version: 66.08
glider: 503
mission: 7
dive: 812
start: 1 21 111 21 51 55
data:
$ID,503
$MISSION,7
$DIVE,812
$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,-20551.998
$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,46
$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
$GPS1,210111,214507,-7652.990,17520.852,56,0.9,57,126.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-72.8
$GPS2,210111,215126,-7652.948,17520.771,11,1.2,11,126.2
$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,351.3,41773,-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,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,96,0.00,0.00,-77.85,0.000,2,0.000,0.000,184,2788,3459,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.4,-7.8,13,122,9.23,1.58,-4.12,0.000,4,0.208,0.057,2555,3760,3659,0,0,0,0,0,0
$GC,284,-0.71,-170.3,40.3,-15.3,45,291,0.00,1.55,0.00,0.000,6,0.000,0.027,2555,2781,3661,0,0,0,0,0,0
$GC,426,-0.71,-170.3,61.3,-13.9,70,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,568,-0.71,-170.3,81.9,-14.2,95,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,715,-0.71,-170.3,102.7,-13.9,120,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,841,-0.71,-170.3,120.8,-14.5,132,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,969,-0.71,-170.3,139.4,-14.6,144,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,1097,-0.71,-170.3,158.0,-14.6,156,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,1223,-0.71,-170.3,176.3,-14.4,168,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3663,0,0,0,0,0,0
$GC,1351,-0.71,-170.3,194.2,-13.8,180,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,1478,-0.71,-170.3,212.0,-13.4,192,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,1607,-0.71,-170.3,229.8,-14.1,204,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2781,3662,0,0,0,0,0,0
$GC,1732,-0.71,-170.3,247.0,-14.0,216,1736,0.00,1.60,0.00,0.000,4,0.000,0.047,2547,3746,3662,0,0,0,0,0,0
$GC,1768,-0.71,-170.3,252.2,-15.3,219,1772,0.00,1.52,0.00,0.000,6,0.000,0.028,2547,2775,3662,0,0,0,0,0,0
$GC,1972,-0.71,-170.3,280.5,-13.6,238,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2775,3662,0,0,0,0,0,0
$GC,2163,-0.71,-170.3,306.6,-13.6,256,2167,0.00,2.17,0.00,0.000,4,0.000,0.031,2547,1373,3662,0,0,0,0,0,0
$GC,2194,-0.71,-170.3,310.6,-13.5,258,2198,0.12,2.25,0.00,0.000,6,0.146,0.042,2573,2772,3662,0,0,0,0,0,0
$GC,2397,-0.71,-170.3,334.9,-12.0,277,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2772,3662,0,0,0,0,0,0
$STATE,2526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2526,begin apogee
$GC,2534,-0.16,0.0,350.1,12.2,289,2679,0.50,0.00,139.15,0.961,4,0.116,0.000,2743,2691,2959,0,0,0,0,0,0
$STATE,2680,end apogee,CONTROL_FINISHED_OK
$STATE,2680,begin climb
$GC,2683,0.71,170.3,353.7,0.0,302,2844,0.80,0.00,150.48,0.910,6,0.067,0.000,3029,2691,2264,0,0,0,0,0,0
$GC,3038,0.72,177.1,327.5,9.7,334,3050,0.00,1.88,6.03,0.733,4,0.000,0.046,3029,3765,2239,0,0,0,0,0,0
$GC,3167,0.72,177.1,313.1,11.4,345,3171,0.00,1.65,0.00,0.000,6,0.000,0.030,3037,2721,2238,0,0,1,0,0,0
$GC,3372,0.74,189.9,292.8,9.5,364,3391,0.00,0.00,12.93,0.860,6,0.000,0.000,3037,2721,2184,0,0,0,0,0,0
$GC,3585,0.75,197.7,272.1,9.7,384,3598,0.00,1.77,8.38,0.815,4,0.000,0.049,3036,3767,2154,0,0,1,0,0,0
$GC,3656,0.75,197.7,263.8,12.0,390,3659,0.00,1.65,0.00,0.000,6,0.000,0.030,3043,2701,2154,0,0,1,0,0,0
$GC,3860,0.75,197.7,242.0,10.7,409,3864,0.00,1.77,0.00,0.000,4,0.000,0.048,3043,3764,2154,0,0,0,0,0,0
$GC,3899,0.75,197.7,237.1,12.5,412,3906,0.00,1.67,0.00,0.000,6,0.000,0.030,3051,2716,2153,0,0,0,0,0,0
$GC,4034,0.75,197.7,221.7,11.3,425,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2716,2154,0,0,0,0,0,0
$GC,4162,0.75,197.7,206.9,11.4,437,4166,0.00,1.70,0.00,0.000,4,0.000,0.049,3051,3768,2153,0,0,0,0,0,0
$GC,4220,0.75,197.7,199.6,13.0,442,4224,0.00,1.65,0.00,0.000,6,0.000,0.029,3058,2705,2153,0,0,0,0,0,0
$GC,4362,0.75,197.7,182.8,11.8,455,4365,0.00,1.70,0.00,0.000,4,0.000,0.048,3058,3760,2152,0,0,0,0,0,0
$GC,4409,0.75,197.7,176.7,13.1,459,4413,0.00,1.62,0.00,0.000,6,0.000,0.031,3066,2741,2153,0,0,0,0,0,0
$GC,4550,0.75,197.7,160.1,11.4,472,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2739,2153,0,0,0,0,0,0
$GC,4677,0.75,197.7,145.8,11.2,484,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2739,2152,0,0,0,0,0,0
$GC,4805,0.75,197.7,131.3,12.0,496,4809,0.00,1.65,0.00,0.000,4,0.000,0.048,3066,3764,2152,0,0,0,0,0,0
$GC,4844,0.75,197.7,125.8,13.7,499,4852,0.08,1.60,0.00,0.000,6,0.139,0.031,3045,2758,2152,0,0,0,0,0,0
$GC,4980,0.75,198.9,111.8,10.0,512,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2758,2152,0,0,0,0,0,0
$GC,5107,0.75,198.9,98.3,10.7,525,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2758,2152,0,0,0,0,0,0
$GC,5250,0.75,198.9,83.5,10.8,550,5256,0.00,1.65,0.00,0.000,4,0.000,0.049,3045,3749,2151,0,0,0,0,0,0
$GC,5296,0.75,198.9,77.9,12.6,558,5303,0.00,1.55,0.00,0.000,6,0.000,0.031,3051,2759,2151,0,0,1,0,0,0
$GC,5440,0.75,198.9,62.5,10.8,583,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2759,2151,0,0,0,0,0,0
$GC,5583,0.76,210.2,47.7,9.6,608,5602,0.00,1.65,11.75,0.780,4,0.000,0.048,3051,3761,2104,0,0,0,0,0,0
$GC,5639,0.76,210.2,41.4,12.1,617,5645,0.00,1.58,0.00,0.000,6,0.000,0.031,3058,2779,2104,0,0,0,0,0,0
$GC,5780,0.76,210.2,26.1,10.2,642,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2780,2104,0,0,0,0,0,0
$GC,5922,0.76,210.2,11.5,10.7,667,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2780,2104,0,0,0,0,0,0
$FREEZE,8.52,-0.113,-1.898,2,1,0
$FREEZE,7.96,-0.112,-1.898,2,1,0
$FREEZE,7.29,-0.108,-1.898,2,1,0
$FREEZE,6.66,-0.108,-1.897,2,1,0
$FREEZE,6.08,-0.108,-1.897,2,1,0
$FREEZE,5.52,-0.108,-1.896,2,1,0
$FREEZE,4.93,-0.109,-1.896,2,1,0
$FREEZE,4.26,-0.110,-1.895,2,1,0
$FREEZE,3.79,-0.110,-1.895,2,1,0
$FREEZE,3.24,-0.110,-1.894,2,1,0
$FREEZE,2.69,-0.110,-1.894,2,1,0
$STATE,5999,end climb,SURFACE_DEPTH_REACHED
$STATE,5999,begin surface coast
$FREEZE,2.00,-0.111,-1.893,2,1,0
$FREEZE,1.17,-0.109,-1.893,2,1,0
$FREEZE,0.57,-0.107,-1.892,2,1,0
$FREEZE,-0.08,-0.112,-1.892,2,1,0
$FREEZE,-0.04,-0.249,-1.644,2,1,0
$FINISH,-0.0,1.024163
$STATE,6028,end surface coast,CONTROL_FINISHED_OK
$STATE,6028,begin surface
$SM_CCo,6047,18.52,0.101,0,0,1940,250.20
$SM_GC,0.68,0.00,0.00,18.52,0.000,0.000,0.101,189,2779,1940,-8.16,-0.03,250.20
$IRIDIUM_FIX,-7603.11,17410.80,210111,191907
$TT8_MAMPS,0.026964
$HUMID,53.38
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,350.1,6.8
$24V_AH,21.8,85.787
$10V_AH,9.7,34.486
$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,18.375,37.500,328.700,18.525,0.000,27.849,37.580,164.618,1.250,0.000,13.803,1709.294,2668.269,422.827,1369.966,280.210,0.000,1065.341,0.000,1090.195,0.000,10.479,0.000
$DEVICE_MAMPS,208.080,99.450,960.840,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.087,903.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,43868,686
$CAP_FILE_SIZE,87006,0
$CFSIZE,260165632,214646784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.176,305.8,1
$GPS,210111,233422,-7652.996,17522.213,17,3.0,37,126.1