version: 66.08
glider: 503
mission: 7
dive: 561
start: 1 4 111 2 36 1
data:
$ID,503
$MISSION,7
$DIVE,561
$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,-20211.107
$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,43
$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
$GPS1,040111,022936,-7630.358,17551.699,30,1.8,31,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-70.6
$GPS2,040111,023531,-7630.328,17551.615,40,1.2,40,124.0
$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,85.7,50558,-18.2,-13.333
$D_GRID,376
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-94.20,0.000,2,0.000,0.000,176,2802,3568,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.1,-9.7,16,138,8.95,2.33,-5.55,0.000,4,0.210,0.042,2521,1368,3856,0,0,1,0,0,0
$GC,289,-0.84,-219.0,41.9,-16.2,46,297,0.00,2.30,0.00,0.000,6,0.000,0.044,2511,2772,3860,0,0,0,0,0,0
$GC,433,-0.84,-219.0,68.1,-18.3,71,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3859,0,0,0,0,0,0
$GC,575,-0.84,-219.0,94.8,-19.0,96,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3860,0,0,0,0,0,0
$GC,711,-0.84,-219.0,119.8,-18.1,111,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3860,0,0,0,0,0,0
$GC,839,-0.84,-219.0,143.0,-18.4,123,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3861,0,0,0,0,0,0
$GC,966,-0.84,-219.0,165.7,-17.5,135,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3860,0,0,0,0,0,0
$GC,1093,-0.84,-219.0,188.6,-17.9,147,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3861,0,0,0,0,0,0
$GC,1221,-0.84,-219.0,211.3,-17.7,159,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3860,0,0,0,0,0,0
$GC,1348,-0.84,-219.0,234.3,-18.0,171,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3861,0,0,0,0,0,0
$GC,1476,-0.84,-219.0,257.5,-18.4,183,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3861,0,0,0,0,0,0
$GC,1667,-0.84,-219.0,293.1,-18.3,201,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3860,0,0,0,0,0,0
$GC,1858,-0.84,-219.0,326.9,-17.5,219,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2772,3860,0,0,0,0,0,0
$GC,2049,-0.84,-219.0,359.5,-17.1,237,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2772,3860,0,0,0,0,0,0
$STATE,2142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2142,begin apogee
$GC,2149,-0.16,0.0,376.1,17.4,246,2330,0.70,0.00,174.90,0.969,4,0.121,0.000,2742,2683,2959,0,0,0,0,0,0
$STATE,2330,end apogee,CONTROL_FINISHED_OK
$STATE,2331,begin climb
$GC,2333,0.84,219.0,386.2,0.0,262,2538,1.00,2.38,191.85,0.916,4,0.072,0.032,3074,1302,2067,0,0,0,0,0,0
$GC,2668,0.87,241.8,357.4,12.4,291,2698,0.00,2.42,21.50,0.868,6,0.000,0.041,3075,2706,1972,0,0,0,0,0,0
$GC,2892,0.87,241.8,326.3,13.9,312,2896,0.00,2.33,0.00,0.000,4,0.000,0.034,3085,1313,1969,0,0,0,0,0,0
$GC,3090,0.87,244.1,299.9,13.2,329,3094,0.00,2.33,0.00,0.000,6,0.000,0.042,3085,2711,1967,0,0,0,0,0,0
$GC,3294,0.87,244.1,269.2,15.2,348,3298,0.00,1.67,0.00,0.000,4,0.000,0.048,3085,3762,1966,0,0,0,0,0,0
$GC,3362,0.87,244.1,257.6,16.9,354,3366,0.00,1.62,0.00,0.000,6,0.000,0.031,3093,2704,1966,0,0,1,0,0,0
$GC,3566,0.87,244.1,226.8,15.3,373,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2704,1966,0,0,0,0,0,0
$GC,3694,0.87,244.1,207.4,15.1,385,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2704,1966,0,0,0,0,0,0
$GC,3821,0.87,244.1,188.0,15.5,397,3824,0.00,1.70,0.00,0.000,4,0.000,0.049,3093,3762,1966,0,0,0,0,0,0
$GC,3866,0.87,244.1,180.6,16.3,401,3870,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2699,1965,0,0,0,0,0,0
$GC,4007,0.87,244.1,158.8,15.2,414,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2698,1965,0,0,0,0,0,0
$GC,4133,0.87,244.1,139.5,15.4,426,4137,0.00,1.70,0.00,0.000,4,0.000,0.048,3102,3762,1965,0,0,0,0,0,0
$GC,4179,0.87,244.1,131.8,16.7,430,4183,0.00,1.62,0.00,0.000,6,0.000,0.031,3110,2700,1965,0,0,1,0,0,0
$GC,4320,0.87,244.1,109.4,16.0,443,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2700,1965,0,0,0,0,0,0
$GC,4448,0.87,244.1,89.1,15.6,461,4455,0.00,1.75,0.00,0.000,4,0.000,0.050,3111,3764,1964,0,0,1,0,0,0
$GC,4496,0.87,244.1,80.9,17.7,469,4503,0.10,1.62,0.00,0.000,6,0.136,0.032,3074,2728,1964,0,0,1,0,0,0
$GC,4640,0.89,264.0,61.8,12.5,494,4665,0.00,0.00,19.23,0.786,6,0.000,0.000,3074,2728,1884,0,0,0,0,0,0
$GC,4801,0.90,266.9,39.1,13.2,522,4809,0.00,0.00,4.43,0.616,6,0.000,0.000,3074,2728,1871,0,0,0,0,0,0
$GC,4947,0.90,266.9,19.7,13.5,547,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,1870,0,0,0,0,0,0
$FREEZE,8.63,-0.341,-1.897,2,1,0
$FREEZE,7.91,-0.341,-1.897,2,1,0
$FREEZE,7.22,-0.342,-1.896,2,1,0
$FREEZE,6.52,-0.343,-1.896,2,1,0
$FREEZE,5.70,-0.343,-1.895,2,1,0
$FREEZE,5.00,-0.342,-1.894,2,1,0
$FREEZE,4.36,-0.341,-1.894,2,1,0
$FREEZE,3.48,-0.341,-1.893,2,1,0
$FREEZE,2.83,-0.342,-1.893,2,1,0
$STATE,5068,end climb,SURFACE_DEPTH_REACHED
$STATE,5069,begin surface coast
$FREEZE,1.82,-0.345,-1.892,2,1,0
$FREEZE,1.00,-0.345,-1.891,2,1,0
$FREEZE,0.22,-0.347,-1.891,2,1,0
$FREEZE,-0.19,-0.381,-1.802,2,1,0
$FINISH,-0.2,1.026426
$STATE,5091,end surface coast,CONTROL_FINISHED_OK
$STATE,5091,begin surface
$SM_CCo,5108,25.30,0.100,0,0,1654,320.11
$SM_GC,1.06,0.00,0.00,25.30,0.000,0.000,0.100,180,2809,1654,-8.19,0.79,320.11
$IRIDIUM_FIX,-7545.40,17550.92,040111,000016
$TT8_MAMPS,0.026964
$HUMID,52.75
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.2
$24V_AH,22.3,55.847
$10V_AH,9.9,21.872
$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,18.275,27.625,411.900,25.300,0.000,24.201,37.855,144.929,1.000,0.000,43.301,1395.992,2210.880,470.874,1231.927,192.342,0.000,1044.681,0.000,946.469,0.000,7.756,0.000
$DEVICE_MAMPS,209.610,93.330,969.255,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.226,737.291,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37013,573
$CAP_FILE_SIZE,72746,0
$CFSIZE,260165632,226304000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.072, 98.8,1
$GPS,040111,040232,-7631.077,17550.469,16,1.6,16,124.0