version: 66.08
glider: 503
mission: 7
dive: 519
start: 1 1 111 8 16 31
data:
$ID,503
$MISSION,7
$DIVE,519
$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,-20154.182
$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,49
$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
$GPS1,010111,081026,-7606.081,17648.588,17,1.7,17,121.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-75.0
$GPS2,010111,081602,-7606.097,17648.613,14,1.9,14,121.0
$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,303.4,5463,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-88.78,0.000,2,0.000,0.000,178,2742,3409,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.1,-6.5,15,139,8.93,2.22,-9.52,0.000,4,0.210,0.046,2521,1380,3856,0,0,0,0,0,0
$GC,352,-0.84,-219.0,49.8,-15.8,57,360,0.00,2.28,0.00,0.000,6,0.000,0.043,2510,2778,3859,0,0,0,0,0,0
$GC,496,-0.84,-219.0,75.8,-18.5,82,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3859,0,0,0,0,0,0
$GC,642,-0.84,-219.0,102.9,-18.6,107,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3860,0,0,0,0,0,0
$GC,770,-0.84,-219.0,125.9,-17.8,119,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2779,3860,0,0,0,0,0,0
$GC,897,-0.84,-219.0,148.8,-17.8,131,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3860,0,0,0,0,0,0
$GC,1025,-0.84,-219.0,171.6,-17.7,143,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2779,3860,0,0,0,0,0,0
$GC,1153,-0.84,-219.0,194.6,-18.4,155,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3860,0,0,0,0,0,0
$GC,1280,-0.84,-219.0,217.0,-17.6,167,1283,0.00,1.58,0.00,0.000,4,0.000,0.050,2503,3758,3860,0,0,0,0,0,0
$GC,1325,-0.84,-219.0,225.6,-18.6,171,1329,0.00,1.50,0.00,0.000,6,0.000,0.031,2503,2794,3860,0,0,0,0,0,0
$GC,1467,-0.84,-219.0,251.3,-18.5,184,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2794,3860,0,0,0,0,0,0
$GC,1657,-0.84,-219.0,286.5,-18.5,202,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2794,3860,0,0,0,0,0,0
$GC,1847,-0.84,-219.0,321.0,-17.9,220,1851,0.00,2.22,0.00,0.000,4,0.000,0.031,2503,1364,3860,0,0,0,0,0,0
$GC,1879,-0.84,-219.0,326.7,-17.0,222,1887,0.12,2.30,0.00,0.000,6,0.155,0.044,2530,2784,3860,0,0,0,0,0,0
$GC,2078,-0.84,-219.0,355.5,-14.9,241,2082,0.00,1.58,0.00,0.000,4,0.000,0.050,2524,3763,3860,0,0,0,0,0,0
$GC,2124,-0.84,-219.0,362.7,-15.4,245,2128,0.00,1.50,0.00,0.000,6,0.000,0.030,2524,2798,3860,0,0,0,0,0,0
$STATE,2208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2209,begin apogee
$GC,2215,-0.16,0.0,375.9,15.1,253,2395,0.65,0.00,174.85,0.971,4,0.117,0.000,2742,2681,2960,0,0,0,0,0,0
$STATE,2395,end apogee,CONTROL_FINISHED_OK
$STATE,2396,begin climb
$GC,2398,0.84,219.0,384.4,0.0,269,2603,1.00,2.38,191.52,0.916,4,0.073,0.033,3073,1309,2068,0,0,0,0,0,0
$GC,2753,0.86,233.1,351.9,12.8,300,2772,0.00,2.40,13.48,0.842,6,0.000,0.040,3073,2701,2010,0,0,0,0,0,0
$GC,2965,0.86,233.1,322.9,14.0,320,2969,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1303,2007,0,0,0,0,0,0
$GC,3142,0.87,248.3,298.7,12.7,335,3164,0.00,2.30,14.90,0.862,6,0.000,0.041,3083,2701,1946,0,0,0,0,0,0
$GC,3364,0.87,248.3,268.0,14.5,356,3368,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3763,1943,0,0,0,0,0,0
$GC,3413,0.87,248.3,259.7,15.8,360,3421,0.00,1.67,0.00,0.000,6,0.000,0.030,3092,2717,1943,0,0,0,0,0,0
$GC,3612,0.87,248.3,230.8,14.9,379,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2717,1942,0,0,0,0,0,0
$GC,3742,0.87,248.3,212.4,14.7,391,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2717,1942,0,0,0,0,0,0
$GC,3876,0.87,248.3,192.5,14.7,404,3880,0.00,1.73,0.00,0.000,4,0.000,0.049,3091,3767,1941,0,0,0,0,0,0
$GC,3932,0.87,248.3,183.4,16.3,409,3936,0.00,1.65,0.00,0.000,6,0.000,0.030,3100,2701,1941,0,0,0,0,0,0
$GC,4073,0.87,248.3,161.4,15.6,422,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2700,1941,0,0,0,0,0,0
$GC,4199,0.87,248.3,141.9,15.2,434,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2700,1940,0,0,0,0,0,0
$GC,4327,0.87,248.3,122.2,15.8,446,4330,0.00,1.70,0.00,0.000,4,0.000,0.050,3100,3767,1940,0,0,1,0,0,0
$GC,4377,0.87,248.3,113.3,18.1,450,4385,0.00,1.65,0.00,0.000,6,0.000,0.031,3108,2723,1940,0,0,0,0,0,0
$GC,4513,0.87,248.3,91.6,16.1,467,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2723,1940,0,0,0,0,0,0
$GC,4653,0.87,248.3,69.4,15.8,492,4660,0.00,1.70,0.00,0.000,4,0.000,0.049,3108,3763,1940,0,0,0,0,0,0
$GC,4689,0.87,248.3,63.5,17.4,498,4697,0.10,1.62,0.00,0.000,6,0.135,0.031,3072,2727,1939,0,0,1,0,0,0
$GC,4835,0.89,260.4,44.3,12.8,523,4848,0.00,0.00,10.95,0.768,6,0.000,0.000,3071,2727,1898,0,0,0,0,0,0
$GC,4985,0.89,260.4,24.7,13.4,549,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2727,1898,0,0,0,0,0,0
$FREEZE,8.40,-0.355,-1.894,2,1,0
$FREEZE,7.64,-0.253,-1.892,2,1,0
$FREEZE,6.97,-0.244,-1.891,2,1,0
$FREEZE,6.30,-0.231,-1.891,2,1,0
$GC,5128,0.89,260.4,6.3,13.6,574,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2727,1897,0,0,0,0,0,0
$FREEZE,3.90,-0.212,-1.889,2,1,0
$FREEZE,3.17,-0.187,-1.889,2,1,0
$FREEZE,2.54,-0.174,-1.888,2,1,0
$STATE,5152,end climb,SURFACE_DEPTH_REACHED
$STATE,5152,begin surface coast
$FREEZE,1.81,-0.172,-1.888,2,1,0
$FREEZE,0.92,-0.165,-1.887,2,1,0
$FREEZE,0.43,-0.170,-1.887,2,1,0
$FREEZE,-0.14,-0.195,-1.887,2,1,0
$FINISH,-0.1,1.027621
$STATE,5174,end surface coast,CONTROL_FINISHED_OK
$STATE,5174,begin surface
$SM_CCo,5191,29.05,0.103,0,0,1655,320.11
$SM_GC,1.15,0.00,0.00,29.05,0.000,0.000,0.103,185,2800,1655,-8.18,0.57,320.11
$IRIDIUM_FIX,-7519.49,17643.26,010111,060625
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,22.4,50.820
$10V_AH,9.8,19.908
$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,18.400,38.225,405.700,29.050,0.000,28.404,39.482,148.453,1.000,0.000,16.958,1427.342,2210.641,488.296,1253.270,189.266,0.000,1084.872,0.000,979.523,0.000,7.757,0.000
$DEVICE_MAMPS,210.375,97.155,970.785,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.254,747.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,37121,582
$CAP_FILE_SIZE,77208,0
$CFSIZE,260165632,228110336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.122,221.5,1
$GPS,010111,094427,-7606.028,17650.918,15,1.7,16,121.0