version: 66.08
glider: 503
mission: 7
dive: 574
start: 1 4 111 23 9 47
data:
$ID,503
$MISSION,7
$DIVE,574
$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,-20229.029
$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,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
$GPS1,040111,230336,-7636.239,17541.352,11,1.1,28,124.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.1
$GPS2,040111,230916,-7636.240,17541.361,10,2.2,29,124.6
$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,88.4,38830,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-95.07,0.000,2,0.000,0.000,181,2802,3559,0,0,0,0,0,0
$GC,117,-0.84,-219.0,4.0,-10.6,16,137,9.02,0.00,-5.72,0.000,6,0.211,0.000,2526,2802,3856,0,0,0,0,0,0
$GC,274,-0.84,-219.0,41.4,-18.5,43,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2802,3860,0,0,0,0,0,0
$GC,414,-0.84,-219.0,66.6,-17.8,68,421,0.00,2.28,0.00,0.000,4,0.000,0.031,2526,1368,3859,0,0,0,0,0,0
$GC,451,-0.84,-219.0,72.8,-16.4,74,459,0.00,2.28,0.00,0.000,6,0.000,0.044,2516,2765,3860,0,0,0,0,0,0
$GC,595,-0.84,-219.0,98.2,-17.8,99,602,0.00,1.62,0.00,0.000,4,0.000,0.050,2508,3758,3860,0,0,0,0,0,0
$GC,633,-0.84,-219.0,105.3,-19.2,103,637,0.00,1.55,0.00,0.000,6,0.000,0.030,2508,2775,3860,0,0,0,0,0,0
$GC,773,-0.84,-219.0,131.6,-18.0,116,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2774,3860,0,0,0,0,0,0
$GC,900,-0.84,-219.0,154.7,-18.1,128,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2774,3860,0,0,0,0,0,0
$GC,1028,-0.84,-219.0,176.6,-17.1,140,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2774,3860,0,0,0,0,0,0
$GC,1155,-0.84,-219.0,198.9,-17.7,152,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2774,3860,0,0,0,0,0,0
$GC,1282,-0.84,-219.0,220.9,-17.2,164,1286,0.00,1.62,0.00,0.000,4,0.000,0.050,2500,3762,3860,0,0,0,0,0,0
$GC,1321,-0.84,-219.0,228.2,-18.5,167,1328,0.00,1.55,0.00,0.000,6,0.000,0.031,2500,2773,3860,0,0,0,0,0,0
$GC,1458,-0.84,-219.0,251.6,-17.1,180,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3861,0,0,0,0,0,0
$GC,1657,-0.84,-219.0,286.1,-16.9,199,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2774,3861,0,0,0,0,0,0
$GC,1848,-0.84,-219.0,319.1,-17.1,217,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3860,0,0,0,0,0,0
$GC,2043,-0.84,-219.0,351.7,-16.9,235,2047,0.00,1.60,0.00,0.000,4,0.000,0.050,2493,3752,3860,0,0,0,0,0,0
$GC,2082,-0.84,-219.0,359.8,-18.6,238,2090,0.08,1.50,0.00,0.000,6,0.139,0.030,2520,2791,3860,0,0,0,0,0,0
$STATE,2182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2182,begin apogee
$GC,2189,-0.16,0.0,375.7,15.6,248,2370,0.68,0.00,175.48,0.968,4,0.119,0.000,2743,2687,2959,0,0,0,0,0,0
$STATE,2371,end apogee,CONTROL_FINISHED_OK
$STATE,2371,begin climb
$GC,2374,0.84,219.0,385.2,0.0,264,2575,0.98,2.38,192.35,0.916,4,0.073,0.032,3068,1315,2066,0,0,0,0,0,0
$GC,2712,0.85,227.8,357.4,13.0,294,2727,0.00,2.40,8.55,0.791,6,0.000,0.040,3069,2705,2030,0,0,0,0,0,0
$GC,2928,0.85,227.8,328.3,13.4,314,2933,0.00,2.30,0.00,0.000,4,0.000,0.033,3080,1315,2027,0,0,0,0,0,0
$GC,3115,0.88,251.2,304.2,12.4,330,3142,0.00,2.30,21.75,0.878,6,0.000,0.042,3079,2709,1935,0,0,0,0,0,0
$GC,3335,0.88,251.2,273.1,14.2,350,3339,0.00,1.67,0.00,0.000,4,0.000,0.047,3079,3762,1933,0,0,0,0,0,0
$GC,3396,0.88,251.2,263.2,16.0,355,3403,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2730,1932,0,0,0,0,0,0
$GC,3595,0.88,251.2,235.1,14.1,374,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2730,1931,0,0,0,0,0,0
$GC,3722,0.88,251.2,217.6,13.7,386,3726,0.00,1.70,0.00,0.000,4,0.000,0.048,3087,3761,1931,0,0,0,0,0,0
$GC,3778,0.88,251.2,209.2,15.3,391,3782,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2696,1931,0,0,0,0,0,0
$GC,3919,0.88,251.2,188.7,14.8,404,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2695,1931,0,0,0,0,0,0
$GC,4045,0.88,251.2,170.7,13.7,416,4049,0.00,1.75,0.00,0.000,4,0.000,0.048,3095,3762,1930,0,0,0,0,0,0
$GC,4079,0.88,251.2,165.4,15.8,419,4083,0.00,1.65,0.00,0.000,6,0.000,0.031,3104,2726,1930,0,0,0,0,0,0
$GC,4218,0.88,251.2,144.1,14.9,432,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2724,1930,0,0,0,0,0,0
$GC,4346,0.88,251.2,124.8,15.9,444,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2724,1930,0,0,0,0,0,0
$GC,4473,0.88,251.2,104.5,15.7,456,4477,0.00,1.70,0.00,0.000,4,0.000,0.049,3104,3762,1930,0,0,0,0,0,0
$GC,4513,0.88,251.2,97.5,18.0,460,4520,0.00,1.62,0.00,0.000,6,0.000,0.031,3112,2736,1929,0,0,0,0,0,0
$GC,4657,0.88,251.2,74.6,16.1,485,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2736,1929,0,0,0,0,0,0
$GC,4798,0.88,251.2,52.0,16.7,510,4805,0.00,1.67,0.00,0.000,4,0.000,0.050,3112,3752,1929,0,0,0,0,0,0
$GC,4847,0.88,251.2,43.9,17.2,518,4854,0.10,1.60,0.00,0.000,6,0.139,0.031,3085,2745,1929,0,0,0,0,0,0
$GC,4990,0.88,251.2,23.6,13.8,543,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2745,1929,0,0,0,0,0,0
$FREEZE,8.24,-0.544,-1.899,2,1,0
$FREEZE,7.49,-0.557,-1.899,2,1,0
$FREEZE,6.75,-0.529,-1.898,2,1,0
$FREEZE,5.94,-0.525,-1.897,2,1,0
$FREEZE,5.21,-0.536,-1.897,2,1,0
$FREEZE,4.43,-0.539,-1.896,2,1,0
$FREEZE,3.40,-0.525,-1.895,2,1,0
$GC,5132,0.88,251.2,3.4,14.5,568,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2745,1929,0,0,0,0,0,0
$FREEZE,1.19,-0.497,-1.894,2,1,0
$STATE,5145,end climb,SURFACE_DEPTH_REACHED
$STATE,5145,begin surface coast
$FREEZE,0.15,-0.493,-1.893,2,1,0
$FREEZE,-0.15,-0.518,-0.921,2,1,0
$FREEZE,-0.05,-0.546,-1.803,2,1,0
$FREEZE,-0.15,-0.549,-1.849,2,1,0
$FINISH,-0.2,1.027095
$STATE,5167,end surface coast,CONTROL_FINISHED_OK
$STATE,5168,begin surface
$SM_CCo,5184,32.22,0.100,0,0,1654,320.11
$SM_GC,0.64,0.00,0.00,32.22,0.000,0.000,0.100,187,2745,1654,-8.17,-1.02,320.11
$IRIDIUM_FIX,-7554.21,17607.45,040111,212149
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.3
$24V_AH,22.2,57.397
$10V_AH,9.9,22.484
$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,18.400,40.150,398.125,32.225,0.000,22.312,35.793,143.530,1.250,0.000,33.038,1411.795,2225.104,491.309,1241.680,201.680,0.000,1089.931,0.000,969.332,0.000,10.652,0.000
$DEVICE_MAMPS,211.140,78.795,968.490,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.565,734.983,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36977,574
$CAP_FILE_SIZE,77885,0
$CFSIZE,260165632,225730560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 74.2,1
$GPS,050111,003755,-7636.924,17539.781,13,1.2,31,124.7