version: 66.08
glider: 503
mission: 7
dive: 919
start: 1 30 111 3 49 1
data:
$ID,503
$MISSION,7
$DIVE,919
$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,-20694.953
$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,51
$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
$GPS1,300111,034125,-7608.388,17510.094,43,1.6,45,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.7
$GPS2,300111,034832,-7608.412,17510.213,12,1.6,12,123.5
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$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,187.2,7785,-16.1,-10.000
$D_GRID,447
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-77.47,0.000,2,0.000,0.000,176,2804,3562,0,0,0,0,0,0
$GC,100,-0.71,-170.3,4.1,-10.5,13,121,9.12,2.33,-1.88,0.000,4,0.203,0.043,2560,1365,3660,0,0,1,0,0,0
$GC,341,-0.71,-170.3,46.7,-12.2,55,349,0.00,2.28,0.00,0.000,6,0.000,0.041,2550,2767,3662,0,0,0,0,0,0
$GC,485,-0.71,-170.3,65.7,-14.2,80,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2767,3663,0,0,0,0,0,0
$GC,626,-0.71,-170.3,85.5,-14.3,105,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2767,3663,0,0,0,0,0,0
$GC,768,-0.71,-170.3,105.2,-14.1,127,771,0.00,1.62,0.00,0.000,4,0.000,0.047,2543,3785,3663,0,0,0,0,0,0
$GC,807,-0.71,-170.3,111.5,-15.0,130,814,0.00,1.60,0.00,0.000,6,0.000,0.027,2543,2769,3663,0,0,0,0,0,0
$GC,942,-0.71,-170.3,130.8,-14.0,143,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2769,3664,0,0,0,0,0,0
$GC,1071,-0.71,-170.3,149.6,-14.3,155,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2768,3664,0,0,0,0,0,0
$GC,1207,-0.71,-170.3,168.9,-14.2,168,1211,0.00,1.65,0.00,0.000,4,0.000,0.047,2535,3752,3664,0,0,0,0,0,0
$GC,1246,-0.71,-170.3,175.0,-15.1,171,1254,0.08,1.58,0.00,0.000,6,0.133,0.028,2562,2763,3664,0,0,0,0,0,0
$GC,1382,-0.71,-170.3,192.0,-12.4,184,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2763,3664,0,0,0,0,0,0
$GC,1508,-0.71,-170.3,208.0,-12.3,196,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2764,3664,0,0,0,0,0,0
$GC,1636,-0.71,-170.3,223.7,-12.3,208,1640,0.00,1.67,0.00,0.000,4,0.000,0.048,2555,3760,3664,0,0,0,0,0,0
$GC,1686,-0.71,-170.3,230.5,-13.1,212,1693,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2770,3663,0,0,0,0,0,0
$GC,1821,-0.71,-170.3,247.2,-12.5,225,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2770,3663,0,0,0,0,0,0
$GC,1948,-0.71,-170.3,263.6,-12.7,237,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2770,3664,0,0,0,0,0,0
$GC,2140,-0.71,-170.3,288.1,-13.1,255,2143,0.00,1.62,0.00,0.000,4,0.000,0.048,2548,3766,3663,0,0,0,0,0,0
$GC,2212,-0.71,-170.3,298.3,-13.5,261,2219,0.00,1.55,0.00,0.000,6,0.000,0.028,2548,2789,3663,0,0,0,0,0,0
$GC,2412,-0.71,-170.3,324.6,-13.1,280,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3663,0,0,0,0,0,0
$GC,2602,-0.71,-170.3,349.5,-12.4,298,2606,0.00,1.62,0.00,0.000,4,0.000,0.047,2540,3786,3663,0,0,0,0,0,0
$GC,2647,-0.71,-170.3,355.7,-14.0,302,2651,0.05,1.58,0.00,0.000,6,0.134,0.028,2575,2790,3662,0,0,0,0,0,0
$GC,2851,-0.71,-170.3,377.7,-10.2,321,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2791,3663,0,0,0,0,0,0
$GC,3041,-0.71,-170.3,397.5,-10.4,339,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2790,3663,0,0,0,0,0,0
$GC,3234,-0.71,-170.3,417.8,-10.6,357,3238,0.00,1.62,0.00,0.000,4,0.000,0.047,2568,3788,3663,0,0,0,0,0,0
$GC,3281,-0.71,-170.3,423.4,-11.8,361,3285,0.00,1.58,0.00,0.000,6,0.000,0.028,2568,2790,3663,0,0,0,0,0,0
$GC,3487,-0.71,-170.3,446.6,-11.6,380,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2790,3663,0,0,0,0,0,0
$STATE,3502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3502,begin apogee
$GC,3511,-0.16,0.0,448.9,11.5,382,3659,0.52,0.00,142.15,1.026,4,0.112,0.000,2746,2685,2960,0,0,0,0,0,0
$STATE,3660,end apogee,CONTROL_FINISHED_OK
$STATE,3660,begin climb
$GC,3663,0.71,170.3,455.7,0.0,395,3828,0.85,2.33,155.98,0.972,4,0.069,0.033,3034,1310,2265,0,0,0,0,0,0
$GC,3834,0.78,225.1,449.8,7.8,409,3897,0.00,2.53,54.83,0.934,6,0.000,0.039,3034,2695,2042,0,0,0,0,0,0
$GC,4088,0.78,225.1,423.8,10.6,433,4092,0.00,1.85,0.00,0.000,4,0.000,0.047,3034,3772,2041,0,0,0,0,0,0
$GC,4161,0.78,225.1,414.6,12.3,439,4168,0.00,1.70,0.00,0.000,6,0.000,0.028,3042,2717,2040,0,0,1,0,0,0
$GC,4361,0.78,225.1,391.8,11.5,458,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2717,2039,0,0,0,0,0,0
$GC,4552,0.78,225.1,370.5,11.0,476,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2717,2038,0,0,0,0,0,0
$GC,4741,0.78,225.1,350.0,10.8,494,4745,0.00,1.73,0.00,0.000,4,0.000,0.047,3042,3775,2037,0,0,0,0,0,0
$GC,4799,0.78,225.1,343.0,12.5,499,4803,0.00,1.70,0.00,0.000,6,0.000,0.029,3050,2714,2037,0,0,0,0,0,0
$GC,5003,0.78,225.1,319.3,11.4,518,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2711,2037,0,0,0,0,0,0
$GC,5195,0.78,225.1,297.9,11.2,536,5198,0.00,1.73,0.00,0.000,4,0.000,0.047,3050,3767,2037,0,0,0,0,0,0
$GC,5241,0.78,225.1,291.8,13.6,540,5245,0.00,1.65,0.00,0.000,6,0.000,0.029,3058,2704,2036,0,0,1,0,0,0
$GC,5445,0.78,225.1,266.9,12.4,559,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2701,2036,0,0,0,0,0,0
$GC,5637,0.78,225.1,243.7,12.0,577,5641,0.00,1.75,0.00,0.000,4,0.000,0.048,3058,3771,2036,0,0,0,0,0,0
$GC,5698,0.78,225.1,235.0,14.4,582,5705,0.00,1.70,0.00,0.000,6,0.000,0.028,3065,2713,2036,0,0,0,0,0,0
$GC,5833,0.78,225.1,218.4,12.5,595,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2713,2035,0,0,0,0,0,0
$GC,5961,0.78,225.1,203.2,12.0,607,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2712,2035,0,0,0,0,0,0
$GC,6088,0.78,225.1,187.4,12.4,619,6092,0.00,1.73,0.00,0.000,4,0.000,0.047,3066,3769,2035,0,0,0,0,0,0
$GC,6157,0.78,225.1,178.0,14.4,625,6161,0.00,1.65,0.00,0.000,6,0.000,0.029,3074,2711,2035,0,0,0,0,0,0
$GC,6298,0.78,225.1,160.0,12.5,638,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2710,2035,0,0,0,0,0,0
$GC,6425,0.78,225.1,144.8,11.8,650,6429,0.00,1.73,0.00,0.000,4,0.000,0.047,3074,3768,2035,0,0,0,0,0,0
$GC,6461,0.78,225.1,140.2,13.8,653,6465,0.12,1.65,0.00,0.000,6,0.159,0.029,3046,2713,2035,0,0,0,0,0,0
$GC,6602,0.78,225.1,125.0,10.8,666,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2713,2034,0,0,0,0,0,0
$GC,6728,0.78,225.1,111.6,10.7,678,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2714,2034,0,0,0,0,0,0
$GC,6857,0.78,225.1,97.9,11.2,691,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2713,2034,0,0,0,0,0,0
$GC,7000,0.78,225.1,82.2,10.9,716,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2714,2034,0,0,0,0,0,0
$GC,7144,0.78,225.1,66.3,11.3,741,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2713,2034,0,0,0,0,0,0
$GC,7289,0.78,225.1,50.7,10.4,766,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2713,2034,0,0,0,0,0,0
$GC,7432,0.78,225.1,35.4,10.9,791,7439,0.00,1.75,0.00,0.000,4,0.000,0.047,3045,3757,2034,0,0,0,0,0,0
$GC,7475,0.78,225.1,30.3,12.3,798,7482,0.00,1.60,0.00,0.000,6,0.000,0.031,3052,2746,2034,0,0,1,0,0,0
$GC,7619,0.78,225.1,14.0,11.5,823,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2746,2034,0,0,0,0,0,0
$FREEZE,8.44,0.396,-1.895,2,1,0
$FREEZE,7.87,0.397,-1.894,2,1,0
$FREEZE,7.40,0.397,-1.894,2,1,0
$FREEZE,6.69,0.398,-1.894,2,1,0
$FREEZE,6.10,0.397,-1.893,2,1,0
$FREEZE,5.55,0.399,-1.893,2,1,0
$FREEZE,5.04,0.399,-1.892,2,1,0
$FREEZE,4.40,0.398,-1.892,2,1,0
$FREEZE,3.69,0.399,-1.891,2,1,0
$FREEZE,3.11,0.399,-1.891,2,1,0
$FREEZE,2.51,0.399,-1.890,2,1,0
$STATE,7720,end climb,SURFACE_DEPTH_REACHED
$STATE,7720,begin surface coast
$FREEZE,1.58,0.398,-1.890,2,1,0
$FREEZE,1.10,0.396,-1.889,2,1,0
$FREEZE,0.53,0.395,-1.889,2,1,0
$FREEZE,0.08,0.391,-1.889,2,1,0
$FINISH,0.1,1.027610
$STATE,7743,end surface coast,CONTROL_FINISHED_OK
$STATE,7744,begin surface
$SM_CCo,7762,10.60,0.103,0,0,1940,250.20
$SM_GC,1.91,0.00,0.00,10.60,0.000,0.000,0.103,184,2745,1940,-8.18,-0.99,250.20
$IRIDIUM_FIX,-7519.49,17521.63,300111,010148
$TT8_MAMPS,0.027713
$HUMID,54.29
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$24V_AH,21.2,97.168
$10V_AH,9.7,40.324
$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,18.325,52.725,352.950,10.600,0.000,22.302,37.543,193.950,1.250,0.000,14.840,2111.877,3622.055,448.825,1657.067,360.813,0.000,1235.477,0.000,1351.209,0.000,9.469,0.000
$DEVICE_MAMPS,203.490,80.325,1025.865,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.984,1022.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258128
$DATA_FILE_SIZE,57002,845
$CAP_FILE_SIZE,105073,0
$CFSIZE,260165632,209391616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.115,122.1,1
$GPS,300111,060007,-7607.866,17508.184,48,0.8,49,123.5