version: 66.08
glider: 503
mission: 7
dive: 800
start: 1 20 111 23 16 55
data:
$ID,503
$MISSION,7
$DIVE,800
$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,-20536.807
$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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,200111,230926,-7646.671,17515.332,28,1.5,29,125.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-74.4
$GPS2,200111,231626,-7646.675,17515.109,15,1.5,15,125.9
$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,40.0,16668,-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,-75.50,0.000,2,0.000,0.000,189,2750,3505,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.5,-8.2,13,120,9.18,2.20,-3.12,0.000,4,0.209,0.041,2566,1367,3659,0,0,0,0,0,0
$GC,228,-0.71,-170.3,29.6,-12.9,35,236,0.00,2.30,0.00,0.000,6,0.000,0.041,2562,2779,3660,0,0,0,0,0,0
$GC,373,-0.71,-170.3,49.1,-13.7,60,379,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3758,3662,0,0,0,0,0,0
$GC,422,-0.71,-170.3,56.1,-14.0,68,429,0.00,1.55,0.00,0.000,6,0.000,0.030,2562,2782,3662,0,0,0,0,0,0
$GC,565,-0.71,-170.3,75.0,-13.4,93,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3662,0,0,0,0,0,0
$GC,708,-0.71,-170.3,93.5,-12.7,118,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3663,0,0,0,0,0,0
$GC,845,-0.71,-170.3,111.5,-13.2,135,849,0.00,1.62,0.00,0.000,4,0.000,0.049,2555,3786,3663,0,0,0,0,0,0
$GC,896,-0.71,-170.3,118.7,-14.6,139,903,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2784,3663,0,0,0,0,0,0
$GC,1031,-0.71,-170.3,137.2,-14.0,152,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2784,3663,0,0,0,0,0,0
$GC,1158,-0.71,-170.3,154.8,-14.2,164,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2784,3663,0,0,0,0,0,0
$GC,1285,-0.71,-170.3,172.8,-14.0,176,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2784,3663,0,0,0,0,0,0
$GC,1413,-0.71,-170.3,191.0,-14.3,188,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2784,3663,0,0,0,0,0,0
$GC,1539,-0.71,-170.3,208.6,-13.5,200,1543,0.00,1.62,0.00,0.000,4,0.000,0.049,2547,3792,3663,0,0,0,0,0,0
$GC,1578,-0.71,-170.3,214.8,-14.8,203,1587,0.00,1.55,0.00,0.000,6,0.000,0.028,2547,2804,3662,0,0,0,0,0,0
$GC,1714,-0.71,-170.3,234.0,-14.3,216,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2804,3662,0,0,0,0,0,0
$GC,1840,-0.71,-170.3,252.1,-14.1,228,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2804,3662,0,0,0,0,0,0
$GC,2031,-0.71,-170.3,279.1,-14.0,246,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2803,3662,0,0,0,0,0,0
$GC,2223,-0.71,-170.3,305.8,-14.3,264,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2803,3662,0,0,0,0,0,0
$GC,2412,-0.71,-170.3,332.0,-13.8,282,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2803,3662,0,0,0,0,0,0
$GC,2606,-0.71,-170.3,356.6,-9.7,300,2610,0.00,2.22,0.00,0.000,4,0.000,0.031,2547,1370,3662,0,0,0,0,0,0
$STATE,2747,end dive,NO_VERTICAL_VELOCITY
$STATE,2747,begin apogee
$GC,2756,-0.16,0.0,356.6,0.0,312,2902,0.55,0.00,139.40,0.961,4,0.080,0.000,2750,2710,2959,0,0,0,0,0,0
$STATE,2903,end apogee,CONTROL_FINISHED_OK
$STATE,2903,begin climb
$GC,2906,0.71,170.3,356.6,0.0,325,3066,0.77,1.85,150.43,0.910,4,0.071,0.052,3032,3754,2265,0,0,0,0,0,0
$GC,3270,0.71,170.3,323.7,11.9,357,3274,0.00,1.70,0.00,0.000,6,0.000,0.029,3040,2703,2259,0,0,1,0,0,0
$GC,3475,0.71,170.3,302.4,10.5,376,3479,0.00,2.28,0.00,0.000,4,0.000,0.033,3051,1287,2256,0,0,0,0,0,0
$GC,3688,0.72,181.1,280.5,9.6,394,3707,0.00,2.33,9.25,0.829,6,0.000,0.041,3051,2710,2220,0,0,0,0,0,0
$GC,3900,0.72,181.1,258.1,10.9,414,3903,0.00,1.70,0.00,0.000,4,0.000,0.049,3051,3766,2220,0,0,0,0,0,0
$GC,3950,0.72,181.1,251.5,12.6,418,3956,0.00,1.70,0.00,0.000,6,0.000,0.030,3059,2706,2220,0,0,0,0,0,0
$GC,4149,0.72,181.1,229.5,11.0,437,4153,0.00,1.70,0.00,0.000,4,0.000,0.047,3059,3760,2220,0,0,0,0,0,0
$GC,4185,0.72,181.1,225.0,12.9,440,4189,0.12,1.65,0.00,0.000,6,0.165,0.030,3033,2699,2219,0,0,0,0,0,0
$GC,4325,0.73,189.0,211.0,9.7,453,4335,0.00,0.00,8.48,0.815,6,0.000,0.000,3032,2699,2188,0,0,0,0,0,0
$GC,4463,0.74,190.4,197.6,9.9,466,4466,0.00,1.73,0.00,0.000,4,0.000,0.050,3032,3763,2188,0,0,1,0,0,0
$GC,4497,0.74,190.4,193.7,11.0,469,4501,0.00,1.65,0.00,0.000,6,0.000,0.031,3040,2706,2188,0,0,0,0,0,0
$GC,4639,0.74,191.2,179.4,10.0,482,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2706,2188,0,0,0,0,0,0
$GC,4765,0.74,191.3,166.6,10.0,494,4769,0.00,1.75,0.00,0.000,4,0.000,0.049,3040,3761,2188,0,0,0,0,0,0
$GC,4815,0.74,191.3,160.8,11.2,498,4822,0.00,1.65,3.67,0.595,6,0.000,0.031,3047,2724,2179,0,0,0,0,0,0
$GC,4950,0.74,191.3,146.9,10.4,511,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2723,2180,0,0,0,0,0,0
$GC,5076,0.74,191.3,133.6,10.2,523,5080,0.00,1.70,0.00,0.000,4,0.000,0.050,3047,3749,2179,0,0,0,0,0,0
$GC,5110,0.74,191.3,129.7,11.4,526,5114,0.00,1.60,0.00,0.000,6,0.000,0.030,3055,2729,2179,0,0,1,0,0,0
$GC,5250,0.74,191.3,114.7,10.5,539,5254,0.00,1.67,0.00,0.000,4,0.000,0.049,3055,3769,2179,0,0,0,0,0,0
$GC,5288,0.74,191.3,110.0,11.8,542,5295,0.00,1.60,0.00,0.000,6,0.000,0.030,3062,2756,2179,0,0,0,0,0,0
$GC,5424,0.74,191.3,95.2,11.0,559,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2756,2179,0,0,0,0,0,0
$GC,5568,0.74,191.3,79.9,11.3,584,5575,0.00,1.65,0.00,0.000,4,0.000,0.048,3062,3755,2179,0,0,0,0,0,0
$GC,5616,0.74,191.3,74.1,12.6,592,5624,0.08,1.58,0.00,0.000,6,0.145,0.031,3042,2762,2179,0,0,0,0,0,0
$GC,5762,0.76,207.5,60.3,9.4,617,5782,0.00,0.00,15.88,0.791,6,0.000,0.000,3042,2762,2114,0,0,0,0,0,0
$GC,5920,0.77,216.1,45.1,9.7,644,5932,0.00,0.00,9.38,0.747,6,0.000,0.000,3042,2762,2079,0,0,0,0,0,0
$GC,6071,0.77,216.1,30.0,10.3,670,6078,0.00,1.65,0.00,0.000,4,0.000,0.050,3041,3754,2079,0,0,0,0,0,0
$GC,6097,0.77,216.1,27.1,10.6,674,6103,0.00,1.58,0.00,0.000,6,0.000,0.031,3048,2764,2079,0,0,0,0,0,0
$GC,6242,0.77,216.1,12.1,11.1,699,6249,0.00,2.33,0.00,0.000,4,0.000,0.034,3058,1297,2079,0,0,0,0,0,0
$FREEZE,8.48,0.075,-1.897,2,1,0
$FREEZE,7.97,0.104,-1.897,2,1,0
$FREEZE,7.44,0.110,-1.897,2,1,0
$FREEZE,6.66,0.110,-1.896,2,1,0
$GC,6285,0.77,219.1,7.4,9.9,706,6301,0.00,2.38,4.45,0.618,6,0.000,0.042,3059,2762,2066,0,0,0,0,0,0
$FREEZE,4.77,0.126,-1.895,2,1,0
$FREEZE,4.28,0.132,-1.895,2,1,0
$FREEZE,3.71,0.136,-1.894,2,1,0
$FREEZE,3.12,0.141,-1.894,2,1,0
$FREEZE,2.53,0.136,-1.894,2,1,0
$STATE,6329,end climb,SURFACE_DEPTH_REACHED
$STATE,6329,begin surface coast
$FREEZE,1.77,0.140,-1.893,2,1,0
$FREEZE,1.18,0.157,-1.892,2,1,0
$FREEZE,0.63,0.152,-1.892,2,1,0
$FREEZE,0.03,0.165,-1.892,2,1,0
$FREEZE,-0.12,0.131,-1.008,2,1,0
$FINISH,-0.1,1.014900
$STATE,6359,end surface coast,CONTROL_FINISHED_OK
$STATE,6359,begin surface
$SM_CCo,6377,14.25,0.103,0,0,1940,250.20
$SM_GC,1.29,0.00,0.00,14.25,0.000,0.000,0.103,186,2763,1940,-8.17,-0.48,250.20
$IRIDIUM_FIX,-7603.11,17518.08,200111,212155
$TT8_MAMPS,0.026964
$HUMID,52.32
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,21.9,84.505
$10V_AH,9.8,33.825
$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,18.300,57.875,340.925,14.250,0.000,28.765,41.909,193.700,1.250,0.000,18.630,1796.952,2755.430,444.383,1515.958,306.349,0.000,1149.095,0.000,1197.448,0.000,10.341,0.000
$DEVICE_MAMPS,208.845,52.020,960.840,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.069,944.834,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,47231,718
$CAP_FILE_SIZE,95085,0
$CFSIZE,260165632,215232512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.136,275.5,1
$GPS,210111,010500,-7647.396,17513.869,44,1.1,50,126.0