version: 66.08
glider: 503
mission: 7
dive: 515
start: 1 1 111 1 56 14
data:
$ID,503
$MISSION,7
$DIVE,515
$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,-20147.869
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,010111,014736,-7606.054,17641.803,43,0.8,48,121.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.7
$GPS2,010111,015544,-7606.067,17641.645,10,1.8,10,121.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$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,320.7,8411,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.47,0.000,2,0.000,0.000,181,2771,3525,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.7,-9.1,16,135,8.88,2.30,-6.60,0.000,4,0.210,0.044,2521,1367,3856,0,0,0,0,0,0
$GC,315,-0.84,-219.0,46.5,-15.9,51,322,0.00,2.30,0.00,0.000,6,0.000,0.042,2510,2777,3859,0,0,0,0,0,0
$GC,457,-0.84,-219.0,72.4,-18.8,76,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3859,0,0,0,0,0,0
$GC,597,-0.84,-219.0,98.1,-18.1,101,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3859,0,0,0,0,0,0
$GC,738,-0.84,-219.0,123.2,-17.8,115,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3860,0,0,0,0,0,0
$GC,865,-0.84,-219.0,145.8,-17.3,127,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3860,0,0,0,0,0,0
$GC,992,-0.84,-219.0,168.2,-17.8,139,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3860,0,0,0,0,0,0
$GC,1121,-0.84,-219.0,190.9,-17.8,151,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3860,0,0,0,0,0,0
$GC,1248,-0.84,-219.0,213.8,-18.0,163,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3860,0,0,0,0,0,0
$GC,1375,-0.84,-219.0,237.1,-18.1,175,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3860,0,0,0,0,0,0
$GC,1503,-0.84,-219.0,260.2,-18.2,187,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3860,0,0,0,0,0,0
$GC,1693,-0.84,-219.0,295.2,-18.5,205,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3860,0,0,0,0,0,0
$GC,1885,-0.84,-219.0,329.5,-17.7,223,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3860,0,0,0,0,0,0
$GC,2076,-0.84,-219.0,363.0,-17.1,241,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3860,0,0,0,0,0,0
$STATE,2148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2148,begin apogee
$GC,2153,-0.16,0.0,375.9,17.5,248,2334,0.70,0.00,174.60,0.970,4,0.121,0.000,2742,2687,2960,0,0,0,0,0,0
$STATE,2335,end apogee,CONTROL_FINISHED_OK
$STATE,2335,begin climb
$GC,2337,0.84,219.0,385.8,0.0,264,2542,1.00,2.38,191.60,0.920,4,0.074,0.032,3073,1306,2066,0,0,0,0,0,0
$GC,2682,0.86,236.3,356.9,12.6,294,2704,0.00,2.42,16.42,0.855,6,0.000,0.041,3073,2707,1995,0,0,0,0,0,0
$GC,2905,0.86,236.3,327.4,13.5,315,2909,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1307,1991,0,0,0,0,0,0
$GC,3062,0.88,252.8,306.6,12.7,328,3082,0.00,2.35,15.20,0.866,6,0.000,0.041,3083,2716,1929,0,0,0,0,0,0
$GC,3273,0.88,252.8,276.4,14.8,348,3277,0.00,1.67,0.00,0.000,4,0.000,0.048,3083,3764,1928,0,0,0,0,0,0
$GC,3330,0.88,252.8,266.7,17.0,353,3333,0.00,1.62,0.00,0.000,6,0.000,0.030,3092,2706,1926,0,0,1,0,0,0
$GC,3533,0.88,252.8,235.3,15.6,372,3537,0.00,1.70,0.00,0.000,4,0.000,0.048,3092,3764,1926,0,0,0,0,0,0
$GC,3560,0.88,252.8,230.4,16.7,374,3568,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2732,1926,0,0,1,0,0,0
$GC,3695,0.88,252.8,209.2,15.8,387,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2732,1925,0,0,0,0,0,0
$GC,3823,0.88,252.8,189.0,15.6,399,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2732,1925,0,0,0,0,0,0
$GC,3950,0.88,252.8,169.0,15.9,411,3953,0.00,1.65,0.00,0.000,4,0.000,0.049,3100,3764,1924,0,0,0,0,0,0
$GC,3995,0.88,252.8,161.3,17.3,415,3999,0.00,1.62,0.00,0.000,6,0.000,0.031,3108,2697,1924,0,0,1,0,0,0
$GC,4135,0.88,252.8,138.6,16.1,428,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2696,1924,0,0,0,0,0,0
$GC,4263,0.88,252.8,118.1,16.0,440,4266,0.00,1.70,0.00,0.000,4,0.000,0.049,3108,3764,1924,0,0,0,0,0,0
$GC,4312,0.88,252.8,108.9,18.2,444,4320,0.08,1.62,0.00,0.000,6,0.148,0.031,3090,2741,1924,0,0,0,0,0,0
$GC,4450,0.88,252.8,88.3,14.4,464,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2741,1924,0,0,0,0,0,0
$GC,4593,0.88,252.8,67.0,15.3,489,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2741,1924,0,0,0,0,0,0
$GC,4737,0.88,252.8,46.0,14.5,514,4743,0.00,1.67,0.00,0.000,4,0.000,0.049,3089,3764,1923,0,0,0,0,0,0
$GC,4772,0.88,252.8,40.2,15.9,520,4779,0.00,1.60,0.00,0.000,6,0.000,0.031,3097,2735,1923,0,0,1,0,0,0
$GC,4914,0.88,252.8,18.7,15.3,545,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2735,1923,0,0,0,0,0,0
$FREEZE,8.70,-0.342,-1.892,2,1,0
$FREEZE,7.88,-0.337,-1.892,2,1,0
$FREEZE,7.16,-0.312,-1.892,2,1,0
$FREEZE,6.33,-0.296,-1.891,2,1,0
$FREEZE,5.60,-0.281,-1.891,2,1,0
$FREEZE,4.83,-0.249,-1.889,2,1,0
$FREEZE,4.12,-0.247,-1.889,2,1,0
$FREEZE,3.27,-0.202,-1.888,2,1,0
$FREEZE,2.56,-0.222,-1.888,2,1,0
$STATE,5018,end climb,SURFACE_DEPTH_REACHED
$STATE,5020,begin surface coast
$FREEZE,1.44,-0.213,-1.887,2,1,0
$FREEZE,0.69,-0.196,-1.886,2,1,0
$FREEZE,-0.02,-0.184,-1.885,2,1,0
$FINISH,-0.0,1.027597
$STATE,5037,end surface coast,CONTROL_FINISHED_OK
$STATE,5037,begin surface
$SM_CCo,5054,32.28,0.101,0,0,1655,320.11
$SM_GC,0.88,0.00,0.00,32.28,0.000,0.000,0.101,172,2797,1655,-8.21,0.48,320.11
$IRIDIUM_FIX,-7528.04,17642.75,010111,010119
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.2
$24V_AH,22.4,50.346
$10V_AH,9.8,19.719
$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,18.250,30.750,397.825,32.275,0.000,56.048,112.402,141.380,1.000,0.000,14.797,1385.443,2245.929,476.747,1300.388,180.560,0.000,1048.275,0.000,938.637,0.000,7.756,0.000
$DEVICE_MAMPS,209.610,106.335,970.020,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.932,726.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,37044,567
$CAP_FILE_SIZE,74075,0
$CFSIZE,260165632,228282368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.147,250.2,1
$GPS,010111,032222,-7606.114,17643.445,20,8.4,39,121.2