version: 66.08
glider: 503
mission: 7
dive: 808
start: 1 21 111 14 26 33
data:
$ID,503
$MISSION,7
$DIVE,808
$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,-20546.963
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,210111,141926,-7653.333,17509.832,20,1.9,20,126.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-72.5
$GPS2,210111,142604,-7653.322,17509.799,12,2.8,31,126.4
$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,323.4,46304,-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,-74.32,0.000,2,0.000,0.000,182,2795,3460,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.3,-7.3,13,118,9.23,1.58,-4.18,0.000,4,0.207,0.058,2557,3765,3658,0,0,0,0,0,0
$GC,281,-0.71,-170.3,39.0,-15.0,45,288,0.00,1.58,0.00,0.000,6,0.000,0.027,2557,2766,3661,0,0,0,0,0,0
$GC,423,-0.71,-170.3,58.8,-13.8,70,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2765,3662,0,0,0,0,0,0
$GC,567,-0.71,-170.3,78.2,-12.8,95,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2765,3662,0,0,0,0,0,0
$GC,710,-0.71,-170.3,96.8,-12.9,120,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2765,3662,0,0,0,0,0,0
$GC,851,-0.71,-170.3,115.6,-13.5,135,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2765,3662,0,0,0,0,0,0
$GC,979,-0.71,-170.3,132.8,-13.6,147,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2765,3662,0,0,0,0,0,0
$GC,1106,-0.71,-170.3,150.6,-14.0,159,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2765,3662,0,0,0,0,0,0
$GC,1235,-0.71,-170.3,168.3,-13.9,171,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2764,3662,0,0,0,0,0,0
$GC,1361,-0.71,-170.3,186.2,-13.6,183,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2765,3662,0,0,0,0,0,0
$GC,1489,-0.71,-170.3,203.5,-13.6,195,1492,0.00,1.62,0.00,0.000,4,0.000,0.048,2550,3770,3662,0,0,0,0,0,0
$GC,1528,-0.71,-170.3,209.5,-14.2,198,1535,0.00,1.55,0.00,0.000,6,0.000,0.028,2550,2783,3661,0,0,0,0,0,0
$GC,1663,-0.71,-170.3,227.9,-13.9,211,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3661,0,0,0,0,0,0
$GC,1790,-0.71,-170.3,245.2,-13.4,223,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2783,3661,0,0,0,0,0,0
$GC,1918,-0.71,-170.3,262.3,-13.3,235,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3661,0,0,0,0,0,0
$GC,2109,-0.71,-170.3,287.8,-13.4,253,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2783,3661,0,0,0,0,0,0
$GC,2301,-0.71,-170.3,313.5,-13.2,271,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3661,0,0,0,0,0,0
$GC,2491,-0.71,-170.3,338.5,-12.6,289,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3661,0,0,0,0,0,0
$STATE,2531,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2531,begin apogee
$GC,2538,-0.16,0.0,344.1,13.2,293,2684,0.57,0.00,139.15,0.956,4,0.121,0.000,2740,2691,2959,0,0,0,0,0,0
$STATE,2685,end apogee,CONTROL_FINISHED_OK
$STATE,2685,begin climb
$GC,2688,0.71,170.3,350.8,0.0,306,2850,0.85,2.33,150.75,0.909,4,0.073,0.032,3026,1313,2265,0,0,0,0,0,0
$GC,3059,0.75,199.6,326.8,8.8,338,3092,0.00,2.35,27.10,0.880,6,0.000,0.041,3027,2692,2145,0,0,0,0,0,0
$GC,3292,0.75,203.2,303.7,9.9,360,3304,0.00,2.28,4.65,0.671,4,0.000,0.034,3036,1313,2132,0,0,1,0,0,0
$GC,3445,0.77,213.8,288.7,9.6,373,3463,0.00,2.30,10.90,0.841,6,0.000,0.041,3036,2720,2087,0,0,0,0,0,0
$GC,3658,0.77,213.8,266.4,11.1,393,3661,0.00,1.67,0.00,0.000,4,0.000,0.049,3036,3762,2087,0,0,0,0,0,0
$GC,3726,0.77,213.8,257.6,12.4,399,3730,0.00,1.62,0.00,0.000,6,0.000,0.030,3044,2735,2088,0,0,1,0,0,0
$GC,3930,0.77,213.8,234.4,10.9,418,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2735,2088,0,0,0,0,0,0
$GC,4057,0.77,213.8,219.8,11.5,430,4060,0.00,1.67,0.00,0.000,4,0.000,0.048,3043,3768,2087,0,0,0,0,0,0
$GC,4092,0.77,213.8,215.5,12.2,433,4095,0.00,1.62,0.00,0.000,6,0.000,0.030,3052,2708,2087,0,0,1,0,0,0
$GC,4233,0.77,213.8,199.3,11.4,446,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2708,2087,0,0,0,0,0,0
$GC,4359,0.77,213.8,185.1,11.0,458,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2708,2086,0,0,0,0,0,0
$GC,4486,0.77,213.8,170.9,10.9,470,4490,0.00,1.70,0.00,0.000,4,0.000,0.047,3052,3764,2086,0,0,0,0,0,0
$GC,4534,0.77,213.8,165.1,13.0,474,4537,0.00,1.62,0.00,0.000,6,0.000,0.031,3059,2742,2086,0,0,0,0,0,0
$GC,4674,0.77,213.8,148.7,11.8,487,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2741,2085,0,0,0,0,0,0
$GC,4801,0.77,213.8,133.9,11.6,499,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2741,2086,0,0,0,0,0,0
$GC,4929,0.77,213.8,118.9,11.6,511,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2741,2086,0,0,0,0,0,0
$GC,5056,0.77,213.8,104.2,11.4,523,5060,0.00,1.65,0.00,0.000,4,0.000,0.049,3059,3764,2085,0,0,0,0,0,0
$GC,5091,0.77,213.8,100.0,12.6,526,5098,0.00,1.62,0.00,0.000,6,0.000,0.031,3067,2739,2085,0,0,0,0,0,0
$GC,5237,0.77,213.8,82.9,11.8,551,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2738,2085,0,0,0,0,0,0
$GC,5382,0.77,213.8,65.6,12.0,576,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2738,2085,0,0,0,0,0,0
$GC,5525,0.77,213.8,49.3,11.0,601,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2738,2085,0,0,0,0,0,0
$GC,5667,0.77,213.8,33.5,11.2,626,5673,0.00,1.70,0.00,0.000,4,0.000,0.048,3066,3763,2084,0,0,0,0,0,0
$GC,5715,0.77,213.8,27.6,12.8,634,5721,0.00,1.60,0.00,0.000,6,0.000,0.030,3074,2758,2084,0,0,0,0,0,0
$GC,5860,0.77,213.8,10.4,13.3,659,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2757,2084,0,0,0,0,0,0
$FREEZE,8.23,-0.269,-1.898,2,1,0
$FREEZE,7.65,-0.267,-1.898,2,1,0
$FREEZE,7.16,-0.271,-1.897,2,1,0
$FREEZE,6.68,-0.270,-1.897,2,1,0
$FREEZE,6.05,-0.265,-1.896,2,1,0
$FREEZE,5.37,-0.265,-1.896,2,1,0
$FREEZE,4.83,-0.266,-1.895,2,1,0
$FREEZE,4.33,-0.268,-1.895,2,1,0
$FREEZE,3.53,-0.264,-1.895,2,1,0
$FREEZE,2.83,-0.266,-1.894,2,1,0
$STATE,5919,end climb,SURFACE_DEPTH_REACHED
$STATE,5919,begin surface coast
$FREEZE,2.02,-0.263,-1.893,2,1,0
$FREEZE,1.15,-0.265,-1.893,2,1,0
$FREEZE,0.41,-0.278,-1.892,2,1,0
$FREEZE,-0.04,-0.412,-0.939,2,1,0
$FREEZE,-0.13,-0.597,-1.878,2,1,0
$FINISH,-0.1,1.027512
$STATE,5950,end surface coast,CONTROL_FINISHED_OK
$STATE,5950,begin surface
$SM_CCo,5968,16.05,0.102,0,0,1940,250.20
$SM_GC,0.99,0.00,0.00,16.05,0.000,0.000,0.102,187,2757,1940,-8.17,-0.65,250.20
$IRIDIUM_FIX,-7603.11,17506.32,210111,121211
$TT8_MAMPS,0.027713
$HUMID,52.99
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,300.6,57.2
$24V_AH,21.8,85.365
$10V_AH,9.8,34.270
$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,18.275,32.150,332.550,16.050,0.000,25.707,39.569,168.708,1.250,0.000,35.546,1678.494,2619.959,412.687,1405.136,274.199,0.000,1055.547,0.000,1096.002,0.000,11.862,0.000
$DEVICE_MAMPS,207.315,99.450,956.250,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.519,892.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258208
$DATA_FILE_SIZE,43753,675
$CAP_FILE_SIZE,84110,0
$CFSIZE,260165632,214847488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.037,324.6,1
$GPS,210111,160719,-7653.241,17513.082,14,1.9,19,126.4