version: 66.08
glider: 503
mission: 7
dive: 805
start: 1 21 111 8 48 7
data:
$ID,503
$MISSION,7
$DIVE,805
$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,-20543.186
$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
$GPS1,210111,084030,-7652.353,17506.449,47,1.0,48,126.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-74.5
$GPS2,210111,084738,-7652.359,17506.367,10,1.8,10,126.5
$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,85.6,5572,-16.1,-10.000
$D_GRID,376
$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,16,-0.71,-170.3,0.0,0.0,0,93,0.00,0.00,-74.53,0.000,2,0.000,0.000,184,2757,3459,0,0,0,0,0,0
$GC,96,-0.71,-170.3,3.3,-7.0,13,118,9.23,2.20,-4.25,0.000,4,0.209,0.042,2568,1373,3659,0,0,0,0,0,0
$GC,175,-0.71,-170.3,22.3,-13.5,26,181,0.00,2.30,0.00,0.000,6,0.000,0.042,2563,2782,3661,0,0,0,0,0,0
$GC,316,-0.71,-170.3,42.5,-14.5,51,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3662,0,0,0,0,0,0
$GC,459,-0.71,-170.3,62.2,-13.2,76,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,601,-0.71,-170.3,82.3,-13.9,101,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,744,-0.71,-170.3,102.0,-14.2,125,748,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3755,3662,0,0,0,0,0,0
$GC,792,-0.71,-170.3,108.6,-13.7,129,796,0.00,1.55,0.00,0.000,6,0.000,0.029,2563,2774,3663,0,0,0,0,0,0
$GC,932,-0.71,-170.3,128.0,-13.6,142,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2774,3663,0,0,0,0,0,0
$GC,1061,-0.71,-170.3,145.0,-13.1,154,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2774,3663,0,0,0,0,0,0
$GC,1187,-0.71,-170.3,162.3,-14.1,166,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2774,3663,0,0,0,0,0,0
$GC,1314,-0.71,-170.3,179.4,-13.3,178,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2774,3663,0,0,0,0,0,0
$GC,1442,-0.71,-170.3,196.4,-13.4,190,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2774,3663,0,0,0,0,0,0
$GC,1569,-0.71,-170.3,212.7,-12.4,202,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2774,3662,0,0,0,0,0,0
$GC,1696,-0.71,-170.3,228.7,-12.4,214,1700,0.00,1.65,0.00,0.000,4,0.000,0.049,2556,3765,3663,0,0,0,0,0,0
$GC,1747,-0.71,-170.3,235.8,-13.9,218,1754,0.00,1.55,0.00,0.000,6,0.000,0.028,2555,2781,3662,0,0,0,0,0,0
$GC,1882,-0.71,-170.3,253.5,-13.4,231,1886,0.00,2.17,0.00,0.000,4,0.000,0.031,2555,1380,3662,0,0,0,0,0,0
$GC,1922,-0.71,-170.3,258.8,-12.4,234,1926,0.00,2.25,0.00,0.000,6,0.000,0.042,2547,2778,3662,0,0,0,0,0,0
$GC,2122,-0.71,-170.3,285.1,-13.2,252,2126,0.00,1.62,0.00,0.000,4,0.000,0.050,2547,3765,3662,0,0,0,0,0,0
$GC,2180,-0.71,-170.3,293.0,-13.3,257,2183,0.00,1.55,0.00,0.000,6,0.000,0.028,2547,2781,3662,0,0,0,0,0,0
$GC,2387,-0.71,-170.3,320.5,-13.5,276,2391,0.00,2.17,0.00,0.000,4,0.000,0.030,2547,1377,3662,0,0,0,0,0,0
$GC,2440,-0.71,-170.3,327.6,-12.5,280,2445,0.12,2.25,0.00,0.000,6,0.148,0.042,2573,2777,3662,0,0,0,0,0,0
$STATE,2606,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2606,begin apogee
$GC,2614,-0.16,0.0,347.4,12.2,295,2761,0.50,0.00,138.93,0.963,4,0.116,0.000,2743,2690,2959,0,0,0,0,0,0
$STATE,2762,end apogee,CONTROL_FINISHED_OK
$STATE,2762,begin climb
$GC,2765,0.71,170.3,354.0,0.0,308,2926,0.85,2.35,150.52,0.913,4,0.073,0.033,3029,1299,2265,0,0,0,0,0,0
$GC,3031,0.74,196.1,339.6,9.0,331,3066,0.00,2.42,24.58,0.871,6,0.000,0.039,3029,2701,2160,0,0,0,0,0,0
$GC,3257,0.74,196.1,316.8,10.2,352,3261,0.00,1.77,0.00,0.000,4,0.000,0.048,3030,3768,2158,0,0,0,0,0,0
$GC,3351,0.74,196.1,305.4,11.6,360,3358,0.00,1.67,0.00,0.000,6,0.000,0.029,3038,2726,2157,0,0,1,0,0,0
$GC,3552,0.74,196.1,285.1,10.4,379,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2726,2156,0,0,0,0,0,0
$GC,3750,0.74,196.1,264.5,10.1,398,3754,0.00,1.67,0.00,0.000,4,0.000,0.049,3037,3763,2155,0,0,0,0,0,0
$GC,3811,0.74,196.1,257.6,11.5,403,3818,0.00,1.65,0.00,0.000,6,0.000,0.031,3045,2701,2155,0,0,0,0,0,0
$GC,4010,0.74,196.1,236.9,10.2,422,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2701,2154,0,0,0,0,0,0
$GC,4136,0.74,196.1,223.8,10.5,434,4139,0.00,1.73,0.00,0.000,4,0.000,0.048,3045,3771,2154,0,0,0,0,0,0
$GC,4195,0.74,196.1,216.9,13.0,439,4198,0.00,1.65,0.00,0.000,6,0.000,0.030,3053,2703,2154,0,0,0,0,0,0
$GC,4339,0.74,196.1,201.2,10.6,452,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2703,2153,0,0,0,0,0,0
$GC,4473,0.74,196.1,186.6,10.7,465,4477,0.00,1.75,0.00,0.000,4,0.000,0.048,3053,3763,2154,0,0,0,0,0,0
$GC,4520,0.74,196.1,181.1,12.8,469,4523,0.00,1.62,0.00,0.000,6,0.000,0.031,3061,2736,2153,0,0,0,0,0,0
$GC,4661,0.74,196.1,165.8,10.7,482,4662,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2736,2153,0,0,0,0,0,0
$GC,4787,0.74,196.1,152.5,10.7,494,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2736,2153,0,0,0,0,0,0
$GC,4914,0.74,196.1,139.0,10.7,506,4918,0.00,1.65,0.00,0.000,4,0.000,0.048,3061,3763,2153,0,0,0,0,0,0
$GC,4961,0.74,196.1,133.4,12.1,510,4965,0.10,1.62,0.00,0.000,6,0.176,0.031,3041,2737,2153,0,0,0,0,0,0
$GC,5101,0.76,213.5,119.5,9.3,523,5120,0.00,0.00,15.40,0.822,6,0.000,0.000,3041,2737,2088,0,0,0,0,0,0
$GC,5249,0.77,215.9,104.9,9.9,537,5257,0.00,0.00,4.10,0.613,6,0.000,0.000,3041,2737,2079,0,0,0,0,0,0
$GC,5390,0.77,215.9,90.9,11.0,558,5396,0.00,1.70,0.00,0.000,4,0.000,0.048,3040,3761,2079,0,0,0,0,0,0
$GC,5431,0.77,215.9,86.3,11.0,565,5438,0.00,1.62,0.00,0.000,6,0.000,0.031,3047,2743,2079,0,0,0,0,0,0
$GC,5575,0.79,230.8,72.2,9.4,590,5594,0.00,0.00,14.90,0.791,6,0.000,0.000,3047,2743,2018,0,0,0,0,0,0
$GC,5732,0.79,230.8,55.9,10.6,617,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2743,2018,0,0,0,0,0,0
$GC,5875,0.79,230.8,40.3,11.3,642,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2743,2018,0,0,0,0,0,0
$GC,6016,0.79,230.8,25.0,11.3,667,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2743,2018,0,0,0,0,0,0
$GC,6161,0.79,230.8,9.7,10.6,692,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2743,2017,0,0,0,0,0,0
$FREEZE,8.12,-0.067,-1.898,2,1,0
$FREEZE,7.66,-0.079,-1.898,2,1,0
$FREEZE,7.24,-0.070,-1.897,2,1,0
$FREEZE,6.65,-0.064,-1.897,2,1,0
$FREEZE,6.04,-0.070,-1.897,2,1,0
$FREEZE,5.54,-0.071,-1.896,2,1,0
$FREEZE,5.05,-0.074,-1.896,2,1,0
$FREEZE,4.32,-0.065,-1.895,2,1,0
$FREEZE,3.95,-0.065,-1.895,2,1,0
$FREEZE,3.32,-0.067,-1.894,2,1,0
$FREEZE,2.61,-0.059,-1.894,2,1,0
$STATE,6225,end climb,SURFACE_DEPTH_REACHED
$STATE,6226,begin surface coast
$FREEZE,2.07,-0.057,-1.893,2,1,0
$FREEZE,1.59,-0.057,-1.893,2,1,0
$FREEZE,0.75,-0.054,-1.892,2,1,0
$FREEZE,0.17,-0.054,-1.892,2,1,0
$FREEZE,-0.10,-0.126,-1.668,2,1,0
$FINISH,-0.1,1.024504
$STATE,6255,end surface coast,CONTROL_FINISHED_OK
$STATE,6255,begin surface
$SM_CCo,6274,8.27,0.103,0,0,1940,250.20
$SM_GC,1.98,0.00,0.00,8.27,0.000,0.000,0.103,184,2743,1940,-8.18,-1.05,250.20
$IRIDIUM_FIX,-7603.11,17507.13,210111,060638
$TT8_MAMPS,0.027713
$HUMID,53.11
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$ALTIM_BOTTOM_PING,300.5,61.7
$24V_AH,21.9,85.037
$10V_AH,9.8,34.105
$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,18.375,47.875,348.425,8.275,0.000,30.528,48.091,188.819,1.000,0.000,13.093,1767.798,2725.381,440.993,1484.089,298.454,0.000,1126.083,0.000,1157.284,0.000,8.917,0.000
$DEVICE_MAMPS,208.845,80.325,963.135,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.934,940.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47131,709
$CAP_FILE_SIZE,91215,0
$CFSIZE,260165632,214986752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.083,188.8,1
$GPS,210111,103350,-7653.400,17503.883,16,1.7,17,126.6