version: 66.08
glider: 503
mission: 7
dive: 573
start: 1 4 111 21 37 28
data:
$ID,503
$MISSION,7
$DIVE,573
$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,-20227.77
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,040111,213100,-7635.840,17542.486,46,1.0,47,124.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-74.4
$GPS2,040111,213658,-7635.818,17542.537,15,2.9,34,124.5
$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,91.5,39750,-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,-219.0,0.0,0.0,0,113,0.00,0.00,-94.25,0.000,2,0.000,0.000,173,2788,3544,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.9,-9.9,16,138,8.98,2.30,-6.07,0.000,4,0.210,0.044,2521,1373,3856,0,0,1,0,0,0
$GC,201,-0.84,-219.0,27.7,-16.4,30,208,0.00,2.30,0.00,0.000,6,0.000,0.043,2510,2775,3859,0,0,0,0,0,0
$GC,345,-0.84,-219.0,54.0,-17.9,55,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2775,3860,0,0,0,0,0,0
$GC,486,-0.84,-219.0,79.7,-18.8,80,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2775,3859,0,0,0,0,0,0
$GC,631,-0.84,-219.0,106.0,-18.0,103,634,0.00,1.60,0.00,0.000,4,0.000,0.050,2503,3758,3859,0,0,0,0,0,0
$GC,681,-0.84,-219.0,115.9,-18.4,107,688,0.00,1.52,0.00,0.000,6,0.000,0.030,2503,2784,3859,0,0,0,0,0,0
$GC,815,-0.84,-219.0,140.3,-18.5,120,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3860,0,0,0,0,0,0
$GC,943,-0.84,-219.0,163.8,-18.5,132,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3860,0,0,0,0,0,0
$GC,1071,-0.84,-219.0,187.3,-18.9,144,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3860,0,0,0,0,0,0
$GC,1197,-0.84,-219.0,210.4,-18.0,156,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3860,0,0,0,0,0,0
$GC,1325,-0.84,-219.0,232.9,-17.6,168,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3861,0,0,0,0,0,0
$GC,1453,-0.84,-219.0,255.1,-17.1,180,1456,0.00,1.60,0.00,0.000,4,0.000,0.050,2495,3762,3860,0,0,0,0,0,0
$GC,1490,-0.84,-219.0,262.4,-18.5,183,1498,0.08,1.52,0.00,0.000,6,0.142,0.030,2521,2783,3860,0,0,0,0,0,0
$GC,1691,-0.84,-219.0,293.4,-15.8,202,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2783,3860,0,0,0,0,0,0
$GC,1890,-0.84,-219.0,325.2,-15.8,221,1893,0.00,1.60,0.00,0.000,4,0.000,0.050,2515,3762,3860,0,0,0,0,0,0
$GC,1928,-0.84,-219.0,332.0,-16.9,224,1935,0.00,1.50,0.00,0.000,6,0.000,0.030,2515,2796,3861,0,0,0,0,0,0
$GC,2128,-0.84,-219.0,364.3,-16.4,243,2132,0.00,2.22,0.00,0.000,4,0.000,0.032,2515,1367,3860,0,0,0,0,0,0
$GC,2168,-0.84,-219.0,370.9,-15.6,246,2172,0.00,2.30,0.00,0.000,6,0.000,0.044,2505,2792,3860,0,0,0,0,0,0
$STATE,2193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2193,begin apogee
$GC,2199,-0.16,0.0,375.1,15.3,248,2380,0.73,0.00,175.27,0.967,4,0.120,0.000,2744,2700,2959,0,0,0,0,0,0
$STATE,2381,end apogee,CONTROL_FINISHED_OK
$STATE,2381,begin climb
$GC,2384,0.84,219.0,384.9,0.0,264,2587,0.98,2.42,192.43,0.916,4,0.071,0.033,3069,1296,2067,0,0,0,0,0,0
$GC,2704,0.88,249.3,359.1,12.1,292,2738,0.00,2.45,28.70,0.875,6,0.000,0.040,3069,2703,1943,0,0,0,0,0,0
$GC,2931,0.88,249.3,327.2,14.4,313,2935,0.00,2.35,0.00,0.000,4,0.000,0.034,3080,1299,1938,0,0,0,0,0,0
$GC,3105,0.88,249.3,303.0,13.7,328,3109,0.00,2.35,0.00,0.000,6,0.000,0.041,3080,2713,1936,0,0,0,0,0,0
$GC,3305,0.88,249.3,273.0,15.3,346,3309,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3773,1935,0,0,0,0,0,0
$GC,3365,0.88,249.3,262.2,17.1,351,3373,0.00,1.67,0.00,0.000,6,0.000,0.029,3087,2708,1935,0,0,1,0,0,0
$GC,3564,0.88,249.3,231.3,15.4,370,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2708,1934,0,0,0,0,0,0
$GC,3691,0.88,249.3,211.5,15.2,382,3695,0.00,1.75,0.00,0.000,4,0.000,0.048,3087,3767,1934,0,0,0,0,0,0
$GC,3736,0.88,249.3,203.7,18.3,386,3739,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2702,1933,0,0,0,0,0,0
$GC,3877,0.88,249.3,180.9,16.0,399,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2701,1933,0,0,0,0,0,0
$GC,4003,0.88,249.3,160.8,15.9,411,4007,0.00,1.70,0.00,0.000,4,0.000,0.049,3096,3764,1933,0,0,0,0,0,0
$GC,4042,0.88,249.3,153.6,18.0,414,4050,0.00,1.65,0.00,0.000,6,0.000,0.031,3104,2730,1933,0,0,0,0,0,0
$GC,4177,0.88,249.3,131.5,15.9,427,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2730,1933,0,0,0,0,0,0
$GC,4304,0.88,249.3,111.0,16.1,439,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2729,1933,0,0,0,0,0,0
$GC,4433,0.88,249.3,90.2,16.5,456,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2729,1933,0,0,0,0,0,0
$GC,4574,0.88,249.3,68.4,15.6,481,4581,0.00,1.70,0.00,0.000,4,0.000,0.049,3104,3767,1933,0,0,0,0,0,0
$GC,4633,0.88,249.3,58.4,17.4,491,4640,0.08,1.65,0.00,0.000,6,0.143,0.031,3086,2727,1932,0,0,0,0,0,0
$GC,4776,0.88,249.3,38.2,14.2,516,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2727,1933,0,0,0,0,0,0
$GC,4916,0.88,249.3,18.1,14.0,541,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2727,1932,0,0,0,0,0,0
$FREEZE,8.38,-0.593,-1.898,2,1,0
$FREEZE,7.67,-0.586,-1.898,2,1,0
$FREEZE,6.94,-0.591,-1.897,2,1,0
$FREEZE,6.15,-0.592,-1.897,2,1,0
$FREEZE,5.44,-0.591,-1.896,2,1,0
$FREEZE,4.69,-0.584,-1.895,2,1,0
$FREEZE,3.97,-0.583,-1.895,2,1,0
$FREEZE,3.25,-0.579,-1.894,2,1,0
$FREEZE,2.51,-0.585,-1.894,2,1,0
$STATE,5026,end climb,SURFACE_DEPTH_REACHED
$STATE,5026,begin surface coast
$FREEZE,1.44,-0.584,-1.893,2,1,0
$FREEZE,0.72,-0.583,-1.892,2,1,0
$FREEZE,-0.14,-0.576,-1.892,2,1,0
$FREEZE,-0.01,-0.594,-1.079,2,1,0
$FINISH,-0.0,1.015957
$STATE,5049,end surface coast,CONTROL_FINISHED_OK
$STATE,5049,begin surface
$SM_CCo,5066,32.80,0.100,0,0,1655,320.11
$SM_GC,0.85,0.00,0.00,32.80,0.000,0.000,0.100,181,2801,1655,-8.19,0.59,320.11
$IRIDIUM_FIX,-7545.40,17549.58,040111,191909
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,22.2,57.280
$10V_AH,9.8,22.438
$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,18.500,41.750,396.400,32.800,0.000,22.703,43.506,146.294,1.250,0.000,37.878,1387.662,2153.042,492.280,1240.284,195.771,0.000,1081.545,0.000,954.451,0.000,7.757,0.000
$DEVICE_MAMPS,209.610,97.920,966.960,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.149,723.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37152,565
$CAP_FILE_SIZE,76810,0
$CFSIZE,260165632,225779712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.121, 45.1,1
$GPS,040111,230336,-7636.239,17541.352,11,1.1,28,124.6