version: 66.08
glider: 503
mission: 7
dive: 523
start: 1 1 111 14 37 50
data:
$ID,503
$MISSION,7
$DIVE,523
$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,-20159.217
$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,45
$R_STBD_OVSHOOT,40
$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
$GPS1,010111,143138,-7607.011,17649.639,16,1.7,16,121.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-74.3
$GPS2,010111,143719,-7606.995,17649.611,12,1.8,29,121.1
$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,83.9,100079,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.10,0.000,2,0.000,0.000,180,2797,3439,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-7.4,15,138,8.95,1.58,-8.73,0.000,4,0.211,0.067,2518,3751,3857,0,0,0,0,0,0
$GC,162,-0.84,-219.0,19.7,-24.8,23,169,0.00,1.55,0.00,0.000,6,0.000,0.028,2518,2771,3859,0,0,0,0,0,0
$GC,304,-0.84,-219.0,46.1,-18.2,48,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,447,-0.84,-219.0,72.2,-17.8,73,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,589,-0.84,-219.0,97.9,-18.2,98,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3861,0,0,0,0,0,0
$GC,730,-0.84,-219.0,123.0,-17.7,112,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3860,0,0,0,0,0,0
$GC,857,-0.84,-219.0,145.3,-17.5,124,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3861,0,0,0,0,0,0
$GC,984,-0.84,-219.0,167.5,-17.1,136,988,0.00,1.60,0.00,0.000,4,0.000,0.050,2511,3744,3860,0,0,0,0,0,0
$GC,1022,-0.84,-219.0,174.7,-18.4,139,1029,0.00,1.50,0.00,0.000,6,0.000,0.031,2510,2790,3860,0,0,0,0,0,0
$GC,1157,-0.84,-219.0,198.0,-17.4,152,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3860,0,0,0,0,0,0
$GC,1284,-0.84,-219.0,220.3,-17.7,164,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3861,0,0,0,0,0,0
$GC,1411,-0.84,-219.0,242.5,-17.4,176,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3861,0,0,0,0,0,0
$GC,1539,-0.84,-219.0,264.8,-17.6,188,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3860,0,0,0,0,0,0
$GC,1730,-0.84,-219.0,297.0,-16.5,206,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3861,0,0,0,0,0,0
$GC,1923,-0.84,-219.0,328.1,-16.4,224,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3860,0,0,0,0,0,0
$GC,2112,-0.84,-219.0,359.5,-16.4,242,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3860,0,0,0,0,0,0
$STATE,2205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2205,begin apogee
$GC,2211,-0.16,0.0,375.0,16.0,251,2393,0.70,0.00,174.65,0.971,4,0.122,0.000,2742,2685,2960,0,0,0,0,0,0
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2394,begin climb
$GC,2396,0.84,219.0,384.2,0.0,267,2596,1.00,2.38,191.60,0.917,4,0.073,0.032,3073,1315,2067,0,0,0,0,0,0
$GC,2744,0.86,235.4,354.0,12.7,298,2767,0.00,2.35,15.50,0.850,6,0.000,0.040,3073,2687,1999,0,0,0,0,0,0
$GC,2960,0.87,242.5,325.4,13.0,318,2973,0.00,2.35,7.25,0.776,4,0.000,0.033,3083,1318,1971,0,0,1,0,0,0
$GC,3154,0.88,255.3,300.1,12.8,335,3179,0.00,2.30,13.10,0.854,6,0.000,0.041,3083,2707,1919,0,0,0,0,0,0
$GC,3369,0.88,255.3,270.8,13.6,355,3373,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3765,1917,0,0,0,0,0,0
$GC,3426,0.88,255.3,261.8,16.4,360,3430,0.00,1.65,0.00,0.000,6,0.000,0.030,3091,2712,1917,0,0,0,0,0,0
$GC,3629,0.88,255.3,231.8,14.4,379,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2710,1916,0,0,0,0,0,0
$GC,3757,0.88,255.3,213.5,14.4,391,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2710,1915,0,0,0,0,0,0
$GC,3885,0.88,255.3,195.2,14.1,403,3888,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3768,1915,0,0,0,0,0,0
$GC,3919,0.88,255.3,189.7,16.3,406,3922,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2706,1915,0,0,0,0,0,0
$GC,4059,0.88,255.3,168.9,14.8,419,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2704,1914,0,0,0,0,0,0
$GC,4186,0.88,255.3,150.1,14.6,431,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2704,1914,0,0,0,0,0,0
$GC,4313,0.88,255.3,131.1,14.6,443,4317,0.00,1.70,0.00,0.000,4,0.000,0.048,3099,3769,1914,0,0,0,0,0,0
$GC,4347,0.88,255.3,125.6,16.6,446,4351,0.00,1.65,0.00,0.000,6,0.000,0.031,3108,2702,1914,0,0,0,0,0,0
$GC,4487,0.88,255.3,103.8,15.1,459,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2701,1914,0,0,0,0,0,0
$GC,4619,0.88,255.3,83.8,15.8,480,4626,0.00,1.75,0.00,0.000,4,0.000,0.050,3108,3786,1914,0,0,0,0,0,0
$GC,4661,0.88,255.3,76.5,18.0,487,4669,0.08,1.67,0.00,0.000,6,0.144,0.031,3079,2734,1914,0,0,0,0,0,0
$GC,4806,0.89,263.9,57.8,13.0,512,4820,0.00,0.00,8.18,0.754,6,0.000,0.000,3080,2734,1884,0,0,0,0,0,0
$GC,4956,0.90,268.1,38.3,13.2,538,4965,0.00,0.00,5.60,0.682,6,0.000,0.000,3079,2734,1867,0,0,0,0,0,0
$GC,5104,0.90,268.1,19.0,13.7,563,5111,0.00,2.30,0.00,0.000,4,0.000,0.035,3089,1293,1867,0,0,0,0,0,0
$GC,5134,0.90,268.1,14.3,14.0,568,5142,0.00,2.33,0.00,0.000,6,0.000,0.043,3089,2725,1867,0,0,0,0,0,0
$FREEZE,8.31,-0.160,-1.894,2,1,0
$FREEZE,7.54,-0.157,-1.893,2,1,0
$FREEZE,6.71,-0.156,-1.893,2,1,0
$FREEZE,5.95,-0.156,-1.892,2,1,0
$FREEZE,5.28,-0.157,-1.892,2,1,0
$FREEZE,4.70,-0.157,-1.891,2,1,0
$FREEZE,3.88,-0.158,-1.891,2,1,0
$FREEZE,3.13,-0.158,-1.890,2,1,0
$FREEZE,2.04,-0.156,-1.889,2,1,0
$STATE,5216,end climb,SURFACE_DEPTH_REACHED
$STATE,5218,begin surface coast
$FREEZE,0.92,-0.158,-1.888,2,1,0
$FREEZE,0.04,-0.156,-1.888,2,1,0
$FREEZE,0.21,-0.156,-1.887,2,1,0
$FINISH,0.2,1.027612
$STATE,5236,end surface coast,CONTROL_FINISHED_OK
$STATE,5237,begin surface
$SM_CCo,5254,24.77,0.102,0,0,1655,320.11
$SM_GC,1.05,0.00,0.00,24.77,0.000,0.000,0.102,173,2785,1655,-8.21,0.14,320.11
$IRIDIUM_FIX,-7536.68,17932.79,010111,121252
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.3
$24V_AH,22.4,51.302
$10V_AH,9.9,20.096
$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,18.400,33.875,415.875,24.775,0.000,22.390,38.042,145.326,1.000,0.000,31.985,1435.314,2273.303,488.141,1245.706,192.261,0.000,1084.959,0.000,969.902,0.000,7.758,0.000
$DEVICE_MAMPS,211.140,112.455,970.785,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.098,750.070,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,37041,586
$CAP_FILE_SIZE,77222,0
$CFSIZE,260165632,227938304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.127,347.8,1
$GPS,010111,160706,-7607.396,17647.615,37,1.2,37,121.2