version: 66.08
glider: 503
mission: 7
dive: 533
start: 1 2 111 6 31 13
data:
$ID,503
$MISSION,7
$DIVE,533
$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,-20173.139
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,020111,062525,-7612.367,17632.840,44,1.6,44,121.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-68.7
$GPS2,020111,063044,-7612.370,17632.803,12,1.7,12,121.8
$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,95.3,88016,-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,-88.90,0.000,2,0.000,0.000,182,2793,3443,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.5,-8.0,15,132,8.90,0.00,-8.43,0.000,6,0.209,0.000,2524,2793,3856,0,0,0,0,0,0
$GC,269,-0.84,-219.0,39.2,-18.4,42,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2793,3858,0,0,0,0,0,0
$GC,411,-0.84,-219.0,64.4,-17.5,67,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2793,3859,0,0,0,0,0,0
$GC,554,-0.84,-219.0,89.9,-17.2,92,560,0.00,2.22,0.00,0.000,4,0.000,0.032,2524,1368,3860,0,0,0,0,0,0
$GC,601,-0.84,-219.0,97.9,-16.5,100,609,0.00,2.28,0.00,0.000,6,0.000,0.045,2514,2768,3860,0,0,0,0,0,0
$GC,744,-0.84,-219.0,123.1,-18.5,114,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2768,3860,0,0,0,0,0,0
$GC,871,-0.84,-219.0,145.9,-18.1,126,875,0.00,1.60,0.00,0.000,4,0.000,0.051,2506,3755,3860,0,0,0,0,0,0
$GC,917,-0.84,-219.0,154.8,-19.7,130,921,0.00,1.52,0.00,0.000,6,0.000,0.030,2506,2780,3860,0,0,0,0,0,0
$GC,1057,-0.84,-219.0,180.2,-18.4,143,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3860,0,0,0,0,0,0
$GC,1184,-0.84,-219.0,203.3,-18.2,155,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3860,0,0,0,0,0,0
$GC,1312,-0.84,-219.0,226.2,-17.7,167,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3860,0,0,0,0,0,0
$GC,1440,-0.84,-219.0,248.7,-17.9,179,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3860,0,0,0,0,0,0
$GC,1567,-0.84,-219.0,271.1,-17.6,191,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3860,0,0,0,0,0,0
$GC,1758,-0.84,-219.0,304.7,-17.8,209,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3861,0,0,0,0,0,0
$GC,1951,-0.84,-219.0,338.0,-17.2,227,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3860,0,0,0,0,0,0
$GC,2140,-0.84,-219.0,370.2,-16.6,245,2143,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3754,3860,0,0,1,0,0,0
$STATE,2165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2165,begin apogee
$GC,2172,-0.16,0.0,375.3,17.7,247,2356,0.75,0.00,174.88,0.967,4,0.120,0.000,2745,2695,2960,0,0,0,0,0,0
$STATE,2356,end apogee,CONTROL_FINISHED_OK
$STATE,2357,begin climb
$GC,2359,0.84,219.0,383.6,0.0,264,2564,0.98,2.45,191.27,0.915,4,0.073,0.034,3069,1294,2067,0,0,0,0,0,0
$GC,2677,0.87,241.9,357.1,12.4,292,2704,0.00,2.45,21.40,0.861,6,0.000,0.041,3069,2705,1973,0,0,0,0,0,0
$GC,2903,0.88,251.2,327.4,13.0,313,2919,0.00,2.42,9.45,0.811,4,0.000,0.034,3080,1294,1935,0,0,1,0,0,0
$GC,3099,0.89,263.7,301.8,12.8,330,3117,0.00,2.35,11.93,0.842,6,0.000,0.041,3080,2701,1885,0,0,0,0,0,0
$GC,3310,0.89,263.7,272.6,14.0,350,3313,0.00,1.70,0.00,0.000,4,0.000,0.048,3080,3763,1884,0,0,0,0,0,0
$GC,3370,0.89,263.7,262.6,16.8,355,3377,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2696,1883,0,0,1,0,0,0
$GC,3569,0.89,263.7,233.3,14.7,374,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2697,1883,0,0,0,0,0,0
$GC,3696,0.89,263.7,215.2,14.1,386,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2697,1882,0,0,0,0,0,0
$GC,3824,0.89,263.7,197.1,14.4,398,3828,0.00,1.70,0.00,0.000,4,0.000,0.047,3087,3764,1882,0,0,0,0,0,0
$GC,3872,0.89,263.7,189.6,16.6,402,3876,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2700,1882,0,0,0,0,0,0
$GC,4012,0.89,263.7,168.1,14.8,415,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2699,1881,0,0,0,0,0,0
$GC,4140,0.89,263.7,149.2,14.8,427,4143,0.00,1.70,0.00,0.000,4,0.000,0.048,3096,3767,1881,0,0,0,0,0,0
$GC,4175,0.89,263.7,143.4,17.1,430,4178,0.00,1.65,0.00,0.000,6,0.000,0.031,3104,2702,1881,0,0,0,0,0,0
$GC,4315,0.89,263.7,121.4,15.4,443,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2700,1881,0,0,0,0,0,0
$GC,4443,0.89,263.7,101.3,16.1,455,4446,0.00,1.75,0.00,0.000,4,0.000,0.050,3104,3767,1881,0,0,1,0,0,0
$GC,4483,0.89,263.7,94.4,16.9,461,4491,0.00,1.65,0.00,0.000,6,0.000,0.031,3113,2728,1881,0,0,0,0,0,0
$GC,4625,0.89,263.7,70.9,16.6,486,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2728,1881,0,0,0,0,0,0
$GC,4768,0.89,263.7,47.2,17.2,511,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2728,1881,0,0,0,0,0,0
$GC,4908,0.89,263.7,24.3,16.3,536,4915,0.00,1.70,0.00,0.000,4,0.000,0.049,3113,3763,1880,0,0,0,0,0,0
$GC,4949,0.89,263.7,17.2,18.1,543,4956,0.08,1.60,0.00,0.000,6,0.151,0.032,3093,2742,1880,0,0,1,0,0,0
$FREEZE,8.75,-0.474,-1.894,2,1,0
$FREEZE,8.17,-0.475,-1.894,2,1,0
$FREEZE,7.10,-0.474,-1.893,2,1,0
$FREEZE,6.64,-0.475,-1.893,2,1,0
$FREEZE,5.94,-0.475,-1.892,2,1,0
$FREEZE,5.13,-0.475,-1.892,2,1,0
$FREEZE,4.41,-0.473,-1.891,2,1,0
$FREEZE,3.62,-0.471,-1.890,2,1,0
$FREEZE,2.59,-0.473,-1.890,2,1,0
$STATE,5043,end climb,SURFACE_DEPTH_REACHED
$STATE,5043,begin surface coast
$FREEZE,1.63,-0.472,-1.889,2,1,0
$FREEZE,0.76,-0.471,-1.888,2,1,0
$FREEZE,-0.04,-0.474,-1.888,2,1,0
$FINISH,-0.0,1.027642
$STATE,5061,end surface coast,CONTROL_FINISHED_OK
$STATE,5061,begin surface
$SM_CCo,5079,26.20,0.102,0,0,1655,320.11
$SM_GC,1.00,0.00,0.00,26.20,0.000,0.000,0.102,180,2792,1655,-8.19,0.34,320.11
$IRIDIUM_FIX,-7528.04,17605.15,020111,040444
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.3
$24V_AH,22.3,52.535
$10V_AH,9.8,20.567
$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,18.400,37.400,408.925,26.200,0.000,23.367,37.294,139.838,1.000,0.000,15.308,1379.936,2194.962,481.728,1191.985,189.186,0.000,1064.503,0.000,941.452,0.000,7.759,0.000
$DEVICE_MAMPS,208.845,112.455,966.960,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.982,717.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258232
$DATA_FILE_SIZE,37180,563
$CAP_FILE_SIZE,75245,0
$CFSIZE,260165632,227500032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.114,148.2,1
$GPS,020111,075736,-7613.325,17631.371,19,0.8,36,121.9