version: 66.08
glider: 503
mission: 7
dive: 527
start: 1 1 111 20 59 7
data:
$ID,503
$MISSION,7
$DIVE,527
$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,-20164.248
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,010111,205250,-7608.153,17642.777,19,1.9,19,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-71.3
$GPS2,010111,205838,-7608.113,17642.629,9,1.7,9,121.3
$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,50.7,96909,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-88.47,0.000,2,0.000,0.000,173,2786,3407,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.1,-5.9,15,138,8.95,1.62,-9.55,0.000,4,0.211,0.065,2517,3767,3857,0,0,0,0,0,0
$GC,211,-0.84,-219.0,28.1,-18.1,32,218,0.00,1.58,0.00,0.000,6,0.000,0.029,2516,2768,3859,0,0,0,0,0,0
$GC,353,-0.84,-219.0,54.0,-18.1,57,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2767,3859,0,0,0,0,0,0
$GC,495,-0.84,-219.0,79.7,-17.2,82,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2767,3859,0,0,0,0,0,0
$GC,634,-0.84,-219.0,104.4,-17.8,105,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3860,0,0,0,0,0,0
$GC,762,-0.84,-219.0,126.7,-17.2,117,766,0.00,1.62,0.00,0.000,4,0.000,0.049,2509,3760,3860,0,0,0,0,0,0
$GC,800,-0.84,-219.0,134.1,-18.3,120,807,0.00,1.52,0.00,0.000,6,0.000,0.030,2509,2793,3860,0,0,0,0,0,0
$GC,934,-0.84,-219.0,157.7,-17.6,133,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2793,3860,0,0,0,0,0,0
$GC,1062,-0.84,-219.0,180.5,-17.6,145,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2793,3860,0,0,0,0,0,0
$GC,1189,-0.84,-219.0,202.9,-17.5,157,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2793,3861,0,0,0,0,0,0
$GC,1317,-0.84,-219.0,225.3,-17.4,169,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2793,3861,0,0,0,0,0,0
$GC,1445,-0.84,-219.0,247.3,-17.3,181,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2793,3860,0,0,0,0,0,0
$GC,1572,-0.84,-219.0,269.1,-17.0,193,1575,0.00,1.58,0.00,0.000,4,0.000,0.050,2502,3757,3860,0,0,0,0,0,0
$GC,1606,-0.84,-219.0,275.4,-18.7,196,1610,0.00,1.52,0.00,0.000,6,0.000,0.031,2502,2786,3860,0,0,0,0,0,0
$GC,1810,-0.84,-219.0,310.6,-16.7,215,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2786,3860,0,0,0,0,0,0
$GC,2001,-0.84,-219.0,341.7,-16.3,233,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2786,3860,0,0,0,0,0,0
$GC,2192,-0.84,-219.0,372.3,-16.4,251,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2786,3860,0,0,0,0,0,0
$STATE,2211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2211,begin apogee
$GC,2217,-0.16,0.0,375.7,16.0,253,2397,0.73,0.00,174.70,0.969,4,0.122,0.000,2741,2685,2960,0,0,0,0,0,0
$STATE,2398,end apogee,CONTROL_FINISHED_OK
$STATE,2398,begin climb
$GC,2401,0.84,219.0,383.6,0.0,269,2604,1.00,2.40,191.57,0.914,4,0.075,0.034,3071,1309,2067,0,0,0,0,0,0
$GC,2787,0.86,234.5,348.2,12.7,303,2810,0.00,2.38,14.27,0.846,6,0.000,0.042,3071,2696,2004,0,0,0,0,0,0
$GC,3004,0.87,245.8,319.6,12.9,323,3020,0.00,2.33,11.32,0.835,4,0.000,0.034,3082,1312,1959,0,0,0,0,0,0
$GC,3202,0.91,273.6,294.7,12.2,340,3238,0.00,2.30,26.50,0.877,6,0.000,0.042,3082,2703,1844,0,0,0,0,0,0
$GC,3427,0.91,273.6,264.5,13.7,361,3431,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3760,1842,0,0,0,0,0,0
$GC,3495,0.91,273.6,253.8,16.7,367,3499,0.00,1.67,0.00,0.000,6,0.000,0.030,3090,2720,1842,0,0,0,0,0,0
$GC,3699,0.91,273.6,222.4,15.1,386,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2719,1840,0,0,0,0,0,0
$GC,3826,0.91,273.6,203.0,15.0,398,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2719,1841,0,0,0,0,0,0
$GC,3953,0.91,273.6,183.7,15.0,410,3957,0.00,1.73,0.00,0.000,4,0.000,0.049,3090,3764,1840,0,0,0,0,0,0
$GC,3988,0.91,273.6,178.0,17.0,413,3992,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2715,1840,0,0,1,0,0,0
$GC,4129,0.91,273.6,156.1,15.2,426,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2713,1839,0,0,0,0,0,0
$GC,4256,0.91,273.6,136.2,15.8,438,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2713,1840,0,0,0,0,0,0
$GC,4384,0.91,273.6,116.0,15.9,450,4388,0.00,1.73,0.00,0.000,4,0.000,0.049,3098,3763,1839,0,0,0,0,0,0
$GC,4422,0.91,273.6,108.8,18.2,453,4430,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2723,1840,0,0,0,0,0,0
$GC,4560,0.91,273.6,85.7,16.2,473,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2723,1839,0,0,0,0,0,0
$GC,4704,0.91,273.6,62.4,15.7,498,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2723,1839,0,0,0,0,0,0
$GC,4843,0.91,273.6,39.3,16.4,523,4850,0.00,1.70,0.00,0.000,4,0.000,0.049,3106,3762,1839,0,0,0,0,0,0
$GC,4890,0.91,273.6,30.9,19.6,531,4896,0.00,1.62,0.00,0.000,6,0.000,0.031,3115,2736,1839,0,0,0,0,0,0
$FREEZE,8.47,-0.378,-1.893,2,1,0
$FREEZE,7.53,-0.378,-1.892,2,1,0
$GC,5034,0.91,273.6,7.5,15.4,556,5040,0.00,2.28,0.00,0.000,4,0.000,0.036,3125,1296,1839,0,0,0,0,0,0
$FREEZE,4.61,-0.380,-1.890,2,1,0
$FREEZE,3.84,-0.379,-1.890,2,1,0
$FREEZE,3.10,-0.379,-1.889,2,1,0
$FREEZE,2.31,-0.383,-1.888,2,1,0
$STATE,5062,end climb,SURFACE_DEPTH_REACHED
$STATE,5062,begin surface coast
$FREEZE,1.53,-0.381,-1.888,2,1,0
$FREEZE,0.46,-0.378,-1.887,2,1,0
$FREEZE,-0.10,-0.398,-1.117,2,1,0
$FINISH,-0.1,1.016512
$STATE,5079,end surface coast,CONTROL_FINISHED_OK
$STATE,5079,begin surface
$SM_CCo,5099,21.33,0.102,0,0,1655,320.11
$SM_GC,0.76,0.00,0.00,21.33,0.000,0.000,0.102,187,2777,1655,-8.17,-0.11,320.11
$IRIDIUM_FIX,-7519.49,17651.70,010111,191918
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,20.0
$24V_AH,22.4,51.801
$10V_AH,9.9,20.283
$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,18.400,37.150,418.375,21.325,0.000,29.667,46.141,156.522,1.250,0.000,11.849,1379.203,2193.733,488.990,1231.939,186.885,0.000,1075.682,0.000,951.006,0.000,7.759,0.000
$DEVICE_MAMPS,211.140,81.855,969.255,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.551,715.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37051,564
$CAP_FILE_SIZE,75231,0
$CFSIZE,260165632,227762176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.198,328.4,1
$GPS,010111,222554,-7608.483,17641.496,46,1.2,46,121.4