version: 66.08
glider: 503
mission: 7
dive: 577
start: 1 5 111 3 51 13
data:
$ID,503
$MISSION,7
$DIVE,577
$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,-20232.803
$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,37
$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
$GPS1,050111,034506,-7638.756,17534.496,37,1.1,37,124.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-72.1
$GPS2,050111,035044,-7638.764,17534.344,13,1.1,13,124.9
$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,80.9,33338,-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,-219.0,0.0,0.0,0,115,0.00,0.00,-95.60,0.000,2,0.000,0.000,185,2791,3585,0,0,0,0,0,0
$GC,119,-0.84,-219.0,4.1,-10.9,16,141,8.90,2.30,-5.15,0.000,4,0.207,0.044,2526,1372,3856,0,0,1,0,0,0
$GC,165,-0.84,-219.0,21.6,-29.2,23,172,0.00,2.30,0.00,0.000,6,0.000,0.044,2516,2774,3858,0,0,0,0,0,0
$GC,307,-0.84,-219.0,46.5,-17.2,48,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3860,0,0,0,0,0,0
$GC,449,-0.84,-219.0,70.9,-17.1,73,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3859,0,0,0,0,0,0
$GC,590,-0.84,-219.0,96.2,-18.7,98,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3859,0,0,0,0,0,0
$GC,731,-0.84,-219.0,122.4,-18.7,113,735,0.00,2.20,0.00,0.000,4,0.000,0.032,2516,1375,3860,0,0,0,0,0,0
$GC,771,-0.84,-219.0,129.8,-18.4,116,775,0.00,2.28,0.00,0.000,6,0.000,0.044,2506,2783,3860,0,0,0,0,0,0
$GC,905,-0.84,-219.0,155.6,-19.2,128,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3860,0,0,0,0,0,0
$GC,1033,-0.84,-219.0,179.8,-18.7,140,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3860,0,0,0,0,0,0
$GC,1160,-0.84,-219.0,202.8,-18.1,152,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3860,0,0,0,0,0,0
$GC,1287,-0.84,-219.0,225.2,-17.5,164,1291,0.00,2.22,0.00,0.000,4,0.000,0.031,2506,1369,3860,0,0,0,0,0,0
$GC,1323,-0.84,-219.0,231.2,-16.8,167,1328,0.12,2.30,0.00,0.000,6,0.151,0.044,2531,2785,3860,0,0,0,0,0,0
$GC,1459,-0.84,-219.0,251.3,-14.4,179,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2785,3860,0,0,0,0,0,0
$GC,1649,-0.84,-219.0,280.4,-15.8,197,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2785,3860,0,0,0,0,0,0
$GC,1839,-0.84,-219.0,309.9,-15.2,215,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2785,3860,0,0,0,0,0,0
$GC,2029,-0.84,-219.0,337.0,-13.9,233,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2785,3860,0,0,0,0,0,0
$GC,2222,-0.84,-219.0,365.7,-15.6,251,2226,0.00,1.58,0.00,0.000,4,0.000,0.048,2524,3766,3860,0,0,0,0,0,0
$GC,2268,-0.84,-219.0,373.3,-16.4,255,2272,0.00,1.55,0.00,0.000,6,0.000,0.030,2524,2772,3860,0,0,0,0,0,0
$STATE,2278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2278,begin apogee
$GC,2284,-0.16,0.0,375.2,16.6,256,2465,0.65,0.00,175.23,0.966,4,0.116,0.000,2743,2694,2959,0,0,0,0,0,0
$STATE,2466,end apogee,CONTROL_FINISHED_OK
$STATE,2466,begin climb
$GC,2469,0.84,219.0,385.3,0.0,272,2668,0.95,0.00,192.00,0.916,6,0.072,0.000,3067,2694,2067,0,0,0,0,0,0
$GC,2867,0.84,219.0,344.1,13.9,309,2871,0.00,1.83,0.00,0.000,4,0.000,0.047,3066,3771,2058,0,0,0,0,0,0
$GC,2970,0.84,219.0,328.1,16.0,318,2973,0.00,1.67,0.00,0.000,6,0.000,0.029,3075,2707,2057,0,0,1,0,0,0
$GC,3173,0.84,219.0,297.5,14.5,337,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2707,2056,0,0,0,0,0,0
$GC,3364,0.84,219.0,271.2,13.7,355,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2707,2055,0,0,0,0,0,0
$GC,3556,0.84,223.9,245.4,13.1,373,3560,0.00,1.70,0.00,0.000,4,0.000,0.048,3075,3766,2054,0,0,0,0,0,0
$GC,3606,0.84,223.9,237.6,15.7,377,3613,0.00,1.67,0.00,0.000,6,0.000,0.029,3083,2709,2053,0,0,0,0,0,0
$GC,3741,0.84,223.9,217.5,15.4,390,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2708,2053,0,0,0,0,0,0
$GC,3868,0.84,223.9,197.3,15.7,402,3871,0.00,1.70,0.00,0.000,4,0.000,0.049,3084,3772,2053,0,0,0,0,0,0
$GC,3902,0.84,223.9,191.2,18.7,405,3906,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2704,2053,0,0,0,0,0,0
$GC,4042,0.84,223.9,168.2,16.1,418,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2703,2052,0,0,0,0,0,0
$GC,4170,0.84,223.9,149.1,14.3,430,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2703,2053,0,0,0,0,0,0
$GC,4297,0.84,223.9,131.2,13.9,442,4300,0.00,1.70,0.00,0.000,4,0.000,0.047,3092,3769,2052,0,0,0,0,0,0
$GC,4345,0.84,223.9,123.2,16.1,446,4353,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2725,2052,0,0,0,0,0,0
$GC,4481,0.84,223.9,103.6,14.2,459,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2725,2052,0,0,0,0,0,0
$GC,4612,0.84,223.9,84.1,15.1,480,4619,0.00,1.70,0.00,0.000,4,0.000,0.048,3101,3765,2052,0,0,0,0,0,0
$GC,4654,0.84,223.9,77.1,16.7,487,4662,0.10,1.65,0.00,0.000,6,0.140,0.032,3063,2727,2052,0,0,0,0,0,0
$GC,4799,0.88,255.1,59.4,12.1,512,4836,0.00,0.00,30.38,0.789,6,0.000,0.000,3063,2727,1920,0,0,0,0,0,0
$GC,4971,0.91,280.7,38.0,12.3,542,4997,0.00,0.00,24.12,0.757,6,0.000,0.000,3064,2726,1815,0,0,0,0,0,0
$GC,5134,0.94,299.1,17.6,12.6,570,5154,0.10,0.00,17.38,0.735,6,0.096,0.000,3117,2726,1740,0,0,0,0,0,0
$FREEZE,8.72,-0.504,-1.899,2,1,0
$FREEZE,7.70,-0.482,-1.898,2,1,0
$FREEZE,6.39,-0.436,-1.895,2,1,0
$FREEZE,5.40,-0.438,-1.894,2,1,0
$FREEZE,4.50,-0.446,-1.894,2,1,0
$FREEZE,3.45,-0.445,-1.893,2,1,0
$FREEZE,2.46,-0.452,-1.892,2,1,0
$STATE,5222,end climb,SURFACE_DEPTH_REACHED
$STATE,5222,begin surface coast
$FREEZE,0.80,-0.438,-1.891,2,1,0
$FREEZE,-0.04,-0.442,-1.890,2,1,0
$FREEZE,-0.05,-0.438,-1.890,2,1,0
$FINISH,-0.0,1.027675
$STATE,5240,end surface coast,CONTROL_FINISHED_OK
$STATE,5240,begin surface
$SM_CCo,5257,9.88,0.103,0,0,1655,320.11
$SM_GC,1.14,0.00,0.00,9.88,0.000,0.000,0.103,181,2796,1655,-8.18,0.42,320.11
$IRIDIUM_FIX,-7519.49,-17451.62,050111,020203
$TT8_MAMPS,0.027713
$HUMID,52.12
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,351.1,46.2
$24V_AH,22.2,57.757
$10V_AH,9.9,22.624
$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,18.600,33.825,439.100,9.875,0.000,29.840,44.683,142.499,1.250,0.000,15.705,1423.615,2299.158,478.268,1221.672,195.635,0.000,1070.495,0.000,951.872,0.000,12.065,0.000
$DEVICE_MAMPS,207.315,100.215,966.195,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.073,749.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37107,588
$CAP_FILE_SIZE,77130,0
$CFSIZE,260165632,225607680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.114,237.5,1
$GPS,050111,052002,-7639.851,17531.297,21,1.3,21,125.1