version: 66.08
glider: 503
mission: 7
dive: 529
start: 1 2 111 0 12 26
data:
$ID,503
$MISSION,7
$DIVE,529
$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,616.91943
$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,-20168.102
$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,28
$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
$GPS1,020111,000007,-7608.962,17640.107,17,1.3,24,121.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-68.4
$GPS2,020111,001156,-7608.927,17639.871,36,1.8,36,121.4
$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,61.5,95046,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-89.95,0.000,2,0.000,0.000,159,2778,3450,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.2,-7.2,15,139,8.90,1.62,-8.45,0.000,4,0.205,0.065,2517,3767,3857,0,0,1,0,0,0
$GC,219,-0.84,-219.0,30.5,-18.1,33,227,0.00,1.58,0.00,0.000,6,0.000,0.030,2517,2771,3860,0,0,0,0,0,0
$GC,362,-0.84,-219.0,55.9,-17.4,58,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3860,0,0,0,0,0,0
$GC,503,-0.84,-219.0,81.3,-17.5,83,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3860,0,0,0,0,0,0
$GC,643,-0.84,-219.0,106.2,-17.9,105,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3860,0,0,0,0,0,0
$GC,770,-0.84,-219.0,128.2,-17.0,117,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3861,0,0,0,0,0,0
$GC,897,-0.84,-219.0,149.7,-17.0,129,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3861,0,0,0,0,0,0
$GC,1025,-0.84,-219.0,171.5,-17.1,141,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3861,0,0,0,0,0,0
$GC,1153,-0.84,-219.0,193.2,-17.0,153,1157,0.00,1.62,0.00,0.000,4,0.000,0.050,2509,3787,3861,0,0,0,0,0,0
$GC,1202,-0.84,-219.0,202.6,-18.4,157,1211,0.00,1.58,0.00,0.000,6,0.000,0.029,2509,2778,3861,0,0,0,0,0,0
$GC,1337,-0.84,-219.0,225.9,-17.5,170,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3861,0,0,0,0,0,0
$GC,1466,-0.84,-219.0,248.6,-18.0,182,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3861,0,0,0,0,0,0
$GC,1592,-0.84,-219.0,271.5,-18.0,194,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3861,0,0,0,0,0,0
$GC,1784,-0.84,-219.0,306.1,-18.4,212,1787,0.00,1.60,0.00,0.000,4,0.000,0.051,2501,3753,3861,0,0,0,0,0,0
$GC,1829,-0.84,-219.0,314.8,-18.7,216,1833,0.00,1.50,0.00,0.000,6,0.000,0.030,2501,2791,3860,0,0,0,0,0,0
$GC,2035,-0.84,-219.0,351.8,-18.3,235,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2792,3860,0,0,0,0,0,0
$STATE,2167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2167,begin apogee
$GC,2173,-0.16,0.0,376.1,17.9,248,2354,0.73,0.00,174.95,0.968,4,0.122,0.000,2741,2689,2959,0,0,0,0,0,0
$STATE,2355,end apogee,CONTROL_FINISHED_OK
$STATE,2355,begin climb
$GC,2358,0.84,219.0,385.2,0.0,264,2561,1.00,2.40,191.65,0.916,4,0.074,0.034,3071,1309,2066,0,0,0,0,0,0
$GC,2720,0.89,262.3,353.9,11.6,296,2766,0.00,2.42,39.58,0.885,6,0.000,0.041,3071,2703,1890,0,0,0,0,0,0
$GC,2957,0.89,263.5,323.1,13.3,318,2961,0.00,2.35,0.00,0.000,4,0.000,0.034,3082,1306,1887,0,0,0,0,0,0
$GC,3114,0.90,270.7,302.2,13.0,331,3134,0.00,2.35,8.32,0.802,6,0.000,0.043,3082,2710,1856,0,0,0,0,0,0
$GC,3325,0.90,270.7,272.5,14.2,351,3328,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3766,1854,0,0,0,0,0,0
$GC,3381,0.90,270.7,263.5,15.7,356,3385,0.00,1.62,0.00,0.000,6,0.000,0.030,3090,2707,1855,0,0,1,0,0,0
$GC,3585,0.90,270.7,234.2,14.7,375,3588,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3764,1854,0,0,0,0,0,0
$GC,3620,0.90,270.7,228.6,16.0,378,3623,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2704,1854,0,0,1,0,0,0
$GC,3759,0.90,270.7,207.5,14.8,391,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2703,1854,0,0,0,0,0,0
$GC,3887,0.90,270.7,188.8,14.5,403,3890,0.00,1.70,0.00,0.000,4,0.000,0.050,3098,3764,1853,0,0,0,0,0,0
$GC,3925,0.90,270.7,182.4,16.6,406,3932,0.00,1.62,0.00,0.000,6,0.000,0.031,3106,2741,1853,0,0,0,0,0,0
$GC,4060,0.90,270.7,161.3,15.6,419,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2741,1853,0,0,0,0,0,0
$GC,4187,0.90,270.7,141.3,15.6,431,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2741,1853,0,0,0,0,0,0
$GC,4315,0.90,270.7,121.1,15.9,443,4319,0.00,1.62,0.00,0.000,4,0.000,0.050,3106,3764,1853,0,0,0,0,0,0
$GC,4352,0.90,270.7,114.3,17.5,446,4360,0.00,1.62,0.00,0.000,6,0.000,0.031,3115,2738,1852,0,0,0,0,0,0
$GC,4490,0.90,270.7,91.7,16.7,463,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2738,1852,0,0,0,0,0,0
$GC,4630,0.90,270.7,68.9,17.7,488,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2738,1852,0,0,0,0,0,0
$GC,4772,0.90,270.7,46.0,17.0,513,4778,0.00,1.67,0.00,0.000,4,0.000,0.050,3115,3761,1852,0,0,0,0,0,0
$GC,4807,0.90,270.7,39.5,18.9,519,4814,0.08,1.60,0.00,0.000,6,0.152,0.032,3095,2750,1852,0,0,0,0,0,0
$GC,4951,0.90,270.7,16.0,17.1,544,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2750,1852,0,0,0,0,0,0
$FREEZE,8.04,-0.738,-1.894,2,2,0
$FREEZE,7.27,-0.737,-1.894,2,2,0
$FREEZE,6.38,-0.742,-1.893,2,2,0
$FREEZE,5.59,-0.748,-1.893,2,2,0
$FREEZE,4.76,-0.746,-1.892,2,2,0
$FREEZE,3.90,-0.745,-1.891,2,2,0
$FREEZE,2.89,-0.743,-1.890,2,2,0
$STATE,5028,end climb,SURFACE_DEPTH_REACHED
$STATE,5028,begin surface coast
$FREEZE,2.03,-0.745,-1.890,2,2,0
$FREEZE,1.03,-0.743,-1.889,2,2,0
$FREEZE,0.12,-0.740,-1.888,2,2,0
$FINISH,0.1,1.027661
$STATE,5047,end surface coast,CONTROL_FINISHED_OK
$STATE,5047,begin surface
$SM_CCo,5064,186.50,0.102,0,0,444,616.92
$SM_GC,0.56,0.00,0.00,186.50,0.000,0.000,0.102,171,2750,444,-8.21,-0.85,616.92
$IRIDIUM_FIX,-7528.04,17633.27,020111,000042
$TT8_MAMPS,0.027713
$HUMID,49.96
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,18.6
$24V_AH,22.3,52.048
$10V_AH,9.9,20.380
$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,18.300,35.625,414.500,186.500,0.000,89.537,186.874,136.865,1.000,0.000,40.101,1366.370,2287.253,660.773,1467.969,190.676,0.000,1246.014,0.000,946.425,0.000,7.753,0.000
$DEVICE_MAMPS,205.020,79.560,968.490,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.236,715.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258236
$DATA_FILE_SIZE,37157,561
$CAP_FILE_SIZE,76445,0
$CFSIZE,260165632,227659776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.084,295.8,1
$GPS,020111,014106,-7609.638,17638.445,19,1.6,29,121.5