version: 66.08
glider: 503
mission: 7
dive: 818
start: 1 22 111 8 41 56
data:
$ID,503
$MISSION,7
$DIVE,818
$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,-20561.512
$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,31
$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
$GPS1,220111,083425,-7654.112,17532.035,20,2.0,32,126.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-75.9
$GPS2,220111,084127,-7654.150,17532.074,10,2.5,29,126.0
$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,296.6,36895,-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,-170.3,0.0,0.0,0,91,0.00,0.00,-72.43,0.000,2,0.000,0.000,185,2785,3417,0,0,0,0,0,0
$GC,95,-0.71,-170.3,3.3,-7.4,12,117,9.23,1.65,-5.18,0.000,4,0.209,0.061,2555,3770,3659,0,0,0,0,0,0
$GC,368,-0.71,-170.3,48.4,-13.9,60,375,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2764,3662,0,0,0,0,0,0
$GC,512,-0.71,-170.3,67.9,-13.1,85,519,0.00,1.65,0.00,0.000,4,0.000,0.047,2547,3762,3663,0,0,0,0,0,0
$GC,772,-0.71,-170.3,103.6,-13.2,129,776,0.00,1.48,0.00,0.000,6,0.000,0.028,2547,2820,3662,0,0,0,0,0,0
$GC,912,-0.71,-170.3,122.0,-13.2,142,916,0.00,1.55,0.00,0.000,4,0.000,0.046,2539,3765,3663,0,0,0,0,0,0
$GC,1170,-0.71,-170.3,159.4,-14.2,165,1174,0.08,1.45,0.00,0.000,6,0.132,0.028,2566,2834,3663,0,0,0,0,0,0
$GC,1311,-0.71,-170.3,177.3,-12.8,178,1315,0.00,1.52,0.00,0.000,4,0.000,0.047,2562,3755,3663,0,0,0,0,0,0
$GC,1574,-0.71,-170.3,211.6,-11.7,201,1577,0.00,1.38,0.00,0.000,6,0.000,0.028,2562,2871,3663,0,0,0,0,0,0
$GC,1714,-0.71,-170.3,228.9,-11.8,214,1718,0.00,1.45,0.00,0.000,4,0.000,0.047,2557,3756,3663,0,0,0,0,0,0
$GC,1896,-0.71,-170.3,252.3,-12.7,230,1900,0.00,1.35,0.00,0.000,6,0.000,0.028,2556,2889,3663,0,0,0,0,0,0
$GC,2100,-0.71,-170.3,277.7,-12.4,249,2103,0.00,1.42,0.00,0.000,4,0.000,0.047,2549,3761,3663,0,0,0,0,0,0
$GC,2239,-0.71,-170.3,296.2,-12.4,261,2246,0.00,1.33,0.00,0.000,6,0.000,0.029,2550,2909,3663,0,0,0,0,0,0
$GC,2438,-0.71,-170.3,320.8,-12.4,280,2441,0.00,1.40,0.00,0.000,4,0.000,0.047,2543,3765,3663,0,0,0,0,0,0
$STATE,2541,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2541,begin apogee
$GC,2550,-0.16,0.0,335.4,13.8,289,2696,0.60,0.00,138.98,0.951,4,0.116,0.000,2742,2695,2959,0,0,0,0,0,0
$STATE,2697,end apogee,CONTROL_FINISHED_OK
$STATE,2697,begin climb
$GC,2701,0.71,170.3,343.4,0.0,302,2859,0.85,2.35,150.23,0.903,4,0.073,0.033,3029,1300,2265,0,0,0,0,0,0
$GC,2895,0.74,192.8,335.8,9.1,319,2923,0.00,2.47,22.08,0.850,6,0.000,0.039,3029,2696,2174,0,0,0,0,0,0
$GC,3117,0.77,217.8,315.8,9.0,339,3146,0.00,2.35,23.52,0.867,4,0.000,0.032,3039,1303,2071,0,0,0,0,0,0
$GC,3186,0.78,222.0,309.1,9.8,344,3197,0.00,2.35,5.88,0.711,6,0.000,0.040,3039,2697,2054,0,0,1,0,0,0
$GC,3392,0.78,226.7,288.9,9.8,363,3406,0.00,2.28,6.10,0.741,4,0.000,0.031,3049,1301,2034,0,0,0,0,0,0
$GC,3458,0.78,227.2,282.1,10.0,368,3465,0.00,2.28,0.00,0.000,6,0.000,0.040,3050,2682,2034,0,0,0,0,0,0
$GC,3656,0.78,227.2,261.0,10.6,387,3660,0.00,2.22,0.00,0.000,4,0.000,0.034,3060,1297,2034,0,0,0,0,0,0
$GC,3722,0.78,227.2,253.7,10.5,392,3729,0.00,2.22,0.00,0.000,6,0.000,0.041,3060,2662,2034,0,0,0,0,0,0
$GC,3922,0.78,227.2,232.0,10.7,411,3925,0.00,2.17,0.00,0.000,4,0.000,0.034,3071,1302,2034,0,0,0,0,0,0
$GC,3988,0.78,227.2,224.4,10.9,416,3995,0.00,2.17,0.00,0.000,6,0.000,0.040,3071,2644,2033,0,0,0,0,0,0
$GC,4123,0.78,227.2,209.0,12.0,429,4127,0.00,2.15,0.00,0.000,4,0.000,0.034,3081,1296,2033,0,0,0,0,0,0
$GC,4186,0.78,227.2,201.4,12.2,434,4190,0.00,2.12,0.00,0.000,6,0.000,0.040,3081,2618,2033,0,0,0,0,0,0
$GC,4326,0.78,227.2,183.9,12.9,447,4330,0.00,2.10,0.00,0.000,4,0.000,0.035,3091,1302,2033,0,0,0,0,0,0
$GC,4366,0.78,227.2,178.8,12.7,450,4371,0.15,2.10,0.00,0.000,6,0.152,0.039,3050,2599,2033,0,0,0,0,0,0
$GC,4506,0.78,227.2,163.8,10.4,463,4510,0.00,2.08,0.00,0.000,4,0.000,0.035,3060,1297,2032,0,0,0,0,0,0
$GC,4546,0.78,227.2,159.6,10.4,466,4550,0.00,2.08,0.00,0.000,6,0.000,0.041,3060,2587,2032,0,0,0,0,0,0
$GC,4687,0.78,227.2,144.8,11.0,479,4691,0.00,2.05,0.00,0.000,4,0.000,0.035,3069,1300,2032,0,0,0,0,0,0
$GC,4745,0.78,227.2,138.6,10.3,484,4748,0.00,2.03,0.00,0.000,6,0.000,0.041,3069,2563,2032,0,0,0,0,0,0
$GC,4886,0.78,227.2,123.2,10.7,497,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2563,2031,0,0,0,0,0,0
$GC,5013,0.78,227.2,109.3,11.2,509,5016,0.00,2.00,0.00,0.000,4,0.000,0.034,3079,1300,2031,0,0,0,0,0,0
$GC,5059,0.78,227.2,104.1,10.9,513,5062,0.00,2.03,0.00,0.000,6,0.000,0.040,3079,2564,2031,0,0,0,0,0,0
$GC,5197,0.78,227.2,87.7,11.5,534,5204,0.00,2.03,0.00,0.000,4,0.000,0.034,3089,1295,2031,0,0,0,0,0,0
$GC,5257,0.78,227.2,81.0,11.1,544,5265,0.12,2.00,0.00,0.000,6,0.158,0.039,3055,2539,2031,0,0,0,0,0,0
$GC,5402,0.78,227.2,66.2,10.1,569,5409,0.00,1.98,0.00,0.000,4,0.000,0.035,3064,1298,2031,0,0,0,0,0,0
$GC,5439,0.78,227.2,62.5,10.1,575,5447,0.00,1.98,0.00,0.000,6,0.000,0.041,3064,2526,2031,0,0,0,0,0,0
$GC,5585,0.78,227.2,46.9,10.9,600,5592,0.00,1.95,0.00,0.000,4,0.000,0.037,3071,1301,2031,0,0,0,0,0,0
$GC,5638,0.78,227.2,40.9,10.3,609,5645,0.00,1.92,0.00,0.000,6,0.000,0.040,3071,2503,2031,0,0,0,0,0,0
$GC,5783,0.78,227.2,25.3,12.3,634,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2503,2030,0,0,0,0,0,0
$GC,5921,0.78,227.2,9.6,12.3,659,5929,0.00,1.92,0.00,0.000,4,0.000,0.036,3080,1297,2030,0,0,0,0,0,0
$FREEZE,8.14,-0.123,-1.897,2,1,0
$FREEZE,7.54,-0.123,-1.897,2,1,0
$FREEZE,7.06,-0.117,-1.896,2,1,0
$FREEZE,6.52,-0.124,-1.896,2,1,0
$FREEZE,5.94,-0.135,-1.896,2,1,0
$FREEZE,5.39,-0.133,-1.895,2,1,0
$FREEZE,4.92,-0.134,-1.895,2,1,0
$FREEZE,4.37,-0.127,-1.894,2,1,0
$GC,5976,0.78,227.2,4.4,10.7,668,5983,0.00,1.92,0.00,0.000,6,0.000,0.040,3080,2491,2030,0,0,0,0,0,0
$FREEZE,2.39,-0.126,-1.893,2,1,0
$STATE,5989,end climb,SURFACE_DEPTH_REACHED
$STATE,5989,begin surface coast
$FREEZE,1.80,-0.126,-1.892,2,1,0
$FREEZE,1.33,-0.129,-1.892,2,1,0
$FREEZE,0.69,-0.128,-1.891,2,1,0
$FREEZE,-0.04,-0.122,-1.891,2,1,0
$FREEZE,-0.07,-0.259,-0.837,2,1,0
$FINISH,-0.1,1.012366
$STATE,6017,end surface coast,CONTROL_FINISHED_OK
$STATE,6017,begin surface
$SM_CCo,6036,9.88,0.103,0,0,1940,250.20
$SM_GC,1.97,0.00,0.00,9.88,0.000,0.000,0.103,186,2781,1940,-8.17,0.03,250.20
$IRIDIUM_FIX,-7612.11,17524.43,220111,060634
$TT8_MAMPS,0.027713
$HUMID,53.38
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.6
$ALTIM_BOTTOM_PING,301.0,49.0
$24V_AH,21.9,86.423
$10V_AH,9.8,34.809
$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,18.675,80.625,346.775,9.875,0.000,27.861,43.579,176.954,1.000,0.000,32.909,1723.621,2463.436,430.710,1557.414,299.501,0.000,1145.525,0.000,1227.147,0.000,8.882,0.000
$DEVICE_MAMPS,208.845,61.200,950.895,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.161,901.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258204
$DATA_FILE_SIZE,43723,675
$CAP_FILE_SIZE,95073,0
$CFSIZE,260165632,214351872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.096,183.5,1
$GPS,220111,102406,-7654.567,17535.320,40,0.9,41,125.9