version: 66.08
glider: 503
mission: 7
dive: 789
start: 1 20 111 2 30 51
data:
$ID,503
$MISSION,7
$DIVE,789
$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,-20522.883
$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,48
$R_STBD_OVSHOOT,27
$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
$GPS1,200111,022333,-7638.856,17537.053,30,1.9,31,124.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.1
$GPS2,200111,023022,-7638.864,17537.145,11,6.4,30,124.9
$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,93.5,33697,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,89,0.00,0.00,-70.50,0.000,2,0.000,0.000,185,2789,3388,0,0,0,0,0,0
$GC,93,-0.71,-170.3,3.2,-6.5,12,115,9.25,1.65,-5.93,0.000,4,0.210,0.065,2560,3770,3658,0,0,1,0,0,0
$GC,250,-0.71,-170.3,32.4,-14.3,39,257,0.00,1.58,0.00,0.000,6,0.000,0.028,2560,2772,3661,0,0,0,0,0,0
$GC,393,-0.71,-170.3,52.2,-13.9,64,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3662,0,0,0,0,0,0
$GC,535,-0.71,-170.3,71.6,-14.0,89,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3662,0,0,0,0,0,0
$GC,674,-0.71,-170.3,90.6,-13.1,114,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3663,0,0,0,0,0,0
$GC,813,-0.71,-170.3,109.6,-13.9,133,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3662,0,0,0,0,0,0
$GC,940,-0.71,-170.3,127.2,-13.9,145,944,0.00,1.62,0.00,0.000,4,0.000,0.048,2552,3778,3662,0,0,0,0,0,0
$GC,979,-0.71,-170.3,133.1,-15.2,148,986,0.00,1.58,0.00,0.000,6,0.000,0.029,2552,2781,3662,0,0,0,0,0,0
$GC,1114,-0.71,-170.3,152.0,-14.4,161,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2781,3662,0,0,0,0,0,0
$GC,1241,-0.71,-170.3,170.2,-14.4,173,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2781,3663,0,0,0,0,0,0
$GC,1368,-0.71,-170.3,188.2,-13.5,185,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2781,3663,0,0,0,0,0,0
$GC,1497,-0.71,-170.3,205.8,-13.8,197,1500,0.00,1.62,0.00,0.000,4,0.000,0.049,2544,3761,3663,0,0,0,0,0,0
$GC,1547,-0.71,-170.3,213.3,-14.6,201,1554,0.00,1.50,0.00,0.000,6,0.000,0.028,2544,2801,3662,0,0,0,0,0,0
$GC,1681,-0.71,-170.3,231.6,-13.6,214,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2801,3662,0,0,0,0,0,0
$GC,1809,-0.71,-170.3,249.7,-14.3,226,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2801,3663,0,0,0,0,0,0
$GC,1936,-0.71,-170.3,267.0,-12.9,238,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2801,3663,0,0,0,0,0,0
$GC,2127,-0.71,-170.3,292.2,-13.2,256,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2801,3663,0,0,0,0,0,0
$GC,2319,-0.71,-170.3,317.3,-13.2,274,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2801,3663,0,0,0,0,0,0
$GC,2511,-0.71,-170.3,342.6,-13.2,292,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2801,3663,0,0,0,0,0,0
$GC,2701,-0.71,-170.3,367.6,-12.9,310,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2801,3663,0,0,0,0,0,0
$STATE,2763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2763,begin apogee
$GC,2770,-0.16,0.0,375.9,12.9,316,2916,0.60,0.00,139.95,0.977,4,0.118,0.000,2743,2679,2959,0,0,0,0,0,0
$STATE,2917,end apogee,CONTROL_FINISHED_OK
$STATE,2917,begin climb
$GC,2920,0.71,170.3,381.8,0.0,329,3082,0.85,2.35,151.25,0.929,4,0.070,0.032,3031,1305,2265,0,0,0,0,0,0
$GC,3267,0.71,170.4,357.9,10.0,359,3274,0.00,2.38,0.00,0.000,6,0.000,0.041,3030,2700,2257,0,0,0,0,0,0
$GC,3465,0.71,170.4,337.8,10.3,378,3469,0.00,2.28,0.00,0.000,4,0.000,0.034,3041,1316,2254,0,0,0,0,0,0
$GC,3716,0.72,177.2,313.2,9.7,400,3727,0.00,2.28,5.22,0.737,6,0.000,0.042,3041,2701,2237,0,0,0,0,0,0
$GC,3929,0.74,193.5,292.8,9.4,420,3952,0.00,1.73,16.30,0.890,4,0.000,0.048,3041,3769,2170,0,0,0,0,0,0
$GC,3991,0.74,193.5,285.6,11.9,425,3998,0.00,1.67,0.00,0.000,6,0.000,0.030,3049,2713,2170,0,0,1,0,0,0
$GC,4191,0.74,197.3,265.5,9.8,444,4204,0.00,1.75,5.40,0.743,4,0.000,0.047,3049,3771,2154,0,0,0,0,0,0
$GC,4255,0.74,197.3,257.9,11.6,449,4262,0.00,1.65,0.00,0.000,6,0.000,0.029,3057,2706,2155,0,0,0,0,0,0
$GC,4453,0.74,197.3,236.2,10.9,468,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2705,2154,0,0,0,0,0,0
$GC,4581,0.74,197.3,222.4,11.0,480,4585,0.00,1.70,0.00,0.000,4,0.000,0.049,3057,3763,2153,0,0,0,0,0,0
$GC,4642,0.74,197.3,214.4,13.2,485,4649,0.00,1.67,0.00,0.000,6,0.000,0.031,3064,2713,2153,0,0,0,0,0,0
$GC,4777,0.74,197.3,198.9,11.6,498,4781,0.00,1.70,0.00,0.000,4,0.000,0.050,3064,3763,2153,0,0,0,0,0,0
$GC,4816,0.74,197.3,193.7,13.5,501,4823,0.08,1.65,0.00,0.000,6,0.133,0.031,3044,2735,2153,0,0,0,0,0,0
$GC,4951,0.74,197.3,179.4,10.5,514,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2735,2153,0,0,0,0,0,0
$GC,5078,0.74,197.3,165.8,10.7,526,5082,0.00,1.65,0.00,0.000,4,0.000,0.050,3044,3763,2152,0,0,0,0,0,0
$GC,5126,0.74,197.3,160.3,12.1,530,5130,0.00,1.62,0.00,0.000,6,0.000,0.031,3051,2739,2152,0,0,0,0,0,0
$GC,5269,0.74,197.3,145.0,10.6,543,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2738,2152,0,0,0,0,0,0
$GC,5403,0.74,197.3,130.4,10.8,556,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2738,2152,0,0,0,0,0,0
$GC,5531,0.74,197.3,116.8,10.8,568,5535,0.00,1.67,0.00,0.000,4,0.000,0.050,3051,3769,2151,0,0,0,0,0,0
$GC,5578,0.74,197.3,111.3,12.4,572,5582,0.00,1.62,0.00,0.000,6,0.000,0.030,3058,2750,2151,0,0,0,0,0,0
$GC,5714,0.74,197.3,96.7,10.9,587,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2750,2151,0,0,0,0,0,0
$GC,5856,0.74,197.3,81.9,10.4,612,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2750,2151,0,0,0,0,0,0
$GC,5999,0.74,197.3,66.9,11.2,637,6005,0.00,1.67,0.00,0.000,4,0.000,0.050,3059,3757,2151,0,0,0,0,0,0
$GC,6041,0.74,197.3,62.1,12.1,644,6048,0.00,1.60,0.00,0.000,6,0.000,0.031,3066,2752,2151,0,0,0,0,0,0
$GC,6183,0.74,197.3,45.9,11.0,669,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2752,2151,0,0,0,0,0,0
$GC,6324,0.74,197.3,30.4,11.6,694,6332,0.00,1.67,0.00,0.000,4,0.000,0.050,3066,3765,2151,0,0,0,0,0,0
$GC,6361,0.74,197.3,25.8,12.8,700,6368,0.08,1.60,0.00,0.000,6,0.135,0.030,3045,2758,2150,0,0,0,0,0,0
$GC,6506,0.75,204.8,10.7,9.7,725,6520,0.00,0.00,7.45,0.728,6,0.000,0.000,3045,2758,2124,0,0,0,0,0,0
$FREEZE,8.45,-0.275,-1.897,2,1,0
$FREEZE,7.92,-0.271,-1.896,2,1,0
$FREEZE,7.45,-0.267,-1.896,2,1,0
$FREEZE,6.89,-0.264,-1.895,2,1,0
$FREEZE,6.24,-0.264,-1.895,2,1,0
$FREEZE,5.73,-0.254,-1.894,2,1,0
$FREEZE,5.12,-0.168,-1.893,2,1,0
$FREEZE,4.66,-0.165,-1.893,2,1,0
$FREEZE,4.16,-0.180,-1.892,2,1,0
$FREEZE,3.47,-0.176,-1.892,2,1,0
$FREEZE,3.01,-0.166,-1.892,2,1,0
$FREEZE,2.39,-0.169,-1.892,2,1,0
$STATE,6587,end climb,SURFACE_DEPTH_REACHED
$STATE,6587,begin surface coast
$FREEZE,1.46,-0.134,-1.891,2,1,0
$FREEZE,0.89,-0.137,-1.890,2,1,0
$FREEZE,0.31,-0.132,-1.890,2,1,0
$FREEZE,0.05,-0.135,-0.905,2,1,0
$FREEZE,-0.11,-0.158,-1.889,2,1,0
$FINISH,-0.1,1.027647
$STATE,6615,end surface coast,CONTROL_FINISHED_OK
$STATE,6615,begin surface
$SM_CCo,6633,20.70,0.100,0,0,1940,250.20
$SM_GC,0.54,0.00,0.00,20.70,0.000,0.000,0.100,193,2758,1940,-8.15,-0.62,250.20
$IRIDIUM_FIX,-7554.21,17530.38,200111,000047
$TT8_MAMPS,0.027713
$HUMID,52.44
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.4
$ALTIM_BOTTOM_PING,351.1,49.5
$24V_AH,21.8,83.387
$10V_AH,9.7,33.217
$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,18.350,45.600,325.575,20.700,0.000,29.612,37.321,173.247,1.250,0.000,34.155,1860.644,2935.281,437.028,1541.338,295.280,0.000,1147.285,0.000,1223.779,0.000,10.599,0.000
$DEVICE_MAMPS,209.610,69.615,976.905,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.887,958.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,50372,744
$CAP_FILE_SIZE,94449,0
$CFSIZE,260165632,215781376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.112,141.1,1
$GPS,200111,042307,-7639.854,17535.807,38,0.9,39,125.0