version: 66.08
glider: 503
mission: 7
dive: 803
start: 1 21 111 5 0 13
data:
$ID,503
$MISSION,7
$DIVE,803
$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,-20540.67
$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,50
$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
$GPS1,210111,045306,-7649.965,17510.875,42,0.8,43,126.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-75.4
$GPS2,210111,045944,-7649.997,17510.830,11,1.5,11,126.2
$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,72.9,10318,-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,12,begin dive
$GC,15,-0.71,-170.3,0.0,0.0,0,93,0.00,0.00,-75.07,0.000,2,0.000,0.000,189,2775,3497,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.6,-8.4,13,119,9.23,2.22,-3.25,0.000,4,0.209,0.041,2566,1371,3658,0,0,0,0,0,0
$GC,212,-0.71,-170.3,27.8,-12.9,32,218,0.00,2.30,0.00,0.000,6,0.000,0.042,2563,2786,3661,0,0,0,0,0,0
$GC,354,-0.71,-170.3,47.1,-13.7,57,361,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3757,3661,0,0,0,0,0,0
$GC,402,-0.71,-170.3,53.7,-13.5,65,409,0.00,1.55,0.00,0.000,6,0.000,0.028,2563,2779,3662,0,0,0,0,0,0
$GC,544,-0.71,-170.3,72.7,-12.9,90,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3662,0,0,0,0,0,0
$GC,686,-0.71,-170.3,91.0,-12.7,115,694,0.00,2.20,0.00,0.000,4,0.000,0.031,2562,1369,3663,0,0,0,0,0,0
$GC,724,-0.71,-170.3,96.0,-12.0,121,731,0.00,2.30,0.00,0.000,6,0.000,0.042,2560,2788,3662,0,0,0,0,0,0
$GC,861,-0.71,-170.3,114.3,-13.5,136,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2788,3663,0,0,0,0,0,0
$GC,989,-0.71,-170.3,130.7,-12.7,148,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2788,3663,0,0,0,0,0,0
$GC,1115,-0.71,-170.3,147.0,-12.9,160,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2788,3663,0,0,0,0,0,0
$GC,1243,-0.71,-170.3,163.7,-13.2,172,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2788,3662,0,0,0,0,0,0
$GC,1371,-0.71,-170.3,180.9,-13.3,184,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2788,3662,0,0,0,0,0,0
$GC,1497,-0.71,-170.3,197.6,-12.8,196,1501,0.00,1.60,0.00,0.000,4,0.000,0.050,2557,3764,3663,0,0,0,0,0,0
$GC,1547,-0.71,-170.3,204.7,-13.3,200,1554,0.00,1.55,0.00,0.000,6,0.000,0.028,2556,2781,3663,0,0,0,0,0,0
$GC,1682,-0.71,-170.3,221.9,-12.7,213,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2781,3662,0,0,0,0,0,0
$GC,1809,-0.71,-170.3,238.3,-13.1,225,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2781,3662,0,0,0,0,0,0
$GC,1937,-0.71,-170.3,254.8,-13.2,237,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2780,3662,0,0,0,0,0,0
$GC,2129,-0.71,-170.3,280.1,-12.7,255,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2781,3663,0,0,0,0,0,0
$GC,2319,-0.71,-170.3,304.6,-12.9,273,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2780,3663,0,0,0,0,0,0
$GC,2510,-0.71,-170.3,329.2,-13.3,291,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2781,3662,0,0,0,0,0,0
$STATE,2658,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2658,begin apogee
$GC,2666,-0.16,0.0,348.7,13.9,305,2812,0.55,0.00,139.07,0.964,4,0.118,0.000,2742,2686,2959,0,0,0,0,0,0
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2812,begin climb
$GC,2816,0.71,170.3,355.7,0.0,318,2978,0.85,2.35,150.52,0.914,4,0.073,0.031,3027,1308,2265,0,0,0,0,0,0
$GC,3118,0.73,184.1,338.3,9.5,344,3137,0.00,2.38,13.12,0.845,6,0.000,0.039,3027,2699,2209,0,0,1,0,0,0
$GC,3332,0.74,190.6,318.0,9.7,364,3345,0.00,2.35,7.07,0.776,4,0.000,0.033,3037,1309,2183,0,0,1,0,0,0
$GC,3530,0.75,203.5,298.0,9.5,381,3549,0.00,2.30,13.15,0.864,6,0.000,0.041,3037,2713,2130,0,0,0,0,0,0
$GC,3743,0.75,203.5,275.9,11.1,401,3746,0.00,1.70,0.00,0.000,4,0.000,0.050,3037,3765,2130,0,0,0,0,0,0
$GC,3815,0.75,203.5,266.1,13.6,407,3823,0.00,1.65,0.00,0.000,6,0.000,0.030,3044,2709,2130,0,0,0,0,0,0
$GC,4014,0.75,203.5,243.6,11.3,426,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2709,2130,0,0,0,0,0,0
$GC,4142,0.75,203.5,229.6,11.2,438,4145,0.00,1.70,0.00,0.000,4,0.000,0.048,3044,3762,2129,0,0,0,0,0,0
$GC,4188,0.75,203.5,223.7,13.3,442,4192,0.00,1.62,0.00,0.000,6,0.000,0.031,3052,2699,2128,0,0,1,0,0,0
$GC,4328,0.75,203.5,207.0,12.0,455,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2698,2128,0,0,0,0,0,0
$GC,4456,0.75,203.5,191.9,11.8,467,4460,0.00,1.75,0.00,0.000,4,0.000,0.049,3052,3758,2128,0,0,0,0,0,0
$GC,4506,0.75,203.5,185.4,12.8,471,4514,0.00,1.62,0.00,0.000,6,0.000,0.030,3060,2734,2128,0,0,0,0,0,0
$GC,4641,0.75,203.5,169.8,11.6,484,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2734,2128,0,0,0,0,0,0
$GC,4769,0.75,203.5,155.0,11.4,496,4773,0.00,1.70,0.00,0.000,4,0.000,0.049,3060,3763,2128,0,0,0,0,0,0
$GC,4816,0.75,203.5,148.9,13.6,500,4820,0.00,1.62,0.00,0.000,6,0.000,0.030,3068,2739,2127,0,0,0,0,0,0
$GC,4956,0.75,203.5,131.9,12.0,513,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2738,2127,0,0,0,0,0,0
$GC,5085,0.75,203.5,116.8,11.8,525,5088,0.00,1.65,0.00,0.000,4,0.000,0.048,3068,3763,2127,0,0,0,0,0,0
$GC,5142,0.75,203.5,108.9,13.5,530,5146,0.12,1.62,0.00,0.000,6,0.164,0.031,3040,2742,2127,0,0,0,0,0,0
$GC,5279,0.75,203.5,93.9,10.4,547,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2742,2127,0,0,0,0,0,0
$GC,5421,0.75,203.5,79.2,10.4,572,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2742,2127,0,0,0,0,0,0
$GC,5563,0.75,203.5,64.3,10.0,597,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2742,2127,0,0,0,0,0,0
$GC,5707,0.76,209.8,50.1,9.7,622,5720,0.00,0.00,6.50,0.729,6,0.000,0.000,3040,2742,2104,0,0,0,0,0,0
$GC,5857,0.77,218.8,35.4,9.6,648,5872,0.00,1.67,9.75,0.757,4,0.000,0.048,3040,3763,2067,0,0,0,0,0,0
$GC,5918,0.77,218.8,28.7,11.3,658,5925,0.00,1.60,0.00,0.000,6,0.000,0.031,3046,2763,2067,0,0,0,0,0,0
$GC,6061,0.77,218.8,14.0,10.9,683,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2763,2067,0,0,0,0,0,0
$FREEZE,8.68,-0.063,-1.899,2,1,0
$FREEZE,8.18,-0.061,-1.899,2,1,0
$FREEZE,7.63,-0.060,-1.898,2,1,0
$FREEZE,7.02,-0.059,-1.898,2,1,0
$FREEZE,6.39,-0.058,-1.897,2,1,0
$FREEZE,5.94,-0.057,-1.897,2,1,0
$FREEZE,5.31,-0.047,-1.896,2,1,0
$FREEZE,4.82,-0.039,-1.896,2,1,0
$FREEZE,4.31,-0.030,-1.895,2,1,0
$FREEZE,3.77,0.062,-1.894,2,1,0
$FREEZE,3.14,0.067,-1.894,2,1,0
$FREEZE,2.50,0.073,-1.894,2,1,0
$STATE,6169,end climb,SURFACE_DEPTH_REACHED
$STATE,6169,begin surface coast
$FREEZE,1.51,0.067,-1.893,2,1,0
$FREEZE,0.88,0.066,-1.893,2,1,0
$FREEZE,0.47,0.065,-1.893,2,1,0
$FREEZE,-0.12,0.070,-1.892,2,1,0
$FREEZE,0.01,-0.019,-1.055,2,1,0
$FINISH,0.0,1.015603
$STATE,6197,end surface coast,CONTROL_FINISHED_OK
$STATE,6198,begin surface
$SM_CCo,6216,14.55,0.102,0,0,1940,250.20
$SM_GC,1.56,0.00,0.00,14.55,0.000,0.000,0.102,185,2762,1940,-8.17,-0.51,250.20
$IRIDIUM_FIX,-7603.11,17517.31,210111,030334
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.9
$ALTIM_BOTTOM_PING,300.5,62.7
$24V_AH,21.8,84.825
$10V_AH,9.8,33.992
$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,18.325,44.700,339.200,14.550,0.000,27.113,39.546,178.884,1.000,0.000,14.303,1758.511,2702.896,431.278,1449.581,292.668,0.000,1101.575,0.000,1149.280,0.000,8.918,0.000
$DEVICE_MAMPS,208.845,99.450,963.900,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.593,934.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258152
$DATA_FILE_SIZE,46921,707
$CAP_FILE_SIZE,89268,0
$CFSIZE,260165632,215085056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.127,205.7,1
$GPS,210111,064522,-7651.206,17508.850,15,2.4,35,126.3