version: 66.08
glider: 503
mission: 7
dive: 791
start: 1 20 111 6 30 30
data:
$ID,503
$MISSION,7
$DIVE,791
$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,-20525.398
$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,49
$R_STBD_OVSHOOT,24
$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
$GPS1,200111,062330,-7640.911,17533.975,52,0.9,59,125.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.8
$GPS2,200111,063001,-7640.902,17534.104,12,1.8,12,125.1
$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,118.4,29768,-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,-170.3,0.0,0.0,0,93,0.00,0.00,-74.38,0.000,2,0.000,0.000,188,2760,3498,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.7,-8.6,13,118,9.18,2.22,-3.28,0.000,4,0.207,0.044,2568,1372,3659,0,0,0,0,0,0
$GC,159,-0.71,-170.3,21.3,-13.9,23,167,0.00,2.30,0.00,0.000,6,0.000,0.042,2562,2782,3661,0,0,0,0,0,0
$GC,304,-0.71,-170.3,41.2,-14.0,48,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3662,0,0,0,0,0,0
$GC,446,-0.71,-170.3,61.8,-14.1,73,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2783,3663,0,0,0,0,0,0
$GC,588,-0.71,-170.3,81.0,-13.7,98,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3663,0,0,0,0,0,0
$GC,730,-0.71,-170.3,100.3,-13.8,123,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,857,-0.71,-170.3,118.0,-14.2,135,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3663,0,0,0,0,0,0
$GC,984,-0.71,-170.3,135.9,-13.8,147,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2783,3663,0,0,0,0,0,0
$GC,1113,-0.71,-170.3,153.2,-13.3,159,1116,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3753,3663,0,0,0,0,0,0
$GC,1151,-0.71,-170.3,158.8,-13.1,162,1158,0.00,1.55,0.00,0.000,6,0.000,0.029,2562,2770,3663,0,0,0,0,0,0
$GC,1286,-0.71,-170.3,175.7,-12.5,175,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2770,3663,0,0,0,0,0,0
$GC,1414,-0.71,-170.3,191.5,-12.6,187,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2770,3663,0,0,0,0,0,0
$GC,1541,-0.71,-170.3,207.7,-12.8,199,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2770,3663,0,0,0,0,0,0
$GC,1668,-0.71,-170.3,223.8,-12.4,211,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2770,3663,0,0,0,0,0,0
$GC,1797,-0.71,-170.3,239.9,-12.9,223,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2770,3663,0,0,0,0,0,0
$GC,1925,-0.71,-170.3,256.0,-12.6,235,1928,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3774,3663,0,0,0,0,0,0
$GC,1963,-0.71,-170.3,261.3,-12.4,238,1970,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2774,3663,0,0,0,0,0,0
$GC,2162,-0.71,-170.3,285.7,-12.3,257,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2773,3663,0,0,0,0,0,0
$GC,2353,-0.71,-170.3,309.2,-12.5,275,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2773,3663,0,0,0,0,0,0
$GC,2544,-0.71,-170.3,332.4,-12.2,293,2548,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3778,3663,0,0,0,0,0,0
$GC,2580,-0.71,-170.3,336.7,-12.6,296,2583,0.00,1.58,0.00,0.000,6,0.000,0.029,2562,2780,3663,0,0,0,0,0,0
$GC,2786,-0.71,-170.3,361.7,-12.4,315,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3663,0,0,0,0,0,0
$STATE,2854,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2854,begin apogee
$GC,2862,-0.16,0.0,370.6,12.5,322,3009,0.55,0.00,139.80,0.974,4,0.119,0.000,2746,2690,2959,0,0,0,0,0,0
$STATE,3009,end apogee,CONTROL_FINISHED_OK
$STATE,3009,begin climb
$GC,3012,0.71,170.3,377.4,0.0,335,3176,0.85,2.33,151.02,0.923,4,0.073,0.032,3032,1312,2265,0,0,0,0,0,0
$GC,3200,0.78,226.0,370.5,7.8,351,3260,0.00,2.45,53.70,0.891,6,0.000,0.041,3031,2698,2037,0,0,1,0,0,0
$GC,3455,0.78,226.0,343.1,10.5,374,3458,0.00,1.80,0.00,0.000,4,0.000,0.049,3032,3764,2035,0,0,0,0,0,0
$GC,3548,0.78,226.0,331.2,12.2,382,3555,0.00,1.70,0.00,0.000,6,0.000,0.030,3039,2735,2034,0,0,0,0,0,0
$GC,3749,0.78,226.0,309.3,10.7,401,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2735,2033,0,0,0,0,0,0
$GC,3938,0.78,226.0,288.6,10.5,419,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2735,2031,0,0,0,0,0,0
$GC,4130,0.78,226.0,267.9,10.7,437,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2735,2031,0,0,0,0,0,0
$GC,4319,0.78,226.0,247.0,11.1,455,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2735,2031,0,0,0,0,0,0
$GC,4447,0.78,226.0,232.9,11.3,467,4450,0.00,1.67,0.00,0.000,4,0.000,0.049,3039,3768,2030,0,0,0,0,0,0
$GC,4497,0.78,226.0,226.5,13.0,471,4504,0.00,1.67,0.00,0.000,6,0.000,0.029,3046,2719,2029,0,0,0,0,0,0
$GC,4632,0.78,226.0,211.0,11.8,484,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2720,2030,0,0,0,0,0,0
$GC,4760,0.78,226.0,196.4,11.0,496,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2720,2029,0,0,0,0,0,0
$GC,4888,0.78,226.0,181.9,11.8,508,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2720,2029,0,0,0,0,0,0
$GC,5014,0.78,226.0,167.7,10.8,520,5018,0.00,1.70,0.00,0.000,4,0.000,0.050,3046,3771,2029,0,0,0,0,0,0
$GC,5052,0.78,226.0,162.8,12.8,523,5059,0.00,1.65,0.00,0.000,6,0.000,0.030,3053,2733,2028,0,0,0,0,0,0
$GC,5188,0.78,226.0,147.9,11.0,536,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2733,2028,0,0,0,0,0,0
$GC,5315,0.78,226.0,134.0,11.0,548,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2733,2028,0,0,0,0,0,0
$GC,5441,0.78,226.0,120.2,10.7,560,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2733,2028,0,0,0,0,0,0
$GC,5568,0.78,226.0,107.0,10.3,572,5572,0.00,1.67,0.00,0.000,4,0.000,0.050,3054,3769,2028,0,0,0,0,0,0
$GC,5615,0.78,226.0,101.7,12.0,576,5618,0.00,1.65,0.00,0.000,6,0.000,0.031,3061,2704,2028,0,0,0,0,0,0
$GC,5757,0.78,226.0,86.3,10.9,599,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2704,2027,0,0,0,0,0,0
$GC,5900,0.78,226.0,70.3,10.7,624,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2704,2027,0,0,0,0,0,0
$GC,6043,0.78,226.0,54.0,11.3,649,6049,0.00,1.75,0.00,0.000,4,0.000,0.049,3061,3781,2027,0,0,0,0,0,0
$GC,6113,0.78,226.0,45.0,13.5,661,6120,0.00,1.62,0.00,0.000,6,0.000,0.030,3068,2744,2027,0,0,1,0,0,0
$GC,6257,0.78,226.0,26.9,12.6,686,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2744,2027,0,0,0,0,0,0
$GC,6398,0.78,226.0,9.7,12.4,711,6405,0.00,2.30,0.00,0.000,4,0.000,0.034,3079,1295,2027,0,0,0,0,0,0
$FREEZE,7.90,-0.077,-1.898,2,1,0
$FREEZE,7.25,-0.078,-1.898,2,1,0
$FREEZE,6.59,-0.079,-1.897,2,1,0
$FREEZE,5.99,-0.079,-1.897,2,1,0
$GC,6429,0.78,226.0,6.0,12.5,716,6437,0.00,2.35,0.00,0.000,6,0.000,0.042,3079,2754,2027,0,0,0,0,0,0
$FREEZE,3.95,-0.082,-1.895,2,1,0
$FREEZE,3.24,-0.087,-1.895,2,1,0
$FREEZE,2.52,-0.081,-1.894,2,1,0
$STATE,6453,end climb,SURFACE_DEPTH_REACHED
$STATE,6454,begin surface coast
$FREEZE,1.90,-0.074,-1.894,2,1,0
$FREEZE,1.08,-0.066,-1.893,2,1,0
$FREEZE,0.37,-0.068,-1.892,2,1,0
$FREEZE,-0.06,-0.075,-0.663,2,1,0
$FINISH,-0.1,1.009760
$STATE,6476,end surface coast,CONTROL_FINISHED_OK
$STATE,6476,begin surface
$SM_CCo,6494,9.38,0.103,0,0,1940,250.20
$SM_GC,2.01,0.00,0.00,9.38,0.000,0.000,0.103,190,2754,1940,-8.16,-0.71,250.20
$IRIDIUM_FIX,-7554.21,17539.64,200111,040422
$TT8_MAMPS,0.026964
$HUMID,52.95
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$ALTIM_BOTTOM_PING,351.3,33.8
$24V_AH,21.8,83.594
$10V_AH,9.7,33.331
$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,18.150,40.475,344.525,9.375,0.000,22.641,37.280,180.564,1.250,0.000,14.830,1792.248,2955.160,430.378,1433.360,290.373,0.000,1104.685,0.000,1140.613,0.000,10.556,0.000
$DEVICE_MAMPS,207.315,99.450,973.845,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.803,933.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47067,724
$CAP_FILE_SIZE,90809,0
$CFSIZE,260165632,215683072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.195,145.1,1
$GPS,200111,082007,-7641.901,17531.770,30,1.3,31,125.2