version: 66.08
glider: 503
mission: 7
dive: 517
start: 1 1 111 5 8 13
data:
$ID,503
$MISSION,7
$DIVE,517
$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,-20151.666
$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,48
$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
$GPS1,010111,050207,-7606.140,17644.838,40,0.9,40,121.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.1
$GPS2,010111,050744,-7606.160,17644.779,13,1.0,13,121.1
$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,305.6,7112,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-93.00,0.000,2,0.000,0.000,180,2803,3540,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.9,-10.0,16,137,8.98,2.35,-6.18,0.000,4,0.213,0.044,2521,1366,3856,0,0,1,0,0,0
$GC,326,-0.84,-219.0,46.5,-15.5,53,333,0.00,2.28,0.00,0.000,6,0.000,0.042,2511,2762,3859,0,0,0,0,0,0
$GC,467,-0.84,-219.0,71.1,-17.8,78,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2762,3859,0,0,0,0,0,0
$GC,610,-0.84,-219.0,97.1,-18.3,103,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2762,3860,0,0,0,0,0,0
$GC,746,-0.84,-219.0,122.4,-18.5,117,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2762,3860,0,0,0,0,0,0
$GC,873,-0.84,-219.0,145.9,-18.4,129,877,0.00,1.60,0.00,0.000,4,0.000,0.050,2503,3757,3860,0,0,0,0,0,0
$GC,907,-0.84,-219.0,152.5,-19.0,132,911,0.00,1.55,0.00,0.000,6,0.000,0.030,2503,2768,3860,0,0,0,0,0,0
$GC,1047,-0.84,-219.0,178.8,-18.4,145,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2768,3860,0,0,0,0,0,0
$GC,1174,-0.84,-219.0,202.5,-18.5,157,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2768,3860,0,0,0,0,0,0
$GC,1301,-0.84,-219.0,226.4,-18.7,169,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2768,3860,0,0,0,0,0,0
$GC,1429,-0.84,-219.0,249.8,-18.1,181,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2768,3859,0,0,0,0,0,0
$GC,1557,-0.84,-219.0,272.5,-17.5,193,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2767,3860,0,0,0,0,0,0
$GC,1748,-0.84,-219.0,306.5,-17.8,211,1752,0.00,1.62,0.00,0.000,4,0.000,0.050,2495,3759,3860,0,0,0,0,0,0
$GC,1786,-0.84,-219.0,313.9,-18.7,214,1795,0.08,1.52,0.00,0.000,6,0.140,0.030,2521,2777,3860,0,0,0,0,0,0
$GC,1985,-0.84,-219.0,346.2,-16.5,233,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2777,3860,0,0,0,0,0,0
$STATE,2162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2162,begin apogee
$GC,2169,-0.16,0.0,375.3,15.8,250,2349,0.65,0.00,174.70,0.970,4,0.118,0.000,2740,2691,2959,0,0,0,0,0,0
$STATE,2350,end apogee,CONTROL_FINISHED_OK
$STATE,2350,begin climb
$GC,2352,0.84,219.0,384.8,0.0,266,2557,1.00,2.38,191.40,0.917,4,0.073,0.033,3072,1312,2068,0,0,0,0,0,0
$GC,2741,0.84,219.0,348.3,13.4,300,2748,0.00,2.40,0.00,0.000,6,0.000,0.041,3071,2707,2059,0,0,0,0,0,0
$GC,2940,0.84,222.2,322.1,13.2,319,2944,0.00,2.30,0.00,0.000,4,0.000,0.033,3082,1312,2057,0,0,0,0,0,0
$GC,3119,0.85,226.3,298.4,13.2,334,3129,0.00,2.30,5.93,0.750,6,0.000,0.041,3082,2704,2037,0,0,0,0,0,0
$GC,3324,0.85,226.3,269.8,13.8,353,3328,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3767,2036,0,0,0,0,0,0
$GC,3397,0.85,226.3,258.0,16.4,359,3405,0.00,1.62,0.00,0.000,6,0.000,0.030,3090,2705,2036,0,0,1,0,0,0
$GC,3595,0.85,226.3,228.5,14.7,378,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2706,2035,0,0,0,0,0,0
$GC,3723,0.85,226.3,209.6,14.8,390,3726,0.00,1.70,0.00,0.000,4,0.000,0.048,3090,3767,2035,0,0,0,0,0,0
$GC,3769,0.85,226.3,201.9,16.7,394,3773,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2700,2035,0,0,0,0,0,0
$GC,3909,0.85,226.3,180.0,15.4,407,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2700,2034,0,0,0,0,0,0
$GC,4036,0.85,226.3,160.6,15.2,419,4040,0.00,1.70,0.00,0.000,4,0.000,0.049,3099,3763,2035,0,0,1,0,0,0
$GC,4075,0.85,226.3,153.9,17.4,422,4082,0.10,1.65,0.00,0.000,6,0.138,0.031,3074,2727,2035,0,0,0,0,0,0
$GC,4209,0.87,243.3,136.1,12.6,435,4229,0.00,0.00,16.25,0.822,6,0.000,0.000,3073,2727,1968,0,0,0,0,0,0
$GC,4357,0.87,243.9,116.8,13.3,449,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2727,1967,0,0,0,0,0,0
$GC,4484,0.88,251.3,100.3,13.0,461,4497,0.00,1.73,8.88,0.768,4,0.000,0.050,3073,3762,1934,0,0,1,0,0,0
$GC,4526,0.88,251.3,94.3,14.2,467,4534,0.00,1.65,0.00,0.000,6,0.000,0.031,3081,2731,1934,0,0,0,0,0,0
$GC,4672,0.88,251.3,74.8,13.5,492,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2730,1934,0,0,0,0,0,0
$GC,4812,0.88,253.0,55.4,13.3,517,4818,0.00,1.70,0.00,0.000,4,0.000,0.050,3080,3759,1933,0,0,0,0,0,0
$GC,4842,0.88,253.0,50.8,15.6,522,4849,0.00,1.62,0.00,0.000,6,0.000,0.032,3089,2741,1933,0,0,0,0,0,0
$GC,4983,0.88,253.0,30.1,14.5,547,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2741,1933,0,0,0,0,0,0
$GC,5125,0.88,253.0,9.6,15.0,572,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2741,1933,0,0,0,0,0,0
$FREEZE,7.32,-0.159,-1.892,2,1,0
$FREEZE,6.62,-0.146,-1.892,2,1,0
$FREEZE,5.86,-0.136,-1.892,2,1,0
$FREEZE,5.11,-0.123,-1.891,2,1,0
$FREEZE,4.38,-0.100,-1.891,2,1,0
$FREEZE,3.59,-0.088,-1.890,2,1,0
$FREEZE,2.55,-0.088,-1.889,2,1,0
$STATE,5169,end climb,SURFACE_DEPTH_REACHED
$STATE,5169,begin surface coast
$FREEZE,1.99,-0.062,-1.889,2,1,0
$FREEZE,1.16,-0.058,-1.888,2,1,0
$FREEZE,0.50,-0.058,-1.888,2,1,0
$FREEZE,-0.04,-0.056,-1.887,2,1,0
$FINISH,-0.0,1.027613
$STATE,5193,end surface coast,CONTROL_FINISHED_OK
$STATE,5194,begin surface
$SM_CCo,5210,33.30,0.102,0,0,1655,320.11
$SM_GC,0.82,0.00,0.00,33.30,0.000,0.000,0.102,175,2801,1655,-8.21,0.59,320.11
$IRIDIUM_FIX,-7519.49,17652.19,010111,030355
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.2
$24V_AH,22.4,50.585
$10V_AH,9.8,19.816
$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,18.400,37.175,397.150,33.300,0.000,27.437,37.912,151.448,1.000,0.000,15.710,1428.466,2234.439,493.770,1250.858,185.178,0.000,1087.049,0.000,976.859,0.000,7.756,0.000
$DEVICE_MAMPS,212.670,107.865,970.020,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.684,750.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37066,584
$CAP_FILE_SIZE,77422,0
$CFSIZE,260165632,228196352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.138,235.1,1
$GPS,010111,063638,-7606.139,17646.578,20,1.5,20,121.1