version: 66.08
glider: 503
mission: 7
dive: 787
start: 1 19 111 22 33 7
data:
$ID,503
$MISSION,7
$DIVE,787
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,250
$T_MISSION,300
$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,175
$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,250
$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,-20520.369
$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,50
$R_STBD_OVSHOOT,26
$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
$GPS1,190111,222537,-7637.337,17538.678,44,0.9,45,124.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-75.4
$GPS2,190111,223238,-7637.317,17538.686,12,1.5,12,124.7
$SPEED_LIMITS,0.173,0.278
$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,71.4,36545,-16.1,-10.000
$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,-0.71,-170.3,0.0,0.0,0,94,0.00,0.00,-75.12,0.000,2,0.000,0.000,188,2753,3539,0,0,0,0,0,0
$GC,98,-0.71,-170.3,4.0,-9.9,13,119,9.15,1.67,-2.38,0.000,4,0.207,0.060,2556,3774,3660,0,0,0,0,0,0
$GC,148,-0.71,-170.3,21.9,-22.6,21,155,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2777,3661,0,0,0,0,0,0
$GC,289,-0.71,-170.3,43.0,-15.4,46,296,0.00,2.20,0.00,0.000,4,0.000,0.031,2555,1379,3662,0,0,0,0,0,0
$GC,327,-0.71,-170.3,48.5,-14.3,52,334,0.00,2.30,0.00,0.000,6,0.000,0.044,2547,2786,3662,0,0,0,0,0,0
$GC,468,-0.71,-170.3,69.3,-14.7,77,475,0.00,1.60,0.00,0.000,4,0.000,0.050,2547,3761,3662,0,0,0,0,0,0
$GC,521,-0.71,-170.3,77.1,-14.5,86,528,0.00,1.55,0.00,0.000,6,0.000,0.029,2547,2778,3662,0,0,0,0,0,0
$GC,663,-0.71,-170.3,97.7,-14.2,111,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2778,3662,0,0,0,0,0,0
$GC,800,-0.71,-170.3,117.9,-15.0,125,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2778,3663,0,0,0,0,0,0
$GC,928,-0.71,-170.3,136.4,-14.6,137,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2778,3663,0,0,0,0,0,0
$GC,1055,-0.71,-170.3,154.6,-14.4,149,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2779,3663,0,0,0,0,0,0
$GC,1182,-0.71,-170.3,172.7,-14.2,161,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2779,3663,0,0,0,0,0,0
$GC,1311,-0.71,-170.3,190.7,-14.3,173,1315,0.00,1.62,0.00,0.000,4,0.000,0.048,2539,3762,3663,0,0,0,0,0,0
$GC,1360,-0.71,-170.3,198.4,-15.4,177,1367,0.00,1.55,0.00,0.000,6,0.000,0.029,2540,2778,3662,0,0,0,0,0,0
$GC,1495,-0.71,-170.3,217.8,-14.4,190,1497,0.10,0.00,0.00,0.000,6,0.174,0.000,2568,2778,3663,0,0,0,0,0,0
$GC,1623,-0.71,-170.3,234.2,-12.7,202,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2778,3663,0,0,0,0,0,0
$GC,1749,-0.71,-170.3,249.9,-12.4,214,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2778,3663,0,0,0,0,0,0
$GC,1876,-0.71,-170.3,265.1,-11.8,226,1880,0.00,1.62,0.00,0.000,4,0.000,0.048,2562,3789,3663,0,0,0,0,0,0
$GC,1916,-0.71,-170.3,270.2,-12.7,229,1923,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2781,3662,0,0,0,0,0,0
$GC,2115,-0.71,-170.3,294.2,-12.1,248,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3663,0,0,0,0,0,0
$GC,2305,-0.71,-170.3,317.0,-11.8,266,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2781,3663,0,0,0,0,0,0
$GC,2498,-0.71,-170.3,339.8,-11.6,284,2501,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3765,3663,0,0,0,0,0,0
$GC,2544,-0.71,-170.3,345.4,-12.1,288,2548,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2788,3662,0,0,0,0,0,0
$GC,2749,-0.71,-170.3,369.7,-11.9,307,2753,0.00,2.20,0.00,0.000,4,0.000,0.033,2562,1374,3662,0,0,0,0,0,0
$GC,2789,-0.71,-170.3,374.6,-11.7,310,2793,0.00,2.08,0.00,0.000,3,0.000,0.043,2560,2663,3662,0,0,0,0,0,0
$STATE,2794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2794,begin apogee
$GC,2800,-0.16,0.0,375.3,11.1,310,2945,0.55,0.00,140.05,0.978,4,0.115,0.000,2745,2701,2959,0,0,0,0,0,0
$STATE,2946,end apogee,CONTROL_FINISHED_OK
$STATE,2946,begin climb
$GC,2949,0.71,170.3,381.6,0.0,323,3113,0.85,2.35,150.88,0.928,4,0.072,0.034,3031,1300,2265,0,0,1,0,0,0
$GC,3119,0.78,229.1,375.5,7.7,338,3183,0.00,2.55,56.70,0.892,6,0.000,0.041,3030,2704,2025,0,0,0,0,0,0
$GC,3373,0.78,229.1,349.8,10.5,362,3376,0.00,1.80,0.00,0.000,4,0.000,0.049,3031,3766,2021,0,0,0,0,0,0
$GC,3412,0.78,229.1,345.1,12.0,365,3419,0.00,1.70,0.00,0.000,6,0.000,0.030,3038,2708,2021,0,0,1,0,0,0
$GC,3612,0.78,229.1,323.5,10.8,384,3616,0.00,1.75,0.00,0.000,4,0.000,0.049,3038,3771,2019,0,0,0,0,0,0
$GC,3648,0.78,229.1,318.9,12.6,387,3651,0.00,1.67,0.00,0.000,6,0.000,0.030,3045,2709,2019,0,0,0,0,0,0
$GC,3852,0.78,229.1,295.8,10.9,406,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2708,2018,0,0,0,0,0,0
$GC,4045,0.78,229.1,274.4,11.2,424,4048,0.00,1.70,0.00,0.000,4,0.000,0.048,3046,3767,2018,0,0,0,0,0,0
$GC,4102,0.78,229.1,267.1,13.3,429,4106,0.00,1.65,0.00,0.000,6,0.000,0.029,3052,2701,2017,0,0,0,0,0,0
$GC,4307,0.78,229.1,243.5,11.4,448,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2701,2017,0,0,0,0,0,0
$GC,4434,0.78,229.1,229.0,11.4,460,4438,0.00,1.75,0.00,0.000,4,0.000,0.049,3053,3760,2016,0,0,0,0,0,0
$GC,4473,0.78,229.1,223.8,12.6,463,4481,0.00,1.65,0.00,0.000,6,0.000,0.031,3060,2723,2016,0,0,0,0,0,0
$GC,4608,0.78,229.1,208.0,11.4,476,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2723,2016,0,0,0,0,0,0
$GC,4736,0.78,229.1,193.5,11.6,488,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2723,2015,0,0,0,0,0,0
$GC,4864,0.78,229.1,179.0,11.4,500,4868,0.00,1.73,0.00,0.000,4,0.000,0.049,3060,3768,2015,0,0,0,0,0,0
$GC,4933,0.78,229.1,170.0,13.3,506,4936,0.00,1.65,0.00,0.000,6,0.000,0.030,3068,2728,2015,0,0,0,0,0,0
$GC,5072,0.78,229.1,153.5,11.8,519,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2726,2015,0,0,0,0,0,0
$GC,5200,0.78,229.1,138.5,11.7,531,5204,0.00,1.67,0.00,0.000,4,0.000,0.049,3067,3770,2015,0,0,0,0,0,0
$GC,5239,0.78,229.1,133.3,13.3,534,5245,0.00,1.65,0.00,0.000,6,0.000,0.029,3076,2729,2015,0,0,0,0,0,0
$GC,5373,0.78,229.1,116.5,12.6,547,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2729,2015,0,0,0,0,0,0
$GC,5501,0.78,229.1,100.6,12.5,559,5505,0.00,1.70,0.00,0.000,4,0.000,0.048,3076,3763,2015,0,0,0,0,0,0
$GC,5537,0.78,229.1,95.7,14.1,564,5544,0.08,1.62,0.00,0.000,6,0.134,0.030,3055,2736,2015,0,0,0,0,0,0
$GC,5681,0.78,229.1,79.6,10.4,589,5688,0.00,2.28,0.00,0.000,4,0.000,0.035,3065,1301,2014,0,0,0,0,0,0
$GC,5724,0.78,229.1,75.0,10.7,596,5731,0.00,2.30,0.00,0.000,6,0.000,0.042,3064,2729,2014,0,0,0,0,0,0
$GC,5867,0.78,229.1,58.5,11.7,621,5874,0.00,1.70,0.00,0.000,4,0.000,0.050,3065,3765,2014,0,0,0,0,0,0
$GC,5932,0.78,229.1,49.7,14.0,632,5939,0.00,1.62,0.00,0.000,6,0.000,0.029,3073,2737,2013,0,0,0,0,0,0
$GC,6073,0.78,229.1,31.8,13.0,657,6080,0.00,2.28,0.00,0.000,4,0.000,0.035,3084,1302,2013,0,0,0,0,0,0
$GC,6098,0.78,229.1,28.6,12.3,661,6106,0.12,2.33,0.00,0.000,6,0.145,0.042,3049,2741,2013,0,0,0,0,0,0
$GC,6242,0.78,229.1,12.5,11.3,686,6248,0.00,1.67,0.00,0.000,4,0.000,0.050,3049,3763,2013,0,0,0,0,0,0
$FREEZE,8.38,-0.161,-1.895,2,1,0
$FREEZE,7.75,-0.159,-1.895,2,1,0
$GC,6284,0.78,229.1,7.8,12.2,693,6290,0.00,1.62,0.00,0.000,6,0.000,0.031,3056,2737,2013,0,0,0,0,0,0
$FREEZE,5.85,-0.148,-1.893,2,1,0
$FREEZE,5.30,-0.136,-1.893,2,1,0
$FREEZE,4.72,-0.137,-1.892,2,1,0
$FREEZE,4.10,-0.135,-1.892,2,1,0
$FREEZE,3.54,-0.132,-1.892,2,1,0
$FREEZE,3.03,-0.126,-1.891,2,1,0
$FREEZE,2.27,-0.100,-1.890,2,1,0
$STATE,6327,end climb,SURFACE_DEPTH_REACHED
$STATE,6327,begin surface coast
$FREEZE,1.73,-0.088,-1.890,2,1,0
$FREEZE,1.30,-0.070,-1.889,2,1,0
$FREEZE,0.62,-0.055,-1.889,2,1,0
$FREEZE,0.03,-0.000,-1.888,2,1,0
$FREEZE,-0.01,-0.054,-1.892,2,1,0
$FINISH,-0.0,1.027686
$STATE,6357,end surface coast,CONTROL_FINISHED_OK
$STATE,6357,begin surface
$SM_CCo,6375,7.90,0.103,0,0,1940,250.20
$SM_GC,2.35,0.00,0.00,7.90,0.000,0.000,0.103,187,2789,1940,-8.17,0.23,250.20
$IRIDIUM_FIX,-7554.21,17548.90,190111,202014
$TT8_MAMPS,0.026964
$HUMID,53.42
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.2
$ALTIM_BOTTOM_PING,350.8,51.9
$24V_AH,21.7,83.182
$10V_AH,9.8,33.099
$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,18.425,69.200,347.625,7.900,0.000,30.299,44.249,188.448,1.250,0.000,15.003,1765.843,2840.163,446.127,1443.133,314.015,0.000,1134.788,0.000,1132.230,0.000,10.603,0.000
$DEVICE_MAMPS,206.550,215.730,977.670,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.469,902.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258168
$DATA_FILE_SIZE,46996,706
$CAP_FILE_SIZE,97082,0
$CFSIZE,260165632,215896064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.091, 28.0,1
$GPS,200111,002032,-7638.033,17538.082,18,1.8,19,124.8