00,0.000,4,0.000,0.050,3108,3752,1917,0,0,0,0,0,0
$GC,4680,0.88,253.9,67.1,17.3,493,4688,0.08,1.60,0.00,0.000,6,0.149,0.031,3089,2731,1917,0,0,1,0,0,0
$GC,4826,0.88,253.9,46.7,14.4,518,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2731,1917,0,0,0,0,0,0
$GC,4967,0.88,253.9,26.0,14.4,543,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2731,1917,0,0,0,0,0,0
$FREEZE,8.98,-0.209,-1.894,2,1,0
$FREEZE,8.31,-0.206,-1.894,2,1,0
$FREEZE,7.67,-0.173,-1.893,2,1,0
$FREEZE,6.94,-0.175,-1.893,2,1,0
$FREEZE,6.24,-0.169,-1.892,2,1,0
$GC,5112,0.88,253.9,6.2,13.5,568,5119,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3762,1916,0,0,0,0,0,0
$FREEZE,3.45,-0.200,-1.892,2,1,0
$FREEZE,2.60,-0.191,-1.891,2,1,0
$STATE,5130,end climb,SURFACE_DEPTH_REACHED
$STATE,5130,begin surface coast
$FREEZE,1.58,-0.176,-1.889,2,1,0
$FREEZE,1.07,-0.173,-1.889,2,1,0
$FINISH,1.1,1.027633
$STATE,5142,end surface coast,CONTROL_FINISHED_OK
$STATE,5142,begin surface
$SM_CCo,5160,31.50,0.101,0,0,1654,320.11
$SM_GC,0.91,0.00,0.00,31.50,0.000,0.000,0.101,184,2775,1654,-8.18,-0.14,320.11
$IRIDIUM_FIX,-7536.68,17620.87,030111,040406
$TT8_MAMPS,0.027713
$HUMID,53.07
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$24V_AH,22.3,54.314
$10V_AH,9.9,21.266
$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,18.350,32.325,399.100,31.500,0.000,28.018,37.746,142.785,1.250,0.000,17.061,1397.851,2245.418,487.049,1213.426,191.410,0.000,1066.573,0.000,951.211,0.000,10.667,0.000
$DEVICE_MAMPS,210.375,81.855,972.315,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.979,732.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258232
$DATA_FILE_SIZE,36977,573
$CAP_FILE_SIZE,74410,0
$CFSIZE,260165632,226848768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.195,173.7,1
$GPS,030111,073736,-7623.909,17606.438,35,0.8,47,123.2