version: 66.08
glider: 503
mission: 7
dive: 814
start: 1 22 111 1 25 59
data:
$ID,503
$MISSION,7
$DIVE,814
$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,-20554.514
$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,50
$R_STBD_OVSHOOT,39
$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
$GPS1,220111,011919,-7653.111,17523.207,10,1.4,14,126.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-72.8
$GPS2,220111,012532,-7653.098,17523.031,10,1.7,10,126.1
$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,336.0,40805,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-170.3,0.0,0.0,0,96,0.00,0.00,-75.20,0.000,2,0.000,0.000,174,2793,3497,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.6,-8.0,13,121,9.27,1.58,-3.28,0.000,4,0.208,0.060,2557,3762,3659,0,0,0,0,0,0
$GC,284,-0.71,-170.3,41.1,-15.6,45,291,0.00,1.55,0.00,0.000,6,0.000,0.028,2557,2780,3661,0,0,0,0,0,0
$GC,426,-0.71,-170.3,62.7,-15.1,70,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2780,3662,0,0,0,0,0,0
$GC,568,-0.71,-170.3,83.7,-14.4,95,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2780,3662,0,0,0,0,0,0
$GC,714,-0.71,-170.3,104.9,-15.0,118,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2780,3662,0,0,0,0,0,0
$GC,840,-0.71,-170.3,123.3,-14.4,130,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2780,3662,0,0,0,0,0,0
$GC,967,-0.71,-170.3,141.5,-14.0,142,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2780,3662,0,0,0,0,0,0
$GC,1095,-0.71,-170.3,159.7,-14.3,154,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2779,3662,0,0,0,0,0,0
$GC,1223,-0.71,-170.3,178.1,-14.2,166,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2780,3662,0,0,0,0,0,0
$GC,1350,-0.71,-170.3,196.2,-14.2,178,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2780,3662,0,0,0,0,0,0
$GC,1477,-0.71,-170.3,213.8,-13.8,190,1481,0.00,1.60,0.00,0.000,4,0.000,0.048,2549,3745,3662,0,0,0,0,0,0
$GC,1517,-0.71,-170.3,219.6,-14.7,193,1524,0.00,1.50,0.00,0.000,6,0.000,0.028,2550,2789,3661,0,0,0,0,0,0
$GC,1653,-0.71,-170.3,238.1,-13.9,206,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2789,3662,0,0,0,0,0,0
$GC,1779,-0.71,-170.3,255.5,-14.0,218,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2789,3662,0,0,0,0,0,0
$GC,1971,-0.71,-170.3,281.9,-13.7,236,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2789,3662,0,0,0,0,0,0
$GC,2160,-0.71,-170.3,308.4,-13.6,254,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2789,3661,0,0,0,0,0,0
$GC,2353,-0.71,-170.3,335.2,-14.3,272,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2789,3661,0,0,0,0,0,0
$STATE,2381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2381,begin apogee
$GC,2388,-0.16,0.0,339.7,14.3,275,2534,0.57,0.00,139.12,0.956,4,0.120,0.000,2741,2688,2959,0,0,0,0,0,0
$STATE,2535,end apogee,CONTROL_FINISHED_OK
$STATE,2535,begin climb
$GC,2539,0.71,170.3,347.1,0.0,288,2696,0.82,0.00,150.55,0.909,6,0.082,0.000,3022,2688,2265,0,0,0,0,0,0
$GC,2890,0.75,203.1,325.3,8.7,320,2928,0.00,0.00,30.50,0.881,6,0.000,0.000,3023,2687,2131,0,0,0,0,0,0
$GC,3122,0.78,226.0,304.6,9.1,342,3149,0.00,1.83,21.50,0.873,4,0.000,0.047,3022,3749,2037,0,0,1,0,0,0
$GC,3196,0.78,226.0,296.8,10.5,348,3203,0.00,1.67,0.00,0.000,6,0.000,0.029,3028,2714,2038,0,0,1,0,0,0
$GC,3395,0.80,238.5,277.7,9.5,367,3414,0.00,0.00,12.90,0.852,6,0.000,0.000,3028,2714,1986,0,0,0,0,0,0
$GC,3608,0.80,243.8,257.0,9.8,387,3622,0.00,1.77,6.53,0.766,4,0.000,0.048,3028,3755,1964,0,0,0,0,0,0
$GC,3661,0.80,243.8,251.0,11.1,391,3669,0.00,1.65,0.00,0.000,6,0.000,0.030,3035,2724,1965,0,0,0,0,0,0
$GC,3860,0.80,245.1,231.6,10.0,410,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2724,1964,0,0,0,0,0,0
$GC,3988,0.82,255.3,219.2,9.6,422,4007,0.00,0.00,11.25,0.838,6,0.000,0.000,3035,2724,1919,0,0,0,0,0,0
$GC,4134,0.82,255.9,204.6,10.0,436,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2724,1919,0,0,0,0,0,0
$GC,4262,0.82,258.5,192.0,9.9,448,4271,0.00,0.00,4.68,0.682,6,0.000,0.000,3035,2724,1906,0,0,0,0,0,0
$GC,4400,0.84,274.1,178.8,9.4,461,4423,0.10,1.73,14.95,0.837,4,0.106,0.048,3099,3745,1842,0,0,0,0,0,0
$GC,4473,0.84,274.1,167.7,15.7,467,4482,0.10,1.65,0.00,0.000,6,0.129,0.030,3073,2715,1842,0,0,0,0,0,0
$GC,4609,0.84,274.1,150.5,12.7,480,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2715,1841,0,0,0,0,0,0
$GC,4735,0.84,274.1,134.1,12.8,492,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2715,1841,0,0,0,0,0,0
$GC,4863,0.84,274.1,118.0,12.5,504,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2714,1841,0,0,0,0,0,0
$GC,4991,0.84,274.1,102.3,12.2,516,4995,0.00,1.70,0.00,0.000,4,0.000,0.048,3073,3744,1842,0,0,0,0,0,0
$GC,5020,0.84,274.1,98.2,13.7,519,5028,0.00,1.60,0.00,0.000,6,0.000,0.030,3081,2716,1842,0,0,1,0,0,0
$GC,5166,0.84,274.1,79.2,12.5,544,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2717,1842,0,0,0,0,0,0
$GC,5308,0.84,274.1,60.6,12.2,569,5315,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3746,1841,0,0,0,0,0,0
$GC,5339,0.84,274.1,56.1,14.6,574,5345,0.00,1.58,0.00,0.000,6,0.000,0.030,3087,2739,1842,0,0,1,0,0,0
$GC,5482,0.84,274.1,36.8,13.1,599,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2739,1841,0,0,0,0,0,0
$GC,5626,0.84,274.1,16.8,14.6,624,5633,0.00,1.67,0.00,0.000,4,0.000,0.050,3087,3747,1842,0,0,0,0,0,0
$GC,5658,0.84,274.1,12.1,15.1,629,5665,0.00,1.58,0.00,0.000,6,0.000,0.031,3095,2744,1842,0,0,1,0,0,0
$FREEZE,8.25,-0.117,-1.898,2,1,0
$FREEZE,7.50,-0.124,-1.898,2,1,0
$FREEZE,6.54,-0.123,-1.897,2,1,0
$FREEZE,5.85,-0.124,-1.897,2,1,0
$FREEZE,5.07,-0.115,-1.896,2,1,0
$FREEZE,4.20,-0.117,-1.895,2,1,0
$FREEZE,3.48,-0.117,-1.895,2,1,0
$FREEZE,2.64,-0.115,-1.894,2,1,0
$STATE,5720,end climb,SURFACE_DEPTH_REACHED
$STATE,5721,begin surface coast
$FREEZE,1.57,-0.114,-1.893,2,1,0
$FREEZE,0.77,-0.115,-1.893,2,1,0
$FREEZE,-0.02,-0.120,-1.892,2,1,0
$FINISH,-0.0,1.027687
$STATE,5740,end surface coast,CONTROL_FINISHED_OK
$STATE,5740,begin surface
$SM_CCo,5818,0.00,0.000,0,0,1840,274.73
$SM_GC,0.76,7.57,0.00,0.00,0.037,0.000,0.000,184,2744,1840,-8.09,-1.02,274.73
$IRIDIUM_FIX,-7603.11,17515.75,210111,232342
$TT8_MAMPS,0.026964
$HUMID,53.30
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$ALTIM_BOTTOM_PING,301.0,53.6
$24V_AH,21.8,86.003
$10V_AH,9.8,34.589
$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,18.450,26.450,391.975,0.000,0.000,28.841,43.152,160.656,1.000,0.000,12.812,1569.667,2620.524,464.847,1275.252,262.721,0.000,1068.328,0.000,1001.214,0.000,8.895,0.000
$DEVICE_MAMPS,208.080,81.855,956.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.590,843.174,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258240
$DATA_FILE_SIZE,40302,643
$CAP_FILE_SIZE,81042,0
$CFSIZE,260165632,214564864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.151,256.7,1
$GPS,220111,030425,-7653.392,17525.006,49,1.0,49,126.1