version: 66.08
glider: 503
mission: 7
dive: 792
start: 1 20 111 8 31 43
data:
$ID,503
$MISSION,7
$DIVE,792
$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,-20526.654
$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
$GPS1,200111,082007,-7641.901,17531.770,30,1.3,31,125.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-75.8
$GPS2,200111,083116,-7641.946,17531.912,14,3.5,33,125.2
$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,122.8,27631,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-170.3,0.0,0.0,0,91,0.00,0.00,-71.07,0.000,2,0.000,0.000,189,2756,3408,0,0,0,0,0,0
$GC,96,-0.71,-170.3,3.1,-5.9,12,116,9.23,0.00,-5.40,0.000,6,0.207,0.000,2566,2756,3659,0,0,0,0,0,0
$GC,254,-0.71,-170.3,32.7,-14.2,39,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2756,3662,0,0,0,0,0,0
$GC,395,-0.71,-170.3,52.5,-13.8,64,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2756,3663,0,0,0,0,0,0
$GC,537,-0.71,-170.3,71.4,-12.7,89,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2756,3663,0,0,0,0,0,0
$GC,678,-0.71,-170.3,90.1,-13.3,114,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2756,3663,0,0,0,0,0,0
$GC,817,-0.71,-170.3,108.2,-13.3,133,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2756,3663,0,0,0,0,0,0
$GC,944,-0.71,-170.3,124.9,-13.0,145,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2756,3663,0,0,0,0,0,0
$GC,1073,-0.71,-170.3,141.6,-13.5,157,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2756,3663,0,0,0,0,0,0
$GC,1199,-0.71,-170.3,158.2,-13.0,169,1203,0.00,1.62,0.00,0.000,4,0.000,0.050,2559,3771,3663,0,0,0,0,0,0
$GC,1237,-0.71,-170.3,163.8,-14.1,172,1244,0.00,1.55,0.00,0.000,6,0.000,0.028,2559,2780,3663,0,0,0,0,0,0
$GC,1372,-0.71,-170.3,182.0,-13.8,185,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2780,3663,0,0,0,0,0,0
$GC,1500,-0.71,-170.3,199.2,-13.4,197,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2780,3664,0,0,0,0,0,0
$GC,1627,-0.71,-170.3,216.3,-13.3,209,1631,0.00,1.62,0.00,0.000,4,0.000,0.050,2552,3761,3663,0,0,1,0,0,0
$GC,1673,-0.71,-170.3,222.8,-14.2,213,1676,0.00,1.52,0.00,0.000,6,0.000,0.028,2552,2788,3663,0,0,0,0,0,0
$GC,1814,-0.71,-170.3,241.9,-13.8,226,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2789,3663,0,0,0,0,0,0
$GC,1940,-0.71,-170.3,259.3,-13.7,238,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2789,3663,0,0,0,0,0,0
$GC,2131,-0.71,-170.3,285.4,-13.7,256,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2789,3663,0,0,0,0,0,0
$GC,2323,-0.71,-170.3,310.8,-13.4,274,2327,0.00,1.62,0.00,0.000,4,0.000,0.050,2547,3765,3663,0,0,0,0,0,0
$GC,2369,-0.71,-170.3,317.0,-13.4,278,2373,0.00,1.55,0.00,0.000,6,0.000,0.028,2547,2779,3663,0,0,0,0,0,0
$GC,2573,-0.71,-170.3,343.9,-13.0,297,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2779,3663,0,0,0,0,0,0
$STATE,2687,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2687,begin apogee
$GC,2695,-0.16,0.0,359.6,13.9,308,2841,0.60,0.00,139.70,0.965,4,0.118,0.000,2746,2686,2959,0,0,0,0,0,0
$STATE,2842,end apogee,CONTROL_FINISHED_OK
$STATE,2842,begin climb
$GC,2845,0.71,170.3,367.6,0.0,321,3006,0.82,2.33,150.93,0.917,4,0.070,0.031,3026,1310,2265,0,0,0,0,0,0
$GC,3023,0.76,213.2,360.6,8.3,336,3075,0.00,2.50,41.67,0.879,6,0.000,0.041,3026,2706,2090,0,0,1,0,0,0
$GC,3267,0.76,213.2,335.4,10.4,359,3270,0.00,1.80,0.00,0.000,4,0.000,0.050,3026,3768,2087,0,0,0,0,0,0
$GC,3347,0.76,213.2,325.9,12.0,366,3350,0.00,1.65,0.00,0.000,6,0.000,0.030,3034,2723,2086,0,0,1,0,0,0
$GC,3551,0.76,213.2,303.9,10.3,385,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2721,2084,0,0,0,0,0,0
$GC,3744,0.76,213.2,283.8,10.6,403,3747,0.00,1.70,0.00,0.000,4,0.000,0.050,3034,3769,2083,0,0,0,0,0,0
$GC,3791,0.76,213.2,278.4,12.2,407,3795,0.00,1.65,0.00,0.000,6,0.000,0.031,3041,2709,2082,0,0,0,0,0,0
$GC,3997,0.76,213.2,256.0,11.0,426,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2709,2082,0,0,0,0,0,0
$GC,4186,0.76,213.2,234.7,11.4,444,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2709,2081,0,0,0,0,0,0
$GC,4313,0.76,213.2,220.2,11.3,456,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2709,2081,0,0,0,0,0,0
$GC,4441,0.76,213.2,206.3,11.0,468,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2709,2080,0,0,0,0,0,0
$GC,4568,0.76,213.2,192.6,10.5,480,4572,0.00,1.70,0.00,0.000,4,0.000,0.048,3041,3768,2080,0,0,0,0,0,0
$GC,4630,0.76,213.2,184.8,12.4,485,4637,0.00,1.67,0.00,0.000,6,0.000,0.029,3048,2709,2080,0,0,0,0,0,0
$GC,4767,0.76,213.2,169.2,11.6,498,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2709,2080,0,0,0,0,0,0
$GC,4893,0.76,213.2,154.4,11.9,510,4896,0.00,1.70,0.00,0.000,4,0.000,0.049,3048,3768,2080,0,0,0,0,0,0
$GC,4940,0.76,213.2,148.7,12.1,514,4943,0.00,1.65,0.00,0.000,6,0.000,0.030,3056,2693,2079,0,0,0,0,0,0
$GC,5081,0.76,213.2,131.9,11.4,527,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2692,2080,0,0,0,0,0,0
$GC,5209,0.76,213.2,117.4,11.0,539,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2692,2080,0,0,0,0,0,0
$GC,5335,0.76,213.2,103.2,11.4,551,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2692,2079,0,0,0,0,0,0
$GC,5468,0.76,213.2,88.2,11.1,572,5475,0.00,1.75,0.00,0.000,4,0.000,0.050,3055,3772,2079,0,0,0,0,0,0
$GC,5505,0.76,213.2,83.6,13.4,578,5512,0.00,1.65,0.00,0.000,6,0.000,0.030,3063,2724,2079,0,0,0,0,0,0
$GC,5649,0.76,213.2,67.0,12.0,603,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2723,2079,0,0,0,0,0,0
$GC,5791,0.76,213.2,50.6,11.0,628,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2723,2079,0,0,0,0,0,0
$GC,5933,0.76,213.2,34.1,11.5,653,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2723,2078,0,0,0,0,0,0
$GC,6072,0.76,213.2,17.4,12.2,678,6080,0.00,1.70,0.00,0.000,4,0.000,0.050,3064,3756,2079,0,0,0,0,0,0
$GC,6116,0.76,213.2,11.8,13.5,685,6123,0.00,1.62,0.00,0.000,6,0.000,0.030,3071,2726,2078,0,0,0,0,0,0
$FREEZE,8.45,-0.147,-1.898,2,1,0
$FREEZE,7.85,-0.147,-1.898,2,1,0
$FREEZE,7.18,-0.147,-1.897,2,1,0
$FREEZE,6.56,-0.147,-1.897,2,1,0
$FREEZE,6.00,-0.149,-1.897,2,1,0
$FREEZE,5.39,-0.147,-1.896,2,1,0
$FREEZE,4.80,-0.146,-1.896,2,1,0
$FREEZE,4.19,-0.149,-1.895,2,1,0
$FREEZE,3.48,-0.149,-1.895,2,1,0
$FREEZE,2.87,-0.153,-1.894,2,1,0
$STATE,6189,end climb,SURFACE_DEPTH_REACHED
$STATE,6189,begin surface coast
$FREEZE,1.97,-0.157,-1.894,2,1,0
$FREEZE,1.37,-0.158,-1.893,2,1,0
$FREEZE,0.57,-0.153,-1.892,2,1,0
$FREEZE,-0.09,-0.151,-1.892,2,1,0
$FINISH,-0.1,1.027689
$STATE,6211,end surface coast,CONTROL_FINISHED_OK
$STATE,6211,begin surface
$SM_CCo,6231,15.95,0.102,0,0,1940,250.20
$SM_GC,1.26,0.00,0.00,15.95,0.000,0.000,0.102,186,2799,1940,-8.17,0.54,250.20
$IRIDIUM_FIX,-7554.21,17538.94,200111,080824
$TT8_MAMPS,0.026964
$HUMID,52.91
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.4
$ALTIM_BOTTOM_PING,350.8,23.4
$24V_AH,21.8,83.704
$10V_AH,9.8,33.388
$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,18.250,34.750,332.300,15.950,0.000,60.230,75.355,282.510,1.500,0.000,37.418,1749.769,2852.520,413.328,1595.925,309.295,0.000,1066.351,0.000,1111.249,0.000,13.437,0.000
$DEVICE_MAMPS,207.315,97.920,964.665,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.750,916.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258108
$DATA_FILE_SIZE,46967,702
$CAP_FILE_SIZE,91286,0
$CFSIZE,260165632,215633920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.214,139.1,1
$GPS,200111,101707,-7642.868,17529.891,33,1.0,34,125.3