version: 66.08
glider: 503
mission: 7
dive: 809
start: 1 21 111 16 14 42
data:
$ID,503
$MISSION,7
$DIVE,809
$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,-20548.221
$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,51
$R_STBD_OVSHOOT,27
$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
$GPS1,210111,160719,-7653.241,17513.082,14,1.9,19,126.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-72.8
$GPS2,210111,161413,-7653.211,17513.066,14,2.0,31,126.4
$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,333.6,44952,-16.1,-10.000
$D_GRID,376
$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,-170.3,0.0,0.0,0,90,0.00,0.00,-71.32,0.000,2,0.000,0.000,180,2757,3397,0,0,0,0,0,0
$GC,94,-0.71,-170.3,3.1,-5.4,12,116,9.23,1.70,-5.68,0.000,4,0.207,0.063,2557,3768,3658,0,0,1,0,0,0
$GC,336,-0.71,-170.3,46.1,-13.8,54,344,0.00,1.55,0.00,0.000,6,0.000,0.028,2558,2782,3662,0,0,0,0,0,0
$GC,480,-0.71,-170.3,65.8,-13.6,79,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2782,3662,0,0,0,0,0,0
$GC,621,-0.71,-170.3,85.0,-13.5,104,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2782,3663,0,0,0,0,0,0
$GC,768,-0.71,-170.3,104.6,-13.8,127,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2782,3662,0,0,0,0,0,0
$GC,895,-0.71,-170.3,122.0,-13.5,139,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2782,3662,0,0,0,0,0,0
$GC,1022,-0.71,-170.3,139.4,-13.8,151,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2782,3663,0,0,0,0,0,0
$GC,1150,-0.71,-170.3,156.8,-13.8,163,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2782,3663,0,0,0,0,0,0
$GC,1276,-0.71,-170.3,173.7,-13.3,175,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2782,3662,0,0,0,0,0,0
$GC,1404,-0.71,-170.3,190.5,-13.2,187,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2782,3663,0,0,0,0,0,0
$GC,1532,-0.71,-170.3,206.8,-12.6,199,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2782,3663,0,0,0,0,0,0
$GC,1658,-0.71,-170.3,223.2,-12.9,211,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2782,3663,0,0,0,0,0,0
$GC,1786,-0.71,-170.3,239.7,-12.9,223,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2782,3663,0,0,0,0,0,0
$GC,1914,-0.71,-170.3,256.2,-13.1,235,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2782,3662,0,0,0,0,0,0
$GC,2105,-0.71,-170.3,281.6,-13.3,253,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2782,3663,0,0,0,0,0,0
$GC,2294,-0.71,-170.3,306.8,-12.8,271,2298,0.00,1.62,0.00,0.000,4,0.000,0.047,2550,3787,3662,0,0,0,0,0,0
$GC,2334,-0.71,-170.3,312.5,-13.6,274,2342,0.00,1.60,0.00,0.000,6,0.000,0.028,2550,2773,3662,0,0,0,0,0,0
$GC,2534,-0.71,-170.3,338.9,-13.1,293,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2773,3662,0,0,0,0,0,0
$STATE,2572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2572,begin apogee
$GC,2579,-0.16,0.0,344.5,13.5,297,2727,0.57,0.00,139.45,0.960,4,0.119,0.000,2742,2691,2958,0,0,0,0,0,0
$STATE,2727,end apogee,CONTROL_FINISHED_OK
$STATE,2728,begin climb
$GC,2730,0.71,170.3,351.2,0.0,310,2893,0.85,2.35,150.73,0.910,4,0.073,0.032,3027,1303,2265,0,0,0,0,0,0
$GC,2906,0.78,222.6,344.3,7.9,325,2963,0.00,2.50,50.80,0.873,6,0.000,0.040,3027,2698,2052,0,0,0,0,0,0
$GC,3155,0.78,222.6,319.1,10.4,348,3159,0.00,1.80,0.00,0.000,4,0.000,0.047,3027,3762,2050,0,0,0,0,0,0
$GC,3234,0.78,222.6,309.7,11.5,355,3238,0.00,1.67,0.00,0.000,6,0.000,0.030,3035,2715,2049,0,0,1,0,0,0
$GC,3437,0.78,222.6,287.8,10.4,374,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2714,2048,0,0,0,0,0,0
$GC,3631,0.78,222.6,267.9,10.5,392,3635,0.00,1.73,0.00,0.000,4,0.000,0.048,3034,3772,2047,0,0,0,0,0,0
$GC,3678,0.78,222.6,262.2,12.5,396,3682,0.00,1.65,0.00,0.000,6,0.000,0.029,3042,2711,2046,0,0,0,0,0,0
$GC,3883,0.78,222.6,239.9,11.0,415,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2711,2046,0,0,0,0,0,0
$GC,4009,0.78,222.6,226.3,10.6,427,4013,0.00,1.75,0.00,0.000,4,0.000,0.048,3041,3763,2046,0,0,0,0,0,0
$GC,4044,0.78,222.6,222.1,12.5,430,4048,0.00,1.67,0.00,0.000,6,0.000,0.031,3049,2717,2045,0,0,0,0,0,0
$GC,4185,0.78,222.6,206.3,10.8,443,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2717,2045,0,0,0,0,0,0
$GC,4311,0.78,222.6,192.4,11.1,455,4315,0.00,1.70,0.00,0.000,4,0.000,0.049,3049,3768,2045,0,0,0,0,0,0
$GC,4346,0.78,222.6,188.1,12.4,458,4350,0.00,1.65,0.00,0.000,6,0.000,0.029,3056,2705,2045,0,0,0,0,0,0
$GC,4487,0.78,222.6,172.5,11.0,471,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2705,2044,0,0,0,0,0,0
$GC,4613,0.78,222.6,158.7,10.7,483,4617,0.00,1.75,0.00,0.000,4,0.000,0.048,3056,3759,2044,0,0,0,0,0,0
$GC,4652,0.78,222.6,153.8,12.1,486,4658,0.00,1.62,0.00,0.000,6,0.000,0.031,3064,2740,2044,0,0,0,0,0,0
$GC,4786,0.78,222.6,139.0,11.0,499,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2740,2044,0,0,0,0,0,0
$GC,4914,0.78,222.6,124.1,12.0,511,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2740,2044,0,0,0,0,0,0
$GC,5041,0.78,222.6,109.3,11.7,523,5045,0.00,1.70,0.00,0.000,4,0.000,0.049,3064,3764,2044,0,0,0,0,0,0
$GC,5098,0.78,222.6,102.1,13.2,528,5102,0.00,1.62,0.00,0.000,6,0.000,0.030,3070,2742,2044,0,0,0,0,0,0
$GC,5239,0.78,222.6,84.9,12.1,551,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2741,2043,0,0,0,0,0,0
$GC,5381,0.78,222.6,67.6,12.3,576,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2741,2043,0,0,0,0,0,0
$GC,5524,0.78,222.6,50.3,11.3,601,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2741,2043,0,0,0,0,0,0
$GC,5666,0.78,222.6,33.3,12.0,626,5673,0.00,1.70,0.00,0.000,4,0.000,0.049,3071,3766,2043,0,0,0,0,0,0
$GC,5703,0.78,222.6,28.4,14.0,632,5710,0.00,1.62,0.00,0.000,6,0.000,0.030,3079,2740,2043,0,0,0,0,0,0
$GC,5846,0.78,222.6,9.5,13.4,657,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2740,2043,0,0,0,0,0,0
$FREEZE,7.65,-0.205,-1.898,2,1,0
$FREEZE,6.83,-0.204,-1.898,2,1,0
$FREEZE,6.13,-0.204,-1.897,2,1,0
$FREEZE,5.37,-0.205,-1.896,2,1,0
$FREEZE,4.72,-0.206,-1.896,2,1,0
$FREEZE,4.10,-0.205,-1.895,2,1,0
$FREEZE,3.27,-0.206,-1.895,2,1,0
$FREEZE,2.72,-0.206,-1.894,2,1,0
$STATE,5895,end climb,SURFACE_DEPTH_REACHED
$STATE,5895,begin surface coast
$FREEZE,1.94,-0.206,-1.894,2,1,0
$FREEZE,1.14,-0.209,-1.893,2,1,0
$FREEZE,0.46,-0.209,-1.893,2,1,0
$FREEZE,-0.10,-0.212,-1.892,2,1,0
$FINISH,-0.1,1.027696
$STATE,5920,end surface coast,CONTROL_FINISHED_OK
$STATE,5920,begin surface
$SM_CCo,5939,10.98,0.103,0,0,1940,250.20
$SM_GC,1.51,0.00,0.00,10.98,0.000,0.000,0.103,183,2789,1940,-8.18,0.28,250.20
$IRIDIUM_FIX,-7612.11,17514.18,210111,141430
$TT8_MAMPS,0.026964
$HUMID,53.30
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.5
$ALTIM_BOTTOM_PING,250.7,108.3
$24V_AH,21.8,85.468
$10V_AH,9.7,34.322
$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,18.300,35.125,340.975,10.975,0.000,30.196,40.379,174.575,0.750,0.000,33.611,1668.020,2641.505,406.847,1370.402,284.329,0.000,1038.172,0.000,1061.950,0.000,9.231,0.000
$DEVICE_MAMPS,206.550,115.515,960.075,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.268,885.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43744,670
$CAP_FILE_SIZE,84296,0
$CFSIZE,260165632,214798336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.085,331.7,1
$GPS,210111,175524,-7653.109,17516.426,31,1.0,49,126.3