version: 66.08
glider: 503
mission: 7
dive: 820
start: 1 22 111 12 17 54
data:
$ID,503
$MISSION,7
$DIVE,820
$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,-20564.027
$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,36
$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
$GPS1,220111,121101,-7654.557,17539.260,20,1.4,32,125.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.6
$GPS2,220111,121725,-7654.559,17539.334,10,1.0,10,125.8
$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,309.4,33828,-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,-170.3,0.0,0.0,0,93,0.00,0.00,-74.43,0.000,2,0.000,0.000,190,2791,3460,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.4,-7.3,13,119,9.18,2.28,-4.10,0.000,4,0.209,0.041,2563,1368,3659,0,0,0,0,0,0
$GC,204,-0.71,-170.3,27.3,-14.3,31,211,0.00,2.28,0.00,0.000,6,0.000,0.041,2553,2772,3661,0,0,0,0,0,0
$GC,347,-0.71,-170.3,49.0,-15.2,56,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2772,3662,0,0,0,0,0,0
$GC,489,-0.71,-170.3,70.7,-14.3,81,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2772,3662,0,0,0,0,0,0
$GC,630,-0.71,-170.3,90.9,-14.7,106,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2772,3662,0,0,0,0,0,0
$GC,770,-0.71,-170.3,110.9,-14.2,124,773,0.00,1.62,0.00,0.000,4,0.000,0.047,2545,3793,3663,0,0,0,0,0,0
$GC,805,-0.71,-170.3,116.4,-15.3,127,808,0.00,1.60,0.00,0.000,6,0.000,0.028,2545,2771,3662,0,0,0,0,0,0
$GC,945,-0.71,-170.3,136.9,-14.7,140,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2772,3662,0,0,0,0,0,0
$GC,1076,-0.71,-170.3,155.3,-14.2,152,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2771,3663,0,0,0,0,0,0
$GC,1211,-0.71,-170.3,175.4,-14.6,165,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2771,3663,0,0,0,0,0,0
$GC,1338,-0.71,-170.3,193.7,-14.1,177,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2771,3662,0,0,0,0,0,0
$GC,1466,-0.71,-170.3,211.9,-14.5,189,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2772,3662,0,0,0,0,0,0
$GC,1593,-0.71,-170.3,230.0,-14.3,201,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2772,3662,0,0,0,0,0,0
$GC,1720,-0.71,-170.3,247.7,-14.0,213,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2771,3662,0,0,0,0,0,0
$GC,1849,-0.71,-170.3,265.3,-13.6,225,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2771,3663,0,0,0,0,0,0
$GC,2039,-0.71,-170.3,291.5,-13.5,243,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2772,3662,0,0,0,0,0,0
$GC,2230,-0.71,-170.3,318.1,-13.8,261,2234,0.00,1.62,0.00,0.000,4,0.000,0.048,2537,3778,3662,0,0,0,0,0,0
$GC,2267,-0.71,-170.3,323.2,-15.1,264,2271,0.08,1.58,0.00,0.000,6,0.131,0.029,2573,2782,3661,0,0,0,0,0,0
$STATE,2353,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2353,begin apogee
$GC,2360,-0.16,0.0,334.0,12.2,272,2506,0.50,0.00,138.90,0.950,4,0.116,0.000,2743,2690,2958,0,0,0,0,0,0
$STATE,2507,end apogee,CONTROL_FINISHED_OK
$STATE,2507,begin climb
$GC,2510,0.71,170.3,341.0,0.0,285,2670,0.85,2.35,150.40,0.901,4,0.073,0.032,3030,1302,2265,0,0,0,0,0,0
$GC,2852,0.74,191.5,319.9,9.2,315,2877,0.00,2.38,19.55,0.859,6,0.000,0.041,3029,2698,2179,0,0,0,0,0,0
$GC,3071,0.74,192.8,298.3,9.9,335,3076,0.00,2.28,0.00,0.000,4,0.000,0.032,3040,1306,2178,0,0,0,0,0,0
$GC,3241,0.76,213.6,282.0,9.2,349,3267,0.00,2.30,20.83,0.873,6,0.000,0.041,3040,2717,2089,0,0,0,0,0,0
$GC,3465,0.76,213.6,257.8,10.6,370,3469,0.00,1.67,0.00,0.000,4,0.000,0.048,3040,3761,2088,0,0,0,0,0,0
$GC,3535,0.76,213.6,249.9,11.5,376,3539,0.00,1.65,0.00,0.000,6,0.000,0.030,3047,2734,2088,0,0,0,0,0,0
$GC,3676,0.76,213.6,234.7,10.6,389,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2734,2088,0,0,0,0,0,0
$GC,3802,0.76,213.6,221.2,10.7,401,3806,0.00,1.70,0.00,0.000,4,0.000,0.048,3047,3759,2088,0,0,0,0,0,0
$GC,3848,0.76,213.6,215.8,12.1,405,3851,0.00,1.65,0.00,0.000,6,0.000,0.030,3054,2700,2087,0,0,0,0,0,0
$GC,3989,0.76,213.6,199.6,11.8,418,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2699,2087,0,0,0,0,0,0
$GC,4115,0.76,213.6,185.1,11.2,430,4119,0.00,1.73,0.00,0.000,4,0.000,0.050,3054,3770,2087,0,0,1,0,0,0
$GC,4154,0.76,213.6,180.0,12.6,433,4161,0.00,1.65,0.00,0.000,6,0.000,0.029,3062,2732,2086,0,0,0,0,0,0
$GC,4289,0.76,213.6,164.2,12.0,446,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2732,2086,0,0,0,0,0,0
$GC,4416,0.76,213.6,149.3,11.5,458,4420,0.00,1.65,0.00,0.000,4,0.000,0.047,3062,3762,2085,0,0,0,0,0,0
$GC,4454,0.76,213.6,144.1,12.7,461,4461,0.00,1.62,0.00,0.000,6,0.000,0.031,3069,2737,2085,0,0,0,0,0,0
$GC,4590,0.76,213.6,127.7,12.7,474,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2737,2085,0,0,0,0,0,0
$GC,4716,0.76,213.6,112.2,12.1,486,4720,0.00,1.67,0.00,0.000,4,0.000,0.047,3069,3752,2085,0,0,0,0,0,0
$GC,4762,0.76,213.6,105.9,13.6,490,4766,0.05,1.58,0.00,0.000,6,0.145,0.030,3042,2758,2085,0,0,0,0,0,0
$GC,4902,0.77,215.6,91.4,9.9,510,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2758,2084,0,0,0,0,0,0
$GC,5043,0.77,215.6,76.6,10.5,535,5051,0.00,1.65,0.00,0.000,4,0.000,0.050,3041,3756,2084,0,0,0,0,0,0
$GC,5080,0.77,215.6,72.8,10.9,541,5087,0.00,1.58,0.00,0.000,6,0.000,0.032,3048,2762,2084,0,0,0,0,0,0
$GC,5224,0.77,217.5,58.3,9.9,566,5231,0.00,0.00,4.47,0.645,6,0.000,0.000,3048,2763,2073,0,0,0,0,0,0
$GC,5371,0.78,228.5,43.5,9.6,591,5385,0.00,0.00,11.27,0.770,6,0.000,0.000,3048,2762,2028,0,0,0,0,0,0
$GC,5523,0.78,228.5,27.1,11.3,617,5530,0.00,1.65,0.00,0.000,4,0.000,0.049,3048,3754,2028,0,0,0,0,0,0
$GC,5570,0.78,228.5,21.4,12.4,625,5577,0.00,1.58,0.00,0.000,6,0.000,0.031,3053,2770,2029,0,0,0,0,0,0
$FREEZE,8.75,-0.112,-1.898,2,1,0
$FREEZE,8.12,-0.112,-1.898,2,1,0
$FREEZE,7.62,-0.113,-1.897,2,1,0
$FREEZE,6.82,-0.115,-1.897,2,1,0
$FREEZE,6.22,-0.116,-1.896,2,1,0
$FREEZE,5.51,-0.119,-1.896,2,1,0
$GC,5713,0.78,228.5,5.5,11.2,650,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2769,2028,0,0,0,0,0,0
$FREEZE,3.84,-0.120,-1.894,2,1,0
$FREEZE,3.30,-0.135,-1.894,2,1,0
$FREEZE,2.80,-0.136,-1.894,2,1,0
$STATE,5735,end climb,SURFACE_DEPTH_REACHED
$STATE,5735,begin surface coast
$FREEZE,2.14,-0.132,-1.893,2,1,0
$FREEZE,1.56,-0.125,-1.892,2,1,0
$FREEZE,0.93,-0.122,-1.892,2,1,0
$FREEZE,0.36,-0.139,-1.892,2,1,0
$FREEZE,-0.14,-0.137,-1.892,2,1,0
$FINISH,-0.1,1.027682
$STATE,5763,end surface coast,CONTROL_FINISHED_OK
$STATE,5763,begin surface
$SM_CCo,5782,9.68,0.103,0,0,1940,250.20
$SM_GC,1.76,0.00,0.00,9.68,0.000,0.000,0.103,189,2768,1940,-8.16,-0.34,250.20
$IRIDIUM_FIX,-7612.11,17533.16,220111,101020
$TT8_MAMPS,0.026964
$HUMID,53.18
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.9
$ALTIM_BOTTOM_PING,300.3,48.4
$24V_AH,21.9,86.627
$10V_AH,9.8,34.916
$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,18.200,43.375,345.425,9.675,0.000,28.410,38.824,169.075,1.000,0.000,12.985,1653.754,2453.112,415.229,1368.699,291.827,0.000,1060.942,0.000,1085.475,0.000,8.881,0.000
$DEVICE_MAMPS,208.845,98.685,950.130,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.740,880.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258252
$DATA_FILE_SIZE,43703,659
$CAP_FILE_SIZE,87179,0
$CFSIZE,260165632,214257664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.056,145.8,1
$GPS,220111,135537,-7654.490,17543.268,18,1.9,29,125.7