version: 66.08
glider: 503
mission: 7
dive: 811
start: 1 21 111 19 53 43
data:
$ID,503
$MISSION,7
$DIVE,811
$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,-20550.736
$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,45
$R_STBD_OVSHOOT,40
$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
$GPS1,210111,194650,-7653.063,17518.725,17,1.7,18,126.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.2
$GPS2,210111,195314,-7653.023,17518.656,11,1.7,11,126.2
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_SE
$TGT_LATLONG,-7655.000,17700.000
$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,349.3,42644,-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,-76.03,0.000,2,0.000,0.000,178,2794,3503,0,0,0,0,0,0
$GC,99,-0.71,-170.3,3.8,-9.2,13,120,9.25,1.55,-3.05,0.000,4,0.207,0.057,2558,3758,3656,0,0,0,0,0,0
$GC,272,-0.71,-170.3,39.1,-14.5,43,279,0.00,1.55,0.00,0.000,6,0.000,0.028,2558,2776,3658,0,0,0,0,0,0
$GC,416,-0.71,-170.3,59.4,-14.1,68,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2776,3658,0,0,0,0,0,0
$GC,558,-0.71,-170.3,79.9,-15.2,93,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2776,3659,0,0,0,0,0,0
$GC,697,-0.71,-170.3,99.2,-13.9,118,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2776,3659,0,0,0,0,0,0
$GC,832,-0.71,-170.3,117.7,-13.6,131,835,0.00,1.60,0.00,0.000,4,0.000,0.047,2550,3746,3659,0,0,0,0,0,0
$GC,867,-0.71,-170.3,122.7,-15.1,134,871,0.00,1.50,0.00,0.000,6,0.000,0.028,2550,2783,3659,0,0,0,0,0,0
$GC,1008,-0.71,-170.3,142.4,-14.5,147,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3659,0,0,0,0,0,0
$GC,1134,-0.71,-170.3,160.4,-14.4,159,1138,0.00,2.17,0.00,0.000,4,0.000,0.031,2550,1380,3659,0,0,0,0,0,0
$GC,1167,-0.71,-170.3,165.2,-14.1,161,1174,0.10,2.25,0.00,0.000,6,0.159,0.042,2568,2773,3659,0,0,0,0,0,0
$GC,1302,-0.71,-170.3,182.1,-12.2,174,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2773,3659,0,0,0,0,0,0
$GC,1428,-0.71,-170.3,197.9,-12.3,186,1432,0.00,1.62,0.00,0.000,4,0.000,0.049,2563,3792,3659,0,0,0,0,0,0
$GC,1466,-0.71,-170.3,203.1,-12.9,189,1473,0.00,1.58,0.00,0.000,6,0.000,0.028,2563,2782,3659,0,0,0,0,0,0
$GC,1602,-0.71,-170.3,220.0,-12.6,202,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3659,0,0,0,0,0,0
$GC,1728,-0.71,-170.3,236.4,-12.8,214,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3659,0,0,0,0,0,0
$GC,1856,-0.71,-170.3,252.8,-13.3,226,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3659,0,0,0,0,0,0
$GC,2048,-0.71,-170.3,277.4,-12.6,244,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3659,0,0,0,0,0,0
$GC,2237,-0.71,-170.3,301.6,-12.6,262,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3658,0,0,0,0,0,0
$GC,2431,-0.71,-170.3,325.1,-12.3,280,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3658,0,0,0,0,0,0
$GC,2632,-0.71,-170.3,350.3,-13.3,299,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3658,0,0,0,0,0,0
$STATE,2828,end dive,NO_VERTICAL_VELOCITY
$STATE,2828,begin apogee
$GC,2835,-0.16,0.0,353.7,0.0,318,2981,0.50,0.00,139.02,0.960,4,0.082,0.000,2750,2690,2959,0,0,0,0,0,0
$STATE,2982,end apogee,CONTROL_FINISHED_OK
$STATE,2982,begin climb
$GC,2985,0.71,170.3,353.6,0.0,331,3145,0.77,0.00,150.52,0.911,6,0.069,0.000,3026,2690,2266,0,0,0,0,0,0
$GC,3339,0.76,211.0,330.4,8.4,363,3384,0.00,1.90,37.30,0.887,4,0.000,0.048,3026,3755,2099,0,0,1,0,0,0
$GC,3514,0.76,211.0,312.2,10.9,378,3521,0.00,1.70,0.00,0.000,6,0.000,0.029,3033,2717,2099,0,0,1,0,0,0
$GC,3713,0.77,217.8,293.1,9.7,397,3723,0.00,0.00,7.40,0.791,6,0.000,0.000,3033,2717,2071,0,0,0,0,0,0
$GC,3915,0.79,230.8,274.1,9.5,416,3935,0.00,1.73,13.10,0.858,4,0.000,0.047,3033,3765,2017,0,0,0,0,0,0
$GC,3960,0.79,230.8,269.5,10.8,420,3963,0.00,1.65,0.00,0.000,6,0.000,0.031,3040,2711,2017,0,0,0,0,0,0
$GC,4166,0.80,238.6,249.6,9.7,439,4176,0.00,0.00,8.50,0.813,6,0.000,0.000,3040,2711,1986,0,0,0,0,0,0
$GC,4302,0.81,250.2,236.6,9.5,452,4320,0.00,0.00,11.90,0.839,6,0.000,0.000,3040,2711,1939,0,0,0,0,0,0
$GC,4448,0.82,259.4,222.7,9.6,466,4464,0.00,1.77,9.70,0.817,4,0.000,0.049,3040,3761,1902,0,0,0,0,0,0
$GC,4495,0.82,259.4,218.2,10.4,470,4498,0.00,1.65,0.00,0.000,6,0.000,0.031,3047,2710,1902,0,0,0,0,0,0
$GC,4635,0.83,266.2,204.2,9.7,483,4646,0.00,0.00,7.90,0.790,6,0.000,0.000,3047,2710,1874,0,0,0,0,0,0
$GC,4773,0.83,266.2,190.5,10.0,496,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2710,1873,0,0,0,0,0,0
$GC,4903,0.83,266.2,177.8,10.1,508,4906,0.00,1.70,0.00,0.000,4,0.000,0.050,3046,3761,1874,0,0,0,0,0,0
$GC,4952,0.83,266.2,171.8,11.3,512,4959,0.00,1.67,0.00,0.000,6,0.000,0.031,3051,2713,1874,0,0,0,0,0,0
$GC,5087,0.83,266.2,158.1,10.1,525,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2713,1874,0,0,0,0,0,0
$GC,5215,0.83,266.2,145.2,10.2,537,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2713,1874,0,0,0,0,0,0
$GC,5341,0.83,266.2,131.9,10.7,549,5345,0.00,2.22,0.00,0.000,4,0.000,0.034,3062,1298,1874,0,0,0,0,0,0
$GC,5370,0.83,266.2,128.7,11.1,551,5374,0.00,2.30,0.00,0.000,6,0.000,0.042,3062,2732,1874,0,0,0,0,0,0
$GC,5505,0.83,266.2,113.6,11.1,563,5509,0.00,1.67,0.00,0.000,4,0.000,0.050,3062,3749,1873,0,0,0,0,0,0
$GC,5540,0.83,266.2,109.3,12.0,566,5544,0.00,1.60,0.00,0.000,6,0.000,0.031,3068,2731,1874,0,0,1,0,0,0
$GC,5676,0.83,266.2,93.4,12.1,583,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2730,1874,0,0,0,0,0,0
$GC,5820,0.83,266.2,77.2,11.5,608,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2730,1874,0,0,0,0,0,0
$GC,5961,0.83,266.2,61.0,11.9,633,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2730,1873,0,0,0,0,0,0
$GC,6103,0.83,266.2,45.2,11.2,658,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2730,1874,0,0,0,0,0,0
$GC,6244,0.83,266.2,29.4,11.6,683,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2730,1874,0,0,0,0,0,0
$GC,6387,0.83,266.2,13.3,11.3,708,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2730,1874,0,0,0,0,0,0
$FREEZE,8.60,0.052,-1.898,2,1,0
$FREEZE,7.95,0.053,-1.897,2,1,0
$FREEZE,7.34,0.053,-1.897,2,1,0
$FREEZE,6.76,0.054,-1.896,2,1,0
$FREEZE,6.15,0.054,-1.896,2,1,0
$FREEZE,5.68,0.057,-1.896,2,1,0
$FREEZE,5.05,0.057,-1.895,2,1,0
$FREEZE,4.38,0.056,-1.895,2,1,0
$FREEZE,3.90,0.056,-1.894,2,1,0
$FREEZE,3.26,0.057,-1.894,2,1,0
$FREEZE,2.65,0.056,-1.893,2,1,0
$STATE,6481,end climb,SURFACE_DEPTH_REACHED
$STATE,6481,begin surface coast
$FREEZE,1.67,0.056,-1.893,2,1,0
$FREEZE,0.96,0.056,-1.892,2,1,0
$FREEZE,0.38,0.055,-1.892,2,1,0
$FREEZE,0.01,0.054,-1.891,2,1,0
$FREEZE,0.15,0.050,-1.891,2,1,0
$FINISH,0.2,1.027667
$STATE,6508,end surface coast,CONTROL_FINISHED_OK
$STATE,6509,begin surface
$SM_CCo,6588,0.00,0.000,0,0,1871,267.13
$SM_GC,0.85,7.57,0.00,0.00,0.043,0.000,0.000,188,2788,1871,-8.07,0.23,267.13
$IRIDIUM_FIX,-7603.11,17525.19,210111,171734
$TT8_MAMPS,0.028462
$HUMID,53.03
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.2
$24V_AH,21.8,85.688
$10V_AH,9.7,34.432
$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,18.200,35.550,385.350,0.000,0.000,27.936,37.578,169.938,1.500,0.000,13.589,1796.032,2984.891,460.983,1441.543,291.413,0.000,1147.708,0.000,1157.778,0.000,10.344,0.000
$DEVICE_MAMPS,207.315,116.280,960.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.346,948.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258216
$DATA_FILE_SIZE,47087,730
$CAP_FILE_SIZE,90694,0
$CFSIZE,260165632,214687744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.156,318.0,1
$GPS,210111,214507,-7652.990,17520.852,56,0.9,57,126.2