version: 66.08
glider: 503
mission: 7
dive: 524
start: 1 1 111 16 13 7
data:
$ID,503
$MISSION,7
$DIVE,524
$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,-20160.477
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,010111,160706,-7607.396,17647.615,37,1.2,37,121.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-72.8
$GPS2,010111,161238,-7607.360,17647.572,10,1.8,10,121.1
$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,72.4,99087,-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,17,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-89.47,0.000,2,0.000,0.000,173,2785,3437,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.2,-6.5,15,140,8.93,1.62,-8.68,0.000,4,0.210,0.067,2515,3765,3857,0,0,0,0,0,0
$GC,226,-0.84,-219.0,31.9,-18.9,34,233,0.00,1.58,0.00,0.000,6,0.000,0.030,2515,2771,3859,0,0,0,0,0,0
$GC,369,-0.84,-219.0,57.9,-17.8,59,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3859,0,0,0,0,0,0
$GC,509,-0.84,-219.0,83.5,-17.7,84,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3859,0,0,0,0,0,0
$GC,654,-0.84,-219.0,109.4,-18.0,105,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,782,-0.84,-219.0,132.0,-17.5,117,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,908,-0.84,-219.0,154.1,-17.8,129,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,1036,-0.84,-219.0,176.5,-17.6,141,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,1164,-0.84,-219.0,198.3,-17.3,153,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3860,0,0,0,0,0,0
$GC,1291,-0.84,-219.0,219.8,-16.9,165,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3861,0,0,0,0,0,0
$GC,1418,-0.84,-219.0,241.1,-16.6,177,1422,0.00,1.62,0.00,0.000,4,0.000,0.050,2508,3786,3860,0,0,0,0,0,0
$GC,1464,-0.84,-219.0,249.2,-17.4,181,1471,0.00,1.58,0.00,0.000,6,0.000,0.031,2507,2783,3861,0,0,0,0,0,0
$GC,1606,-0.84,-219.0,273.7,-17.0,194,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2783,3860,0,0,0,0,0,0
$GC,1798,-0.84,-219.0,306.8,-16.9,212,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2783,3860,0,0,0,0,0,0
$GC,1988,-0.84,-219.0,338.7,-16.7,230,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2783,3860,0,0,0,0,0,0
$GC,2179,-0.84,-219.0,371.0,-17.3,248,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2783,3860,0,0,0,0,0,0
$STATE,2208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2208,begin apogee
$GC,2214,-0.16,0.0,376.5,17.5,251,2395,0.73,0.00,174.70,0.971,4,0.121,0.000,2746,2684,2959,0,0,0,0,0,0
$STATE,2396,end apogee,CONTROL_FINISHED_OK
$STATE,2396,begin climb
$GC,2398,0.84,219.0,386.1,0.0,267,2598,0.98,2.38,191.20,0.920,4,0.072,0.032,3071,1313,2067,0,0,0,0,0,0
$GC,2733,0.88,255.3,357.9,11.8,297,2772,0.00,2.40,33.53,0.881,6,0.000,0.040,3071,2702,1919,0,0,0,0,0,0
$GC,2966,0.88,255.3,325.7,14.4,318,2970,0.00,2.33,0.00,0.000,4,0.000,0.034,3081,1315,1915,0,0,0,0,0,0
$GC,3141,0.88,255.3,301.5,14.2,333,3145,0.00,2.33,0.00,0.000,6,0.000,0.041,3082,2711,1913,0,0,0,0,0,0
$GC,3340,0.88,255.3,272.1,15.2,351,3343,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3767,1912,0,0,0,0,0,0
$GC,3408,0.88,255.3,260.4,17.1,357,3412,0.00,1.65,0.00,0.000,6,0.000,0.030,3089,2707,1911,0,0,0,0,0,0
$GC,3612,0.88,255.3,229.2,14.9,376,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2706,1911,0,0,0,0,0,0
$GC,3739,0.88,255.3,210.5,14.7,388,3742,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3764,1910,0,0,0,0,0,0
$GC,3785,0.88,255.3,203.1,16.4,392,3789,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2704,1910,0,0,0,0,0,0
$GC,3925,0.88,255.3,181.5,15.5,405,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2703,1910,0,0,0,0,0,0
$GC,4052,0.88,255.3,161.9,15.1,417,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2703,1910,0,0,0,0,0,0
$GC,4180,0.88,255.3,142.3,15.2,429,4183,0.00,1.70,0.00,0.000,4,0.000,0.050,3098,3764,1910,0,0,0,0,0,0
$GC,4226,0.88,255.3,134.7,17.1,433,4229,0.00,1.62,0.00,0.000,6,0.000,0.031,3107,2700,1909,0,0,1,0,0,0
$GC,4366,0.88,255.3,112.8,15.6,446,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2700,1910,0,0,0,0,0,0
$GC,4496,0.88,255.3,92.6,15.5,462,4503,0.00,1.75,0.00,0.000,4,0.000,0.048,3107,3787,1909,0,0,0,0,0,0
$GC,4544,0.88,255.3,84.4,17.7,470,4551,0.08,1.65,0.00,0.000,6,0.148,0.031,3079,2732,1909,0,0,1,0,0,0
$GC,4687,0.89,257.4,64.7,13.2,495,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2732,1909,0,0,0,0,0,0
$GC,4828,0.89,257.4,45.6,13.5,520,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2732,1909,0,0,0,0,0,0
$GC,4970,0.89,263.4,27.0,13.1,545,4983,0.00,0.00,6.82,0.722,6,0.000,0.000,3079,2732,1886,0,0,0,0,0,0
$FREEZE,8.47,-0.232,-1.892,2,1,0
$FREEZE,7.62,-0.226,-1.892,2,1,0
$FREEZE,6.59,-0.217,-1.891,2,1,0
$GC,5120,0.91,276.2,7.6,12.8,571,5135,0.00,0.00,13.02,0.753,6,0.000,0.000,3079,2732,1833,0,0,0,0,0,0
$FREEZE,4.33,-0.224,-1.889,2,1,0
$FREEZE,3.49,-0.225,-1.889,2,1,0
$FREEZE,2.81,-0.222,-1.888,2,1,0
$STATE,5151,end climb,SURFACE_DEPTH_REACHED
$STATE,5151,begin surface coast
$FREEZE,2.05,-0.225,-1.887,2,1,0
$FREEZE,1.29,-0.233,-1.887,2,1,0
$FREEZE,0.13,-0.232,-1.886,2,1,0
$FREEZE,0.22,-0.228,-1.886,2,1,0
$FINISH,0.2,1.027606
$STATE,5176,end surface coast,CONTROL_FINISHED_OK
$STATE,5176,begin surface
$SM_CCo,5193,20.83,0.101,0,0,1654,320.11
$SM_GC,0.98,0.00,0.00,20.83,0.000,0.000,0.101,181,2794,1654,-8.18,0.40,320.11
$IRIDIUM_FIX,-7528.04,17642.23,010111,141416
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$24V_AH,22.4,51.424
$10V_AH,9.9,20.143
$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,18.325,29.425,419.275,20.825,0.000,29.262,37.552,147.863,1.000,0.000,12.766,1420.326,2246.355,471.661,1231.400,188.290,0.000,1062.553,0.000,965.892,0.000,7.750,0.000
$DEVICE_MAMPS,209.610,109.395,970.785,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.186,745.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36966,580
$CAP_FILE_SIZE,75581,0
$CFSIZE,260165632,227893248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.190,347.5,1
$GPS,010111,174122,-7607.661,17645.838,20,3.5,39,121.2