version: 66.08
glider: 503
mission: 7
dive: 802
start: 1 21 111 3 6 12
data:
$ID,503
$MISSION,7
$DIVE,802
$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,-20539.414
$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,25
$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
$GPS1,210111,025530,-7648.568,17512.584,42,1.7,42,126.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.0
$GPS2,210111,030544,-7648.646,17512.385,7,1.8,7,126.1
$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,58.4,12862,-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,-75.93,0.000,2,0.000,0.000,189,2753,3540,0,0,0,0,0,0
$GC,98,-0.71,-170.3,4.0,-10.5,13,119,9.23,2.22,-2.42,0.000,4,0.208,0.044,2564,1365,3660,0,0,0,0,0,0
$GC,311,-0.71,-170.3,41.7,-12.8,50,318,0.00,2.30,0.00,0.000,6,0.000,0.042,2560,2782,3662,0,0,0,0,0,0
$GC,453,-0.71,-170.3,60.9,-13.9,75,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2782,3663,0,0,0,0,0,0
$GC,596,-0.71,-170.3,80.7,-13.2,100,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2782,3663,0,0,0,0,0,0
$GC,738,-0.71,-170.3,99.2,-13.2,125,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2782,3663,0,0,0,0,0,0
$GC,873,-0.71,-170.3,116.5,-12.6,138,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2782,3663,0,0,0,0,0,0
$GC,1000,-0.71,-170.3,132.5,-12.3,150,1004,0.00,1.60,0.00,0.000,4,0.000,0.050,2560,3762,3664,0,0,0,0,0,0
$GC,1038,-0.71,-170.3,137.6,-13.0,153,1044,0.00,1.55,0.00,0.000,6,0.000,0.028,2558,2772,3663,0,0,0,0,0,0
$GC,1173,-0.71,-170.3,153.9,-12.5,166,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2772,3664,0,0,0,0,0,0
$GC,1299,-0.71,-170.3,169.7,-12.6,178,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2772,3664,0,0,0,0,0,0
$GC,1427,-0.71,-170.3,185.5,-12.5,190,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2772,3664,0,0,0,0,0,0
$GC,1555,-0.71,-170.3,201.6,-12.4,202,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3663,0,0,0,0,0,0
$GC,1681,-0.71,-170.3,217.8,-12.9,214,1684,0.00,1.62,0.00,0.000,4,0.000,0.048,2552,3777,3664,0,0,0,0,0,0
$GC,1727,-0.71,-170.3,223.9,-13.2,218,1731,0.00,1.58,0.00,0.000,6,0.000,0.029,2552,2780,3664,0,0,0,0,0,0
$GC,1868,-0.71,-170.3,242.3,-13.1,231,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2779,3664,0,0,0,0,0,0
$GC,1995,-0.71,-170.3,259.1,-13.4,243,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2780,3664,0,0,0,0,0,0
$GC,2186,-0.71,-170.3,284.3,-13.3,261,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2780,3664,0,0,0,0,0,0
$GC,2378,-0.71,-170.3,309.7,-13.0,279,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2780,3663,0,0,0,0,0,0
$GC,2568,-0.71,-170.3,334.9,-13.6,297,2571,0.00,1.62,0.00,0.000,4,0.000,0.050,2547,3753,3663,0,0,1,0,0,0
$GC,2603,-0.71,-170.3,340.0,-14.8,300,2607,0.00,1.52,0.00,0.000,6,0.000,0.031,2547,2790,3663,0,0,0,0,0,0
$STATE,2667,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2667,begin apogee
$GC,2674,-0.16,0.0,349.1,13.8,306,2821,0.60,0.00,139.68,0.959,4,0.120,0.000,2745,2692,2958,0,0,0,0,0,0
$STATE,2822,end apogee,CONTROL_FINISHED_OK
$STATE,2822,begin climb
$GC,2826,0.71,170.3,355.7,0.0,319,2985,0.80,0.00,150.35,0.911,6,0.073,0.000,3025,2692,2266,0,0,0,0,0,0
$GC,3181,0.74,189.3,331.2,9.2,351,3206,0.00,1.88,17.75,0.864,4,0.000,0.047,3025,3762,2188,0,0,0,0,0,0
$GC,3245,0.74,189.3,324.1,11.3,356,3252,0.00,1.73,0.00,0.000,6,0.000,0.031,3033,2731,2187,0,0,1,0,0,0
$GC,3443,0.74,189.3,303.8,10.1,375,3447,0.00,1.70,0.00,0.000,4,0.000,0.048,3033,3762,2186,0,0,0,0,0,0
$GC,3490,0.74,189.3,298.8,11.0,379,3494,0.00,1.62,0.00,0.000,6,0.000,0.031,3041,2722,2185,0,0,1,0,0,0
$GC,3694,0.74,196.2,277.8,9.7,398,3707,0.00,1.80,7.43,0.802,4,0.000,0.049,3041,3771,2159,0,0,0,0,0,0
$GC,3755,0.74,196.2,271.2,11.7,403,3759,0.00,1.65,0.00,0.000,6,0.000,0.031,3048,2719,2159,0,0,0,0,0,0
$GC,3959,0.74,196.2,248.8,10.8,422,3963,0.00,1.70,0.00,0.000,4,0.000,0.049,3048,3766,2159,0,0,0,0,0,0
$GC,3998,0.74,196.2,243.9,11.9,425,4005,0.00,1.62,0.00,0.000,6,0.000,0.030,3056,2746,2159,0,0,0,0,0,0
$GC,4134,0.74,196.2,228.8,11.8,438,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2746,2158,0,0,0,0,0,0
$GC,4261,0.74,196.2,214.4,11.4,450,4265,0.00,1.65,0.00,0.000,4,0.000,0.048,3056,3765,2158,0,0,0,0,0,0
$GC,4307,0.74,196.2,208.6,12.6,454,4311,0.00,1.60,0.00,0.000,6,0.000,0.030,3064,2763,2158,0,0,0,0,0,0
$GC,4448,0.74,196.2,192.4,11.5,467,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2762,2158,0,0,0,0,0,0
$GC,4575,0.74,196.2,177.7,11.4,479,4578,0.00,1.62,0.00,0.000,4,0.000,0.050,3063,3766,2157,0,0,0,0,0,0
$GC,4621,0.74,196.2,171.8,13.3,483,4625,0.08,1.60,0.00,0.000,6,0.133,0.030,3034,2767,2157,0,0,0,0,0,0
$GC,4762,0.76,209.5,157.5,9.5,496,4780,0.00,0.00,12.95,0.834,6,0.000,0.000,3034,2767,2104,0,0,0,0,0,0
$GC,4908,0.76,210.6,143.0,10.0,510,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2767,2105,0,0,0,0,0,0
$GC,5036,0.77,218.4,130.6,9.7,522,5047,0.00,0.00,9.45,0.794,6,0.000,0.000,3035,2767,2069,0,0,0,0,0,0
$GC,5174,0.78,221.9,117.2,9.9,535,5184,0.00,1.67,5.00,0.677,4,0.000,0.050,3034,3763,2055,0,0,1,0,0,0
$GC,5212,0.78,221.9,112.8,10.8,538,5219,0.00,1.58,0.00,0.000,6,0.000,0.031,3040,2783,2055,0,0,0,0,0,0
$GC,5347,0.78,221.9,99.4,10.0,551,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2783,2055,0,0,0,0,0,0
$GC,5490,0.79,230.8,85.3,9.6,576,5503,0.00,0.00,9.75,0.777,6,0.000,0.000,3040,2783,2018,0,0,0,0,0,0
$GC,5640,0.79,230.8,69.9,11.1,602,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2783,2018,0,0,0,0,0,0
$GC,5783,0.79,230.8,54.7,10.3,627,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2783,2018,0,0,0,0,0,0
$GC,5926,0.79,230.8,39.7,10.3,652,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2783,2018,0,0,0,0,0,0
$GC,6068,0.79,230.8,24.8,10.8,677,6075,0.00,1.62,0.00,0.000,4,0.000,0.049,3040,3762,2018,0,0,0,0,0,0
$GC,6110,0.79,230.8,20.2,11.5,684,6120,0.00,1.58,0.00,0.000,6,0.000,0.031,3046,2775,2018,0,0,0,0,0,0
$FREEZE,8.77,0.005,-1.899,2,1,0
$FREEZE,8.38,0.007,-1.898,2,1,0
$FREEZE,7.80,0.012,-1.898,2,1,0
$FREEZE,7.22,0.043,-1.898,2,1,0
$FREEZE,6.76,0.046,-1.897,2,1,0
$FREEZE,5.85,0.055,-1.896,2,1,0
$FREEZE,5.41,0.064,-1.896,2,1,0
$FREEZE,4.76,0.068,-1.896,2,1,0
$GC,6255,0.79,230.8,4.8,10.7,709,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2775,2018,0,0,0,0,0,0
$FREEZE,3.25,0.084,-1.895,2,1,0
$FREEZE,2.55,0.090,-1.894,2,1,0
$STATE,6273,end climb,SURFACE_DEPTH_REACHED
$STATE,6273,begin surface coast
$FREEZE,2.01,0.090,-1.893,2,1,0
$FREEZE,1.40,0.119,-1.893,2,1,0
$FREEZE,0.90,0.125,-1.892,2,1,0
$FREEZE,0.36,0.134,-1.892,2,1,0
$FREEZE,-0.08,0.112,-1.892,2,1,0
$FINISH,-0.1,1.027674
$STATE,6301,end surface coast,CONTROL_FINISHED_OK
$STATE,6301,begin surface
$SM_CCo,6320,8.40,0.104,0,0,1940,250.20
$SM_GC,2.06,0.00,0.00,8.40,0.000,0.000,0.104,189,2775,1940,-8.16,-0.14,250.20
$IRIDIUM_FIX,-7603.11,17508.73,210111,020249
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,301.4,62.5
$24V_AH,21.8,84.723
$10V_AH,9.7,33.936
$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,18.300,40.750,352.350,8.400,0.000,56.376,79.084,251.513,1.000,0.000,10.607,1783.652,2840.423,441.521,1574.218,308.801,0.000,1117.754,0.000,1137.204,0.000,8.911,0.000
$DEVICE_MAMPS,208.080,81.090,959.310,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.562,951.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,47151,717
$CAP_FILE_SIZE,94224,0
$CFSIZE,260165632,215130112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.138,220.6,1
$GPS,210111,045306,-7649.965,17510.875,42,0.8,43,126.2