version: 66.08
glider: 503
mission: 7
dive: 815
start: 1 22 111 3 14 19
data:
$ID,503
$MISSION,7
$DIVE,815
$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,-20555.771
$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,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
$GPS1,220111,030425,-7653.392,17525.006,49,1.0,49,126.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.8
$GPS2,220111,031350,-7653.398,17524.799,11,1.6,11,126.1
$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,318.7,40022,-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,-170.3,0.0,0.0,0,99,0.00,0.00,-80.82,0.000,2,0.000,0.000,180,2744,3481,0,0,0,0,0,0
$GC,103,-0.71,-170.3,3.5,-7.9,14,124,9.18,1.65,-3.70,0.000,4,0.206,0.058,2561,3757,3658,0,0,0,0,0,0
$GC,297,-0.71,-170.3,41.3,-15.7,48,305,0.00,1.55,0.00,0.000,6,0.000,0.028,2561,2777,3661,0,0,0,0,0,0
$GC,442,-0.71,-170.3,62.0,-14.4,73,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2777,3661,0,0,0,0,0,0
$GC,583,-0.71,-170.3,82.6,-14.7,98,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2777,3661,0,0,0,0,0,0
$GC,728,-0.71,-170.3,103.7,-14.7,122,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2777,3661,0,0,0,0,0,0
$GC,855,-0.71,-170.3,122.4,-14.7,134,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2777,3661,0,0,0,0,0,0
$GC,983,-0.71,-170.3,140.8,-14.3,146,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2777,3661,0,0,0,0,0,0
$GC,1111,-0.71,-170.3,158.8,-14.1,158,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2777,3661,0,0,0,0,0,0
$GC,1237,-0.71,-170.3,176.5,-14.0,170,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2777,3662,0,0,0,0,0,0
$GC,1364,-0.71,-170.3,194.5,-14.0,182,1368,0.00,1.62,0.00,0.000,4,0.000,0.048,2553,3784,3661,0,0,0,0,0,0
$GC,1415,-0.71,-170.3,202.1,-14.2,186,1422,0.00,1.58,0.00,0.000,6,0.000,0.028,2553,2783,3661,0,0,0,0,0,0
$GC,1550,-0.71,-170.3,220.6,-14.0,199,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2783,3661,0,0,0,0,0,0
$GC,1677,-0.71,-170.3,237.9,-13.7,211,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2783,3661,0,0,0,0,0,0
$GC,1806,-0.71,-170.3,255.6,-14.0,223,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2783,3661,0,0,0,0,0,0
$GC,1996,-0.71,-170.3,281.5,-13.5,241,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2783,3661,0,0,0,0,0,0
$GC,2189,-0.71,-170.3,307.2,-13.5,259,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2783,3661,0,0,0,0,0,0
$GC,2379,-0.71,-170.3,333.0,-13.4,277,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2783,3660,0,0,0,0,0,0
$STATE,2428,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2428,begin apogee
$GC,2435,-0.16,0.0,340.3,13.9,282,2582,0.57,0.00,138.60,0.958,4,0.118,0.000,2744,2678,2959,0,0,0,0,0,0
$STATE,2582,end apogee,CONTROL_FINISHED_OK
$STATE,2582,begin climb
$GC,2585,0.71,170.3,347.5,0.0,295,2746,0.85,2.33,150.20,0.907,4,0.071,0.031,3032,1306,2265,0,0,0,0,0,0
$GC,2951,0.72,180.3,324.4,9.6,327,2966,0.00,2.33,8.85,0.804,6,0.000,0.040,3032,2688,2225,0,0,0,0,0,0
$GC,3168,0.74,194.5,303.8,9.4,347,3192,0.00,2.30,14.20,0.858,4,0.000,0.034,3042,1309,2167,0,0,1,0,0,0
$GC,3332,0.76,209.3,287.6,9.4,361,3354,0.00,2.28,14.85,0.861,6,0.000,0.041,3042,2709,2106,0,0,0,0,0,0
$GC,3552,0.76,209.3,264.8,10.7,382,3556,0.00,1.70,0.00,0.000,4,0.000,0.049,3042,3765,2106,0,0,0,0,0,0
$GC,3591,0.76,209.3,260.0,12.0,385,3598,0.00,1.67,0.00,0.000,6,0.000,0.030,3050,2720,2106,0,0,0,0,0,0
$GC,3792,0.76,209.3,237.9,11.2,404,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2719,2105,0,0,0,0,0,0
$GC,3927,0.76,209.3,222.8,10.7,417,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2720,2105,0,0,0,0,0,0
$GC,4054,0.76,209.3,208.7,10.9,429,4058,0.00,1.67,0.00,0.000,4,0.000,0.049,3051,3761,2104,0,0,0,0,0,0
$GC,4094,0.76,209.3,203.7,13.1,432,4102,0.00,1.67,0.00,0.000,6,0.000,0.031,3057,2710,2104,0,0,0,0,0,0
$GC,4229,0.76,209.3,188.9,10.9,445,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2710,2105,0,0,0,0,0,0
$GC,4358,0.76,209.3,175.5,10.6,457,4362,0.00,1.70,0.00,0.000,4,0.000,0.047,3057,3767,2104,0,0,0,0,0,0
$GC,4420,0.76,209.3,167.7,12.2,462,4427,0.00,1.65,0.00,0.000,6,0.000,0.029,3065,2728,2104,0,0,0,0,0,0
$GC,4555,0.76,209.3,152.4,11.5,475,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2729,2104,0,0,0,0,0,0
$GC,4682,0.76,209.3,137.7,11.4,487,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2729,2103,0,0,0,0,0,0
$GC,4810,0.76,209.3,122.9,11.3,499,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2729,2103,0,0,0,0,0,0
$GC,4937,0.76,209.3,108.4,11.1,511,4941,0.00,1.65,0.00,0.000,4,0.000,0.048,3065,3761,2103,0,0,0,0,0,0
$GC,4975,0.76,209.3,103.2,13.0,514,4982,0.00,1.62,0.00,0.000,6,0.000,0.030,3072,2736,2103,0,0,0,0,0,0
$GC,5116,0.76,209.3,86.6,12.4,537,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2736,2103,0,0,0,0,0,0
$GC,5257,0.76,209.3,69.3,12.3,562,5264,0.00,1.67,0.00,0.000,4,0.000,0.049,3072,3752,2103,0,0,0,0,0,0
$GC,5299,0.76,209.3,63.7,13.5,569,5307,0.10,1.60,0.00,0.000,6,0.135,0.030,3044,2742,2102,0,0,0,0,0,0
$GC,5444,0.76,209.3,48.7,10.1,594,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2742,2102,0,0,0,0,0,0
$GC,5584,0.76,211.3,34.0,9.9,619,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2742,2102,0,0,0,0,0,0
$GC,5727,0.76,211.3,19.2,10.7,644,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2742,2102,0,0,0,0,0,0
$FREEZE,8.89,-0.084,-1.899,2,1,0
$FREEZE,8.29,-0.085,-1.898,2,1,0
$FREEZE,7.84,-0.085,-1.898,2,1,0
$FREEZE,7.29,-0.085,-1.898,2,1,0
$FREEZE,6.72,-0.085,-1.897,2,1,0
$FREEZE,6.09,-0.084,-1.897,2,1,0
$FREEZE,5.67,-0.083,-1.896,2,1,0
$FREEZE,5.07,-0.082,-1.896,2,1,0
$GC,5871,0.76,211.3,5.1,10.7,669,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2742,2102,0,0,0,0,0,0
$FREEZE,3.40,-0.081,-1.895,2,1,0
$FREEZE,3.09,-0.081,-1.894,2,1,0
$FREEZE,2.52,-0.081,-1.894,2,1,0
$STATE,5894,end climb,SURFACE_DEPTH_REACHED
$STATE,5894,begin surface coast
$FREEZE,1.88,-0.080,-1.893,2,1,0
$FREEZE,1.30,-0.078,-1.893,2,1,0
$FREEZE,0.76,-0.078,-1.892,2,1,0
$FREEZE,0.17,-0.076,-1.892,2,1,0
$FREEZE,-0.15,-0.083,-1.660,2,1,0
$FREEZE,-0.10,-0.081,-1.892,2,1,0
$FINISH,-0.1,1.027684
$STATE,5926,end surface coast,CONTROL_FINISHED_OK
$STATE,5926,begin surface
$SM_CCo,5945,18.27,0.102,0,0,1940,250.20
$SM_GC,0.82,0.00,0.00,18.27,0.000,0.000,0.102,179,2742,1940,-8.20,-1.07,250.20
$IRIDIUM_FIX,-7612.11,17514.97,220111,030333
$TT8_MAMPS,0.027713
$HUMID,53.26
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$ALTIM_BOTTOM_PING,300.1,54.1
$24V_AH,21.9,86.107
$10V_AH,9.7,34.644
$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,18.300,32.350,326.700,18.275,0.000,53.437,123.321,184.074,1.000,0.000,14.161,1685.925,2631.754,429.326,1509.168,280.577,0.000,1072.646,0.000,1100.374,0.000,8.895,0.000
$DEVICE_MAMPS,205.785,81.090,957.780,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.742,900.644,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,43686,679
$CAP_FILE_SIZE,85238,0
$CFSIZE,260165632,214515712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.155,225.8,1
$GPS,220111,045506,-7653.719,17526.781,30,1.0,40,126.1