version: 66.08
glider: 503
mission: 7
dive: 788
start: 1 20 111 0 31 4
data:
$ID,503
$MISSION,7
$DIVE,788
$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,-20521.625
$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,35
$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
$GPS1,200111,002032,-7638.033,17538.082,18,1.8,19,124.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-76.0
$GPS2,200111,003037,-7638.040,17538.207,30,1.0,30,124.8
$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,82.6,35258,-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,-170.3,0.0,0.0,0,93,0.00,0.00,-74.55,0.000,2,0.000,0.000,186,2789,3523,0,0,0,0,0,0
$GC,97,-0.71,-170.3,4.0,-9.8,12,118,9.30,1.60,-2.72,0.000,4,0.210,0.062,2560,3755,3659,0,0,0,0,0,0
$GC,316,-0.71,-170.3,43.8,-13.7,50,324,0.00,1.55,0.00,0.000,6,0.000,0.028,2560,2773,3662,0,0,0,0,0,0
$GC,459,-0.71,-170.3,62.8,-13.1,75,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3662,0,0,0,0,0,0
$GC,600,-0.71,-170.3,81.4,-13.3,100,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3662,0,0,0,0,0,0
$GC,742,-0.71,-170.3,100.1,-13.3,125,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3662,0,0,0,0,0,0
$GC,868,-0.71,-170.3,117.2,-13.4,137,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3662,0,0,0,0,0,0
$GC,996,-0.71,-170.3,134.3,-13.4,149,1000,0.00,1.62,0.00,0.000,4,0.000,0.048,2552,3754,3662,0,0,0,0,0,0
$GC,1046,-0.71,-170.3,141.5,-14.1,153,1053,0.00,1.52,0.00,0.000,6,0.000,0.028,2552,2780,3662,0,0,0,0,0,0
$GC,1181,-0.71,-170.3,159.8,-14.1,166,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2780,3663,0,0,0,0,0,0
$GC,1308,-0.71,-170.3,177.2,-13.4,178,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2780,3663,0,0,0,0,0,0
$GC,1436,-0.71,-170.3,194.2,-13.4,190,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2780,3663,0,0,0,0,0,0
$GC,1565,-0.71,-170.3,211.2,-13.4,202,1568,0.00,1.60,0.00,0.000,4,0.000,0.049,2548,3748,3663,0,0,0,0,0,0
$GC,1615,-0.71,-170.3,218.5,-13.6,206,1622,0.00,1.48,0.00,0.000,6,0.000,0.028,2547,2802,3663,0,0,0,0,0,0
$GC,1751,-0.71,-170.3,236.3,-13.2,219,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2802,3663,0,0,0,0,0,0
$GC,1878,-0.71,-170.3,253.8,-13.9,231,1882,0.00,2.22,0.00,0.000,4,0.000,0.031,2547,1370,3663,0,0,0,0,0,0
$GC,1911,-0.71,-170.3,258.8,-13.9,233,1918,0.00,2.30,0.00,0.000,6,0.000,0.043,2547,2793,3663,0,0,0,0,0,0
$GC,2109,-0.71,-170.3,285.9,-13.4,252,2113,0.00,1.60,0.00,0.000,4,0.000,0.050,2547,3773,3662,0,0,0,0,0,0
$GC,2160,-0.71,-170.3,293.3,-13.8,256,2167,0.00,1.50,0.00,0.000,6,0.000,0.028,2547,2811,3663,0,0,0,0,0,0
$GC,2359,-0.71,-170.3,320.2,-13.5,275,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2811,3663,0,0,0,0,0,0
$GC,2549,-0.71,-170.3,346.1,-13.4,293,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2811,3662,0,0,0,0,0,0
$GC,2740,-0.71,-170.3,371.7,-13.6,311,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2811,3662,0,0,0,0,0,0
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2777,-0.16,0.0,375.7,13.0,314,2923,0.60,0.00,140.40,0.976,4,0.119,0.000,2746,2688,2959,0,0,0,0,0,0
$STATE,2924,end apogee,CONTROL_FINISHED_OK
$STATE,2924,begin climb
$GC,2927,0.71,170.3,382.4,0.0,327,3090,0.85,2.33,151.07,0.926,4,0.072,0.033,3033,1312,2265,0,0,0,0,0,0
$GC,3273,0.72,180.8,359.7,9.6,357,3287,0.00,2.38,9.70,0.826,6,0.000,0.041,3033,2705,2222,0,0,0,0,0,0
$GC,3490,0.72,180.8,337.7,10.1,377,3494,0.00,2.28,0.00,0.000,4,0.000,0.034,3043,1311,2220,0,0,0,0,0,0
$GC,3668,0.74,195.5,319.6,9.4,392,3688,0.00,2.30,13.93,0.880,6,0.000,0.042,3043,2714,2163,0,0,0,0,0,0
$GC,3880,0.74,195.5,297.7,10.5,412,3884,0.00,1.67,0.00,0.000,4,0.000,0.050,3043,3762,2163,0,0,0,0,0,0
$GC,3961,0.74,195.5,288.1,11.8,419,3964,0.00,1.60,0.00,0.000,6,0.000,0.030,3051,2746,2162,0,0,1,0,0,0
$GC,4165,0.74,195.5,266.1,10.9,438,4168,0.00,1.67,0.00,0.000,4,0.000,0.049,3051,3753,2162,0,0,0,0,0,0
$GC,4211,0.74,195.5,260.6,12.7,442,4215,0.00,1.60,0.00,0.000,6,0.000,0.030,3059,2737,2161,0,0,1,0,0,0
$GC,4415,0.74,195.5,238.0,11.0,461,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2735,2161,0,0,0,0,0,0
$GC,4543,0.74,195.5,223.8,10.8,473,4546,0.00,1.65,0.00,0.000,4,0.000,0.049,3059,3763,2160,0,0,0,0,0,0
$GC,4590,0.74,195.5,218.1,13.1,477,4594,0.00,1.62,0.00,0.000,6,0.000,0.030,3067,2741,2160,0,0,0,0,0,0
$GC,4731,0.74,195.5,201.7,11.5,490,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2739,2160,0,0,0,0,0,0
$GC,4858,0.74,195.5,187.1,11.5,502,4862,0.00,1.65,0.00,0.000,4,0.000,0.049,3067,3766,2159,0,0,0,0,0,0
$GC,4904,0.74,195.5,181.4,13.3,506,4909,0.08,1.60,0.00,0.000,6,0.135,0.030,3038,2756,2160,0,0,0,0,0,0
$GC,5045,0.75,200.7,166.9,9.8,519,5054,0.00,0.00,5.62,0.742,6,0.000,0.000,3038,2755,2142,0,0,0,0,0,0
$GC,5182,0.75,200.7,153.1,10.2,532,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2755,2142,0,0,0,0,0,0
$GC,5312,0.75,200.7,140.1,10.4,544,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2755,2142,0,0,0,0,0,0
$GC,5447,0.75,200.7,125.7,10.5,557,5451,0.00,1.67,0.00,0.000,4,0.000,0.050,3038,3765,2142,0,0,0,0,0,0
$GC,5486,0.75,200.7,121.1,11.4,560,5493,0.00,1.60,0.00,0.000,6,0.000,0.030,3044,2759,2141,0,0,0,0,0,0
$GC,5621,0.75,200.7,106.8,10.5,573,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2759,2142,0,0,0,0,0,0
$GC,5749,0.75,200.7,93.4,10.2,590,5756,0.00,1.65,0.00,0.000,4,0.000,0.050,3044,3759,2142,0,0,0,0,0,0
$GC,5785,0.75,200.7,89.2,11.7,596,5793,0.00,1.58,0.00,0.000,6,0.000,0.031,3051,2767,2142,0,0,0,0,0,0
$GC,5929,0.75,200.7,74.1,10.5,621,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2768,2141,0,0,0,0,0,0
$GC,6068,0.75,200.7,59.7,10.5,646,6075,0.00,1.65,0.00,0.000,4,0.000,0.050,3051,3765,2141,0,0,0,0,0,0
$GC,6115,0.75,200.7,54.3,11.6,654,6122,0.00,1.55,0.00,0.000,6,0.000,0.031,3057,2789,2141,0,0,0,0,0,0
$GC,6258,0.75,200.7,39.0,10.6,679,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2789,2141,0,0,0,0,0,0
$GC,6399,0.75,200.7,24.3,10.2,704,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2789,2141,0,0,0,0,0,0
$GC,6543,0.75,200.7,9.3,10.9,729,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2789,2141,0,0,0,0,0,0
$FREEZE,7.81,-0.241,-1.897,2,1,0
$FREEZE,7.17,-0.246,-1.897,2,1,0
$FREEZE,6.66,-0.241,-1.897,2,1,0
$FREEZE,6.06,-0.242,-1.896,2,1,0
$FREEZE,5.49,-0.241,-1.896,2,1,0
$FREEZE,4.95,-0.237,-1.895,2,1,0
$FREEZE,4.32,-0.217,-1.894,2,1,0
$FREEZE,3.76,-0.186,-1.894,2,1,0
$FREEZE,3.08,-0.164,-1.893,2,1,0
$FREEZE,2.44,-0.172,-1.892,2,1,0
$STATE,6603,end climb,SURFACE_DEPTH_REACHED
$STATE,6603,begin surface coast
$FREEZE,1.91,-0.166,-1.892,2,1,0
$FREEZE,1.22,-0.066,-1.891,2,1,0
$FREEZE,0.69,-0.056,-1.891,2,1,0
$FREEZE,0.03,-0.040,-1.891,2,1,0
$FREEZE,0.06,-0.068,-0.264,2,1,0
$FINISH,0.1,1.003758
$STATE,6633,end surface coast,CONTROL_FINISHED_OK
$STATE,6633,begin surface
$SM_CCo,6652,22.90,0.099,0,0,1939,250.20
$SM_GC,0.64,0.00,0.00,22.90,0.000,0.000,0.099,186,2789,1939,-8.17,0.25,250.20
$IRIDIUM_FIX,-7554.21,17529.65,200111,000056
$TT8_MAMPS,0.027713
$HUMID,53.15
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.4
$ALTIM_BOTTOM_PING,350.3,47.1
$24V_AH,21.8,83.287
$10V_AH,9.7,33.158
$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,18.450,49.175,320.725,22.900,0.000,56.787,117.357,191.538,1.250,0.000,34.580,1866.700,3006.208,435.165,1666.774,309.991,0.000,1146.902,0.000,1226.075,0.000,10.594,0.000
$DEVICE_MAMPS,209.610,71.145,976.140,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.041,966.401,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,50422,745
$CAP_FILE_SIZE,95901,0
$CFSIZE,260165632,215834624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.059, 90.3,1
$GPS,200111,022333,-7638.856,17537.053,30,1.9,31,124.9