version: 66.08
glider: 503
mission: 7
dive: 790
start: 1 20 111 4 30 12
data:
$ID,503
$MISSION,7
$DIVE,790
$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,-20524.141
$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,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
$GPS1,200111,042307,-7639.854,17535.807,38,0.9,39,125.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-74.4
$GPS2,200111,042943,-7639.845,17535.975,9,1.4,14,125.0
$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,105.0,31862,-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,-170.3,0.0,0.0,0,92,0.00,0.00,-73.78,0.000,2,0.000,0.000,192,2758,3489,0,0,0,0,0,0
$GC,96,-0.71,-170.3,3.7,-8.7,12,116,9.18,0.00,-3.45,0.000,6,0.209,0.000,2564,2757,3658,0,0,0,0,0,0
$GC,253,-0.71,-170.3,34.9,-15.2,39,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2757,3661,0,0,0,0,0,0
$GC,396,-0.71,-170.3,55.6,-14.5,64,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2757,3661,0,0,0,0,0,0
$GC,538,-0.71,-170.3,76.2,-14.4,89,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2758,3662,0,0,0,0,0,0
$GC,679,-0.71,-170.3,96.2,-14.2,114,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2758,3662,0,0,0,0,0,0
$GC,817,-0.71,-170.3,115.6,-14.5,129,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2758,3662,0,0,0,0,0,0
$GC,944,-0.71,-170.3,133.9,-14.4,141,947,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3764,3662,0,0,0,0,0,0
$GC,992,-0.71,-170.3,140.5,-14.1,145,995,0.00,1.55,0.00,0.000,6,0.000,0.029,2562,2780,3661,0,0,0,0,0,0
$GC,1133,-0.71,-170.3,160.4,-14.2,158,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3661,0,0,0,0,0,0
$GC,1259,-0.71,-170.3,177.6,-13.6,170,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3662,0,0,0,0,0,0
$GC,1387,-0.71,-170.3,194.0,-12.6,182,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3662,0,0,0,0,0,0
$GC,1515,-0.71,-170.3,209.9,-12.3,194,1518,0.00,1.62,0.00,0.000,4,0.000,0.051,2563,3754,3662,0,0,1,0,0,0
$GC,1573,-0.71,-170.3,217.3,-12.6,199,1577,0.00,1.52,0.00,0.000,6,0.000,0.028,2562,2781,3662,0,0,0,0,0,0
$GC,1714,-0.71,-170.3,234.8,-12.4,212,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2781,3662,0,0,0,0,0,0
$GC,1843,-0.71,-170.3,250.8,-12.5,224,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3662,0,0,0,0,0,0
$GC,2033,-0.71,-170.3,274.9,-12.3,242,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3661,0,0,0,0,0,0
$GC,2222,-0.71,-170.3,298.6,-12.4,260,2226,0.00,1.62,0.00,0.000,4,0.000,0.051,2562,3759,3661,0,0,1,0,0,0
$GC,2262,-0.71,-170.3,303.9,-12.7,263,2268,0.00,1.52,0.00,0.000,6,0.000,0.029,2563,2789,3661,0,0,0,0,0,0
$GC,2461,-0.71,-170.3,328.9,-12.8,282,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2789,3661,0,0,0,0,0,0
$GC,2651,-0.71,-170.3,353.1,-12.6,300,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2789,3662,0,0,0,0,0,0
$STATE,2828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2828,begin apogee
$GC,2835,-0.16,0.0,375.6,12.5,317,2983,0.55,0.00,139.62,0.978,4,0.118,0.000,2746,2686,2959,0,0,0,0,0,0
$STATE,2984,end apogee,CONTROL_FINISHED_OK
$STATE,2984,begin climb
$GC,2987,0.71,170.3,381.5,0.0,330,3148,0.85,2.33,151.20,0.928,4,0.073,0.031,3033,1302,2265,0,0,0,0,0,0
$GC,3177,0.73,185.4,374.0,9.4,346,3198,0.00,2.50,15.18,0.849,6,0.000,0.040,3033,2697,2204,0,0,0,0,0,0
$GC,3391,0.73,188.9,353.1,9.9,366,3404,0.00,1.85,4.35,0.641,4,0.000,0.048,3033,3758,2189,0,0,0,0,0,0
$GC,3497,0.73,188.9,341.0,12.0,375,3501,0.00,1.67,0.00,0.000,6,0.000,0.030,3041,2729,2187,0,0,1,0,0,0
$GC,3701,0.73,188.9,319.2,10.8,394,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2730,2187,0,0,0,0,0,0
$GC,3892,0.73,188.9,299.4,10.6,412,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2730,2186,0,0,0,0,0,0
$GC,4083,0.74,192.3,279.8,9.9,430,4096,0.00,1.73,3.75,0.617,4,0.000,0.050,3041,3767,2176,0,0,1,0,0,0
$GC,4157,0.74,192.3,270.8,12.8,436,4164,0.00,1.67,0.00,0.000,6,0.000,0.030,3048,2711,2176,0,0,0,0,0,0
$GC,4357,0.74,192.3,250.4,10.1,455,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2711,2176,0,0,0,0,0,0
$GC,4546,0.74,192.3,231.3,10.1,473,4550,0.00,1.70,0.00,0.000,4,0.000,0.050,3048,3766,2175,0,0,0,0,0,0
$GC,4630,0.74,192.3,220.8,13.1,480,4637,0.00,1.65,0.00,0.000,6,0.000,0.029,3056,2726,2175,0,0,0,0,0,0
$GC,4766,0.74,192.3,205.2,11.3,493,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2726,2175,0,0,0,0,0,0
$GC,4892,0.74,192.3,190.7,11.2,505,4895,0.00,1.67,0.00,0.000,4,0.000,0.049,3056,3769,2174,0,0,0,0,0,0
$GC,4961,0.74,192.3,182.0,12.6,511,4965,0.00,1.62,0.00,0.000,6,0.000,0.030,3064,2741,2175,0,0,0,0,0,0
$GC,5102,0.74,192.3,165.9,11.2,524,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2740,2174,0,0,0,0,0,0
$GC,5229,0.74,192.3,151.4,11.3,536,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2741,2175,0,0,0,0,0,0
$GC,5357,0.74,192.3,137.0,11.1,548,5361,0.00,1.65,0.00,0.000,4,0.000,0.050,3064,3766,2174,0,0,0,0,0,0
$GC,5418,0.74,192.3,129.0,13.0,553,5426,0.08,1.60,0.00,0.000,6,0.138,0.029,3043,2756,2173,0,0,0,0,0,0
$GC,5553,0.75,202.3,115.7,9.6,566,5566,0.00,0.00,10.27,0.803,6,0.000,0.000,3044,2756,2135,0,0,0,0,0,0
$GC,5691,0.77,216.4,102.4,9.4,579,5715,0.00,1.67,14.27,0.799,4,0.000,0.051,3043,3760,2077,0,0,1,0,0,0
$GC,5745,0.77,216.4,96.6,11.4,585,5751,0.00,1.60,0.00,0.000,6,0.000,0.031,3050,2761,2077,0,0,0,0,0,0
$GC,5886,0.77,216.4,82.2,10.5,610,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2761,2077,0,0,0,0,0,0
$GC,6029,0.77,216.4,67.6,10.4,635,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2761,2076,0,0,0,0,0,0
$GC,6172,0.77,216.4,52.7,10.1,660,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2761,2076,0,0,0,0,0,0
$GC,6313,0.77,216.4,38.0,10.0,685,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2761,2076,0,0,0,0,0,0
$GC,6454,0.77,216.4,23.0,10.5,710,6461,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2760,2076,0,0,0,0,0,0
$FREEZE,8.39,-0.235,-1.897,2,1,0
$FREEZE,7.84,-0.215,-1.896,2,1,0
$FREEZE,7.20,-0.170,-1.896,2,1,0
$FREEZE,6.65,-0.167,-1.896,2,1,0
$GC,6599,0.77,216.4,6.7,11.7,735,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2760,2075,0,0,0,0,0,0
$FREEZE,4.74,-0.149,-1.894,2,1,0
$FREEZE,4.25,-0.130,-1.894,2,1,0
$FREEZE,3.66,-0.144,-1.894,2,1,0
$FREEZE,3.03,-0.148,-1.893,2,1,0
$FREEZE,2.43,-0.138,-1.893,2,1,0
$STATE,6631,end climb,SURFACE_DEPTH_REACHED
$STATE,6631,begin surface coast
$FREEZE,1.75,-0.143,-1.893,2,1,0
$FREEZE,1.17,-0.117,-1.891,2,1,0
$FREEZE,0.48,-0.115,-1.891,2,1,0
$FREEZE,0.01,-0.122,-1.891,2,1,0
$FREEZE,0.21,-0.123,-1.891,2,1,0
$FINISH,0.2,1.027671
$STATE,6663,end surface coast,CONTROL_FINISHED_OK
$STATE,6663,begin surface
$SM_CCo,6681,15.27,0.102,0,0,1939,250.20
$SM_GC,1.37,0.00,0.00,15.27,0.000,0.000,0.102,189,2759,1939,-8.16,-0.57,250.20
$IRIDIUM_FIX,-7554.21,17549.58,200111,020250
$TT8_MAMPS,0.027713
$HUMID,53.38
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.9
$ALTIM_BOTTOM_PING,350.5,49.0
$24V_AH,21.8,83.489
$10V_AH,9.7,33.274
$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,18.225,34.500,338.650,15.275,0.000,27.839,39.169,175.697,1.250,0.000,16.778,1854.677,3019.092,437.681,1501.942,285.337,0.000,1133.416,0.000,1196.077,0.000,12.424,0.000
$DEVICE_MAMPS,208.845,82.620,977.670,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.637,960.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50361,746
$CAP_FILE_SIZE,91857,0
$CFSIZE,260165632,215732224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.176,144.0,1
$GPS,200111,062330,-7640.911,17533.975,52,0.9,59,125.1