version: 66.08
glider: 503
mission: 7
dive: 567
start: 1 4 111 12 3 31
data:
$ID,503
$MISSION,7
$DIVE,567
$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,-20218.658
$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,43
$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
$GPS1,040111,115738,-7634.622,17545.809,13,1.6,14,124.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.1
$GPS2,040111,120302,-7634.626,17546.008,14,1.4,14,124.4
$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,122.6,42376,-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,-219.0,0.0,0.0,0,113,0.00,0.00,-93.88,0.000,2,0.000,0.000,175,2796,3534,0,0,0,0,0,0
$GC,117,-0.84,-219.0,3.7,-9.3,16,139,9.00,2.35,-6.32,0.000,4,0.211,0.044,2523,1366,3856,0,0,0,0,0,0
$GC,290,-0.84,-219.0,41.7,-15.9,46,297,0.00,2.28,0.00,0.000,6,0.000,0.043,2512,2765,3860,0,0,0,0,0,0
$GC,432,-0.84,-219.0,67.5,-17.7,71,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3860,0,0,0,0,0,0
$GC,573,-0.84,-219.0,94.1,-18.2,96,580,0.00,1.60,0.00,0.000,4,0.000,0.050,2505,3752,3860,0,0,0,0,0,0
$GC,621,-0.84,-219.0,103.5,-19.9,103,624,0.00,1.52,0.00,0.000,6,0.000,0.030,2505,2781,3860,0,0,0,0,0,0
$GC,761,-0.84,-219.0,130.0,-18.9,116,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$GC,888,-0.84,-219.0,153.8,-18.4,128,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$GC,1015,-0.84,-219.0,177.4,-18.8,140,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$GC,1145,-0.84,-219.0,201.2,-18.4,152,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$GC,1270,-0.84,-219.0,224.9,-18.8,164,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2781,3861,0,0,0,0,0,0
$GC,1397,-0.84,-219.0,248.5,-18.3,176,1401,0.00,1.60,0.00,0.000,4,0.000,0.051,2497,3752,3860,0,0,1,0,0,0
$GC,1435,-0.84,-219.0,255.9,-20.3,179,1442,0.08,1.52,0.00,0.000,6,0.145,0.030,2523,2775,3861,0,0,0,0,0,0
$GC,1634,-0.84,-219.0,287.7,-15.7,198,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2775,3860,0,0,0,0,0,0
$GC,1824,-0.84,-219.0,317.8,-15.3,216,1828,0.00,1.62,0.00,0.000,4,0.000,0.050,2515,3790,3861,0,0,0,0,0,0
$GC,1863,-0.84,-219.0,324.3,-15.9,219,1870,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2797,3861,0,0,0,0,0,0
$GC,2061,-0.84,-219.0,355.0,-15.7,238,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2797,3861,0,0,0,0,0,0
$STATE,2186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2186,begin apogee
$GC,2193,-0.16,0.0,375.7,16.4,250,2374,0.68,0.00,175.02,0.971,4,0.121,0.000,2739,2685,2960,0,0,0,0,0,0
$STATE,2374,end apogee,CONTROL_FINISHED_OK
$STATE,2374,begin climb
$GC,2377,0.84,219.0,385.2,0.0,266,2582,1.00,2.38,191.98,0.917,4,0.073,0.032,3070,1313,2067,0,0,0,0,0,0
$GC,2709,0.86,237.4,357.7,12.6,295,2733,0.00,2.40,17.45,0.858,6,0.000,0.041,3070,2701,1992,0,0,0,0,0,0
$GC,2926,0.86,237.4,326.4,14.4,315,2930,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1319,1988,0,0,0,0,0,0
$GC,3105,0.86,237.4,301.4,13.6,330,3113,0.00,2.30,0.00,0.000,6,0.000,0.041,3081,2703,1986,0,0,0,0,0,0
$GC,3303,0.86,237.4,272.2,15.1,349,3307,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3762,1984,0,0,0,0,0,0
$GC,3373,0.86,237.4,260.7,16.8,355,3377,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2731,1984,0,0,0,0,0,0
$GC,3576,0.86,237.4,229.5,14.8,374,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2730,1984,0,0,0,0,0,0
$GC,3704,0.86,237.4,210.8,14.6,386,3707,0.00,1.67,0.00,0.000,4,0.000,0.048,3089,3766,1984,0,0,0,0,0,0
$GC,3742,0.86,237.4,204.4,16.0,389,3750,0.00,1.65,0.00,0.000,6,0.000,0.030,3097,2713,1984,0,0,1,0,0,0
$GC,3877,0.86,237.4,184.3,14.8,402,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2713,1983,0,0,0,0,0,0
$GC,4005,0.86,237.4,165.4,15.1,414,4009,0.00,1.73,0.00,0.000,4,0.000,0.049,3097,3759,1984,0,0,0,0,0,0
$GC,4050,0.86,237.4,157.9,16.5,418,4054,0.00,1.62,0.00,0.000,6,0.000,0.031,3105,2695,1984,0,0,1,0,0,0
$GC,4191,0.86,237.4,136.8,15.0,431,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2695,1983,0,0,0,0,0,0
$GC,4319,0.86,237.4,117.4,15.4,443,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2695,1984,0,0,0,0,0,0
$GC,4446,0.86,237.4,97.4,15.3,456,4452,0.00,1.75,0.00,0.000,4,0.000,0.049,3105,3780,1984,0,0,0,0,0,0
$GC,4488,0.86,237.4,90.2,18.2,463,4496,0.10,1.62,0.00,0.000,6,0.138,0.031,3070,2744,1983,0,0,1,0,0,0
$GC,4633,0.86,237.4,70.4,13.8,488,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2744,1983,0,0,0,0,0,0
$GC,4773,0.87,244.7,51.4,13.0,513,4787,0.00,0.00,6.68,0.723,6,0.000,0.000,3069,2744,1961,0,0,0,0,0,0
$GC,4924,0.89,258.2,31.7,12.8,539,4943,0.00,0.00,13.10,0.763,6,0.000,0.000,3069,2744,1908,0,0,0,0,0,0
$GC,5075,0.89,258.2,11.5,13.5,566,5083,0.00,1.67,0.00,0.000,4,0.000,0.049,3069,3758,1907,0,0,0,0,0,0
$FREEZE,8.86,-0.499,-1.895,2,1,0
$FREEZE,8.11,-0.496,-1.894,2,1,0
$FREEZE,7.49,-0.502,-1.894,2,1,0
$FREEZE,6.69,-0.506,-1.894,2,1,0
$FREEZE,5.92,-0.504,-1.893,2,1,0
$FREEZE,5.19,-0.513,-1.892,2,1,0
$FREEZE,4.44,-0.502,-1.892,2,1,0
$FREEZE,3.69,-0.498,-1.891,2,1,0
$GC,5133,0.89,258.2,3.7,15.1,576,5140,0.00,1.60,0.00,0.000,6,0.000,0.031,3076,2734,1907,0,0,1,0,0,0
$FREEZE,1.48,-0.502,-1.889,2,1,0
$STATE,5145,end climb,SURFACE_DEPTH_REACHED
$STATE,5146,begin surface coast
$FREEZE,0.82,-0.501,-1.889,2,1,0
$FREEZE,-0.10,-0.493,-1.888,2,1,0
$FREEZE,-0.09,-0.500,-1.887,2,1,0
$FREEZE,-0.11,-0.597,-1.864,2,1,0
$FINISH,-0.1,1.027308
$STATE,5169,end surface coast,CONTROL_FINISHED_OK
$STATE,5169,begin surface
$SM_CCo,5186,29.90,0.101,0,0,1655,320.11
$SM_GC,1.04,0.00,0.00,29.90,0.000,0.000,0.101,170,2791,1655,-8.22,0.31,320.11
$IRIDIUM_FIX,-7545.40,17540.34,040111,101052
$TT8_MAMPS,0.026964
$HUMID,53.18
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,22.3,56.571
$10V_AH,9.9,22.153
$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,18.425,40.275,404.225,29.900,0.000,22.225,36.122,140.916,1.000,0.000,17.183,1428.317,2208.297,494.691,1222.983,199.121,0.000,1088.558,0.000,968.232,0.000,7.758,0.000
$DEVICE_MAMPS,211.140,104.805,970.785,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.043,745.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,37071,582
$CAP_FILE_SIZE,78172,0
$CFSIZE,260165632,226045952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.248,102.6,1
$GPS,040111,133126,-7635.004,17545.430,17,1.6,18,124.4