version: 66.08
glider: 503
mission: 7
dive: 817
start: 1 22 111 6 49 1
data:
$ID,503
$MISSION,7
$DIVE,817
$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,-20560.254
$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,41
$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
$GPS1,220111,063936,-7653.943,17529.215,19,0.8,36,126.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-75.8
$GPS2,220111,064832,-7653.986,17529.158,13,0.9,13,126.0
$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,295.5,38130,-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,16,-0.71,-170.3,0.0,0.0,0,93,0.00,0.00,-74.90,0.000,2,0.000,0.000,178,2795,3475,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.4,-7.9,13,118,9.25,2.28,-3.75,0.000,4,0.207,0.039,2562,1365,3655,0,0,0,0,0,0
$GC,370,-0.71,-170.3,49.0,-12.7,61,377,0.00,2.28,0.00,0.000,6,0.000,0.041,2552,2774,3659,0,0,0,0,0,0
$GC,511,-0.71,-170.3,68.8,-14.1,86,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3659,0,0,0,0,0,0
$GC,654,-0.71,-170.3,89.4,-14.6,111,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,794,-0.71,-170.3,109.4,-14.3,130,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2775,3660,0,0,0,0,0,0
$GC,920,-0.71,-170.3,127.6,-14.3,142,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2775,3660,0,0,0,0,0,0
$GC,1048,-0.71,-170.3,146.0,-14.4,154,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,1176,-0.71,-170.3,164.5,-14.1,166,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,1302,-0.71,-170.3,182.3,-14.0,178,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,1430,-0.71,-170.3,200.4,-14.1,190,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,1558,-0.71,-170.3,218.3,-14.1,202,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2774,3660,0,0,0,0,0,0
$GC,1684,-0.71,-170.3,235.3,-13.7,214,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,1811,-0.71,-170.3,252.8,-13.5,226,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,2004,-0.71,-170.3,278.9,-13.9,244,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,2193,-0.71,-170.3,304.9,-13.6,262,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3660,0,0,0,0,0,0
$GC,2386,-0.71,-170.3,331.0,-13.4,280,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2774,3659,0,0,0,0,0,0
$GC,2577,-0.71,-170.3,349.2,0.1,298,2581,0.00,2.17,0.00,0.000,4,0.000,0.031,2552,1366,3660,0,0,0,0,0,0
$STATE,2683,end dive,NO_VERTICAL_VELOCITY
$STATE,2683,begin apogee
$GC,2692,-0.16,0.0,349.2,0.0,307,2839,0.52,0.00,138.68,0.957,4,0.083,0.000,2747,2700,2959,0,0,0,0,0,0
$STATE,2839,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2842,0.71,170.3,349.2,0.0,320,3002,0.82,1.85,150.40,0.905,4,0.077,0.050,3032,3755,2265,0,0,0,0,0,0
$GC,3173,0.71,170.3,323.3,11.1,349,3177,0.00,1.75,0.00,0.000,6,0.000,0.029,3041,2705,2260,0,0,1,0,0,0
$GC,3378,0.74,197.2,304.3,8.9,368,3412,0.00,1.83,24.10,0.877,4,0.000,0.047,3041,3761,2155,0,0,1,0,0,0
$GC,3553,0.74,197.2,284.6,11.4,383,3561,0.00,1.70,0.00,0.000,6,0.000,0.029,3047,2682,2155,0,0,0,0,0,0
$GC,3752,0.76,206.9,264.9,9.6,402,3767,0.00,2.28,9.98,0.829,4,0.000,0.034,3059,1298,2116,0,0,0,0,0,0
$GC,3847,0.77,218.1,255.5,9.6,410,3867,0.00,2.25,11.55,0.834,6,0.000,0.040,3059,2683,2070,0,0,0,0,0,0
$GC,4059,0.77,218.1,234.8,10.4,430,4063,0.00,2.20,0.00,0.000,4,0.000,0.034,3070,1301,2070,0,0,0,0,0,0
$GC,4136,0.77,218.1,226.2,10.9,436,4143,0.00,2.20,0.00,0.000,6,0.000,0.040,3069,2661,2070,0,0,0,0,0,0
$GC,4272,0.77,218.1,211.3,11.3,449,4276,0.00,2.17,0.00,0.000,4,0.000,0.034,3080,1296,2070,0,0,0,0,0,0
$GC,4315,0.77,218.1,206.1,11.3,452,4323,0.12,2.17,0.00,0.000,6,0.154,0.041,3045,2640,2070,0,0,0,0,0,0
$GC,4451,0.77,218.1,192.8,10.0,465,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2640,2070,0,0,0,0,0,0
$GC,4577,0.79,232.4,180.6,9.4,477,4600,0.00,2.17,14.10,0.839,4,0.000,0.035,3056,1305,2012,0,0,1,0,0,0
$GC,4662,0.80,242.4,172.4,9.6,484,4681,0.00,2.15,10.70,0.805,6,0.000,0.041,3055,2629,1971,0,0,0,0,0,0
$GC,4809,0.80,242.4,157.4,10.2,498,4813,0.00,2.12,0.00,0.000,4,0.000,0.035,3065,1300,1971,0,0,0,0,0,0
$GC,4849,0.80,242.4,153.1,10.2,501,4853,0.00,2.12,0.00,0.000,6,0.000,0.041,3066,2615,1971,0,0,0,0,0,0
$GC,4984,0.80,242.4,138.3,10.9,513,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2615,1971,0,0,0,0,0,0
$GC,5112,0.80,242.4,124.4,10.8,525,5116,0.00,2.10,0.00,0.000,4,0.000,0.034,3075,1300,1970,0,0,0,0,0,0
$GC,5192,0.80,242.4,115.8,10.0,532,5196,0.00,2.10,0.00,0.000,6,0.000,0.041,3076,2608,1971,0,0,0,0,0,0
$GC,5328,0.80,242.4,100.3,11.5,544,5332,0.00,2.10,0.00,0.000,4,0.000,0.034,3086,1299,1971,0,0,0,0,0,0
$GC,5380,0.80,242.4,94.4,11.8,552,5388,0.00,2.10,0.00,0.000,6,0.000,0.041,3086,2597,1971,0,0,0,0,0,0
$GC,5524,0.80,242.4,77.5,11.3,577,5531,0.00,2.08,0.00,0.000,4,0.000,0.034,3095,1301,1971,0,0,0,0,0,0
$GC,5572,0.80,242.4,71.7,11.5,585,5579,0.12,2.05,0.00,0.000,6,0.157,0.041,3061,2573,1971,0,0,0,0,0,0
$GC,5717,0.80,242.4,56.5,10.4,610,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2572,1970,0,0,0,0,0,0
$GC,5859,0.80,242.4,40.9,10.8,635,5867,0.00,2.03,0.00,0.000,4,0.000,0.036,3071,1300,1971,0,0,0,0,0,0
$GC,5942,0.80,242.4,32.0,10.6,649,5950,0.00,2.03,0.00,0.000,6,0.000,0.040,3071,2561,1971,0,0,0,0,0,0
$GC,6088,0.80,242.4,15.7,10.6,674,6095,0.00,2.03,0.00,0.000,4,0.000,0.035,3081,1292,1970,0,0,0,0,0,0
$FREEZE,8.79,-0.021,-1.898,2,1,0
$FREEZE,8.16,-0.022,-1.897,2,1,0
$FREEZE,7.58,-0.022,-1.897,2,1,0
$FREEZE,6.91,-0.021,-1.896,2,1,0
$FREEZE,6.44,-0.021,-1.896,2,1,0
$FREEZE,5.77,-0.023,-1.896,2,1,0
$GC,6174,0.80,242.4,5.8,11.5,689,6181,0.00,2.00,0.00,0.000,6,0.000,0.039,3081,2539,1971,0,0,0,0,0,0
$FREEZE,4.18,-0.028,-1.895,2,1,0
$FREEZE,3.60,-0.029,-1.894,2,1,0
$FREEZE,2.99,-0.030,-1.894,2,1,0
$STATE,6197,end climb,SURFACE_DEPTH_REACHED
$STATE,6197,begin surface coast
$FREEZE,2.29,-0.026,-1.893,2,1,0
$FREEZE,1.44,-0.029,-1.892,2,1,0
$FREEZE,0.95,-0.021,-1.892,2,1,0
$FREEZE,0.31,-0.024,-1.891,2,1,0
$FREEZE,-0.09,-0.121,-1.897,2,1,0
$FINISH,-0.1,1.027753
$STATE,6228,end surface coast,CONTROL_FINISHED_OK
$STATE,6228,begin surface
$SM_CCo,6247,2.92,0.105,0,0,1940,250.20
$SM_GC,2.02,0.00,0.00,2.92,0.000,0.000,0.105,186,2785,1940,-8.17,0.14,250.20
$IRIDIUM_FIX,-7603.11,17525.19,220111,060648
$TT8_MAMPS,0.027713
$HUMID,53.22
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,21.0
$24V_AH,21.8,86.319
$10V_AH,9.7,34.753
$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,18.525,58.875,359.500,2.925,0.000,60.317,111.412,158.329,1.000,0.000,18.043,1742.551,2771.152,440.198,1555.502,283.556,0.000,1126.404,0.000,1168.308,0.000,8.753,0.000
$DEVICE_MAMPS,207.315,56.610,957.015,104.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.057,916.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258200
$DATA_FILE_SIZE,43621,698
$CAP_FILE_SIZE,91848,0
$CFSIZE,260165632,214409216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.139,179.0,1
$GPS,220111,083425,-7654.112,17532.035,20,2.0,32,126.0