version: 66.08
glider: 503
mission: 7
dive: 549
start: 1 3 111 7 43 43
data:
$ID,503
$MISSION,7
$DIVE,549
$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,-20194.627
$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,47
$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
$GPS1,030111,073736,-7623.909,17606.438,35,0.8,47,123.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.2
$GPS2,030111,074314,-7623.960,17606.408,10,1.7,10,123.2
$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,100.2,63873,-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,16,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-93.65,0.000,2,0.000,0.000,184,2775,3563,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.0,-9.7,16,138,8.93,1.65,-5.62,0.000,4,0.210,0.064,2513,3771,3855,0,0,1,0,0,0
$GC,361,-0.84,-219.0,59.1,-18.9,59,368,0.00,1.58,0.00,0.000,6,0.000,0.029,2513,2773,3859,0,0,0,0,0,0
$GC,503,-0.84,-219.0,84.9,-17.4,84,510,0.00,2.20,0.00,0.000,4,0.000,0.031,2513,1380,3859,0,0,0,0,0,0
$GC,540,-0.84,-219.0,91.6,-17.6,90,548,0.00,2.28,0.00,0.000,6,0.000,0.043,2503,2776,3859,0,0,0,0,0,0
$GC,685,-0.84,-219.0,118.0,-18.5,107,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2776,3859,0,0,0,0,0,0
$GC,812,-0.84,-219.0,141.5,-18.6,119,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2776,3860,0,0,0,0,0,0
$GC,939,-0.84,-219.0,165.0,-18.2,131,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2776,3859,0,0,0,0,0,0
$GC,1066,-0.84,-219.0,188.3,-18.2,143,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2776,3860,0,0,0,0,0,0
$GC,1195,-0.84,-219.0,212.0,-18.9,155,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2776,3860,0,0,0,0,0,0
$GC,1321,-0.84,-219.0,235.6,-19.1,167,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2776,3860,0,0,0,0,0,0
$GC,1450,-0.84,-219.0,259.1,-18.1,179,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2776,3860,0,0,0,0,0,0
$GC,1639,-0.84,-219.0,293.4,-17.8,197,1643,0.00,2.20,0.00,0.000,4,0.000,0.032,2503,1376,3860,0,0,0,0,0,0
$GC,1679,-0.84,-219.0,300.3,-16.8,200,1684,0.12,2.25,0.00,0.000,6,0.157,0.044,2530,2775,3860,0,0,0,0,0,0
$GC,1879,-0.84,-219.0,330.9,-15.5,218,1883,0.00,1.60,0.00,0.000,4,0.000,0.050,2523,3764,3860,0,0,0,0,0,0
$GC,1925,-0.84,-219.0,338.5,-16.2,222,1928,0.00,1.52,0.00,0.000,6,0.000,0.030,2523,2784,3860,0,0,0,0,0,0
$GC,2128,-0.84,-219.0,370.5,-15.7,241,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2783,3859,0,0,0,0,0,0
$STATE,2158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2158,begin apogee
$GC,2164,-0.16,0.0,375.4,15.4,244,2344,0.65,0.00,174.45,0.971,4,0.118,0.000,2741,2683,2960,0,0,0,0,0,0
$STATE,2345,end apogee,CONTROL_FINISHED_OK
$STATE,2345,begin climb
$GC,2348,0.84,219.0,384.3,0.0,260,2553,1.00,2.40,191.68,0.916,4,0.073,0.032,3071,1300,2066,0,0,0,0,0,0
$GC,2690,0.85,227.5,354.3,13.0,290,2703,0.00,2.42,7.93,0.780,6,0.000,0.041,3072,2700,2032,0,0,0,0,0,0
$GC,2896,0.85,227.5,326.2,14.1,309,2900,0.00,2.30,0.00,0.000,4,0.000,0.034,3082,1312,2029,0,0,1,0,0,0
$GC,3071,0.86,236.1,302.1,13.0,324,3086,0.00,2.30,9.15,0.822,6,0.000,0.041,3082,2709,1996,0,0,0,0,0,0
$GC,3286,0.86,236.1,271.2,14.7,344,3290,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3770,1994,0,0,0,0,0,0
$GC,3358,0.86,236.1,259.3,16.0,350,3365,0.00,1.67,0.00,0.000,6,0.000,0.030,3090,2724,1993,0,0,0,0,0,0
$GC,3556,0.86,236.1,230.6,14.6,369,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2723,1993,0,0,0,0,0,0
$GC,3684,0.86,236.1,212.1,14.5,381,3688,0.00,1.67,0.00,0.000,4,0.000,0.049,3091,3769,1993,0,0,0,0,0,0
$GC,3722,0.86,236.1,205.6,16.3,384,3730,0.00,1.67,0.00,0.000,6,0.000,0.029,3099,2711,1993,0,0,0,0,0,0
$GC,3857,0.86,236.1,185.0,15.5,397,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2711,1992,0,0,0,0,0,0
$GC,3985,0.86,236.1,165.3,15.3,409,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2710,1992,0,0,0,0,0,0
$GC,4112,0.86,236.1,145.7,15.6,421,4115,0.00,1.70,0.00,0.000,4,0.000,0.050,3099,3772,1993,0,0,0,0,0,0
$GC,4171,0.86,236.1,136.0,17.7,426,4175,0.12,1.62,0.00,0.000,6,0.168,0.031,3073,2706,1992,0,0,1,0,0,0
$GC,4311,0.88,254.1,116.9,12.6,439,4331,0.00,0.00,16.45,0.814,6,0.000,0.000,3073,2705,1924,0,0,0,0,0,0
$GC,4459,0.89,260.8,97.9,13.1,454,4473,0.00,1.80,7.53,0.743,4,0.000,0.049,3073,3768,1896,0,0,0,0,0,0
$GC,4513,0.89,260.8,90.3,14.5,463,4519,0.00,1.65,0.00,0.000,6,0.000,0.029,3080,2731,1896,0,0,0,0,0,0
$GC,4657,0.89,260.8,70.9,13.5,488,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2731,1895,0,0,0,0,0,0
$GC,4797,0.89,260.8,51.3,14.4,513,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2730,1895,0,0,0,0,0,0
$GC,4939,0.89,260.8,31.8,13.5,538,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2731,1894,0,0,0,0,0,0
$GC,5083,0.90,271.8,12.9,12.9,563,5103,0.00,1.70,10.93,0.746,4,0.000,0.050,3080,3765,1851,0,0,1,0,0,0
$FREEZE,8.86,-0.486,-1.896,2,1,0
$FREEZE,7.96,-0.407,-1.894,2,1,0
$FREEZE,7.14,-0.398,-1.893,2,1,0
$FREEZE,6.38,-0.384,-1.892,2,1,0
$FREEZE,5.45,-0.359,-1.892,2,1,0
$FREEZE,4.63,-0.365,-1.891,2,1,0
$FREEZE,3.97,-0.376,-1.891,2,1,0
$FREEZE,3.12,-0.365,-1.890,2,1,0
$FREEZE,2.22,-0.354,-1.890,2,1,0
$STATE,5152,end climb,SURFACE_DEPTH_REACHED
$STATE,5153,begin surface coast
$FREEZE,1.05,-0.351,-1.889,2,1,0
$FINISH,1.1,1.027640
$STATE,5159,end surface coast,CONTROL_FINISHED_OK
$STATE,5159,begin surface
$SM_CCo,5178,23.77,0.102,0,0,1655,320.11
$SM_GC,1.02,0.00,0.00,23.77,0.000,0.000,0.102,176,2779,1655,-8.20,-0.06,320.11
$IRIDIUM_FIX,-7536.68,17602.03,030111,060622
$TT8_MAMPS,0.027713
$HUMID,52.28
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,22.3,54.435
$10V_AH,9.8,21.313
$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,18.475,41.575,418.100,23.775,0.000,30.646,41.266,145.428,1.750,0.000,13.362,1413.794,2218.171,492.088,1233.555,194.585,0.000,1082.937,0.000,962.854,0.000,10.666,0.000
$DEVICE_MAMPS,209.610,82.620,970.785,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.938,738.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37050,576
$CAP_FILE_SIZE,77232,0
$CFSIZE,260165632,226807808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.188,160.9,1
$GPS,030111,091137,-7625.021,17604.479,32,1.2,32,123.3