version: 66.08
glider: 503
mission: 7
dive: 821
start: 1 22 111 14 2 36
data:
$ID,503
$MISSION,7
$DIVE,821
$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,-20565.287
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,220111,135537,-7654.490,17543.268,18,1.9,29,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.5
$GPS2,220111,140207,-7654.487,17543.334,30,0.8,30,125.7
$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,316.7,32155,-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,-170.3,0.0,0.0,0,94,0.00,0.00,-76.00,0.000,2,0.000,0.000,187,2769,3515,0,0,0,0,0,0
$GC,99,-0.71,-170.3,3.8,-9.1,13,120,9.15,2.22,-2.90,0.000,4,0.207,0.044,2565,1371,3661,0,0,0,0,0,0
$GC,139,-0.71,-170.3,19.2,-32.6,19,147,0.00,2.30,0.00,0.000,6,0.000,0.042,2562,2779,3663,0,0,0,0,0,0
$GC,282,-0.71,-170.3,39.9,-14.2,44,288,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2778,3663,0,0,0,0,0,0
$GC,427,-0.71,-170.3,60.1,-13.9,69,434,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3761,3663,0,0,0,0,0,0
$GC,470,-0.71,-170.3,66.2,-13.7,76,476,0.00,1.55,0.00,0.000,6,0.000,0.029,2562,2782,3663,0,0,0,0,0,0
$GC,613,-0.71,-170.3,85.8,-14.0,101,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3664,0,0,0,0,0,0
$GC,752,-0.71,-170.3,105.1,-13.7,123,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3664,0,0,0,0,0,0
$GC,879,-0.71,-170.3,122.5,-13.5,135,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3664,0,0,0,0,0,0
$GC,1007,-0.71,-170.3,139.5,-13.5,147,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3664,0,0,0,0,0,0
$GC,1134,-0.71,-170.3,156.6,-13.1,159,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3664,0,0,0,0,0,0
$GC,1262,-0.71,-170.3,173.7,-13.8,171,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3665,0,0,0,0,0,0
$GC,1390,-0.71,-170.3,191.1,-13.8,183,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3665,0,0,0,0,0,0
$GC,1516,-0.71,-170.3,208.4,-13.9,195,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3665,0,0,0,0,0,0
$GC,1645,-0.71,-170.3,225.2,-12.8,207,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3664,0,0,0,0,0,0
$GC,1770,-0.71,-170.3,241.2,-12.6,219,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3665,0,0,0,0,0,0
$GC,1898,-0.71,-170.3,257.1,-12.3,231,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3664,0,0,0,0,0,0
$GC,2089,-0.71,-170.3,280.3,-12.2,249,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3664,0,0,0,0,0,0
$GC,2281,-0.71,-170.3,304.4,-12.7,267,2284,0.00,1.62,0.00,0.000,4,0.000,0.049,2563,3785,3664,0,0,0,0,0,0
$GC,2320,-0.71,-170.3,309.7,-13.0,270,2327,0.00,1.58,0.00,0.000,6,0.000,0.029,2562,2788,3664,0,0,0,0,0,0
$STATE,2505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2505,begin apogee
$GC,2513,-0.16,0.0,333.5,12.8,288,2659,0.52,0.00,139.07,0.950,4,0.116,0.000,2740,2687,2959,0,0,0,0,0,0
$STATE,2660,end apogee,CONTROL_FINISHED_OK
$STATE,2660,begin climb
$GC,2662,0.71,170.3,340.4,0.0,301,2824,0.85,2.33,150.18,0.902,4,0.074,0.031,3026,1306,2265,0,0,0,0,0,0
$GC,2830,0.78,227.1,334.4,7.8,315,2893,0.00,2.47,55.05,0.867,6,0.000,0.040,3026,2697,2034,0,0,1,0,0,0
$GC,3084,0.78,227.1,309.4,11.0,339,3088,0.00,1.80,0.00,0.000,4,0.000,0.047,3026,3765,2032,0,0,0,0,0,0
$GC,3164,0.78,227.1,300.3,11.4,346,3168,0.00,1.70,0.00,0.000,6,0.000,0.029,3033,2715,2031,0,0,0,0,0,0
$GC,3369,0.78,227.1,278.7,10.5,365,3373,0.00,1.77,0.00,0.000,4,0.000,0.048,3034,3764,2029,0,0,0,0,0,0
$GC,3404,0.78,227.1,274.7,12.2,368,3408,0.00,1.70,0.00,0.000,6,0.000,0.030,3041,2718,2029,0,0,0,0,0,0
$GC,3607,0.78,227.1,252.4,10.9,387,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2718,2028,0,0,0,0,0,0
$GC,3799,0.78,227.1,231.5,11.1,405,3803,0.00,1.75,0.00,0.000,4,0.000,0.049,3041,3765,2027,0,0,0,0,0,0
$GC,3868,0.78,227.1,222.7,12.9,411,3872,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2709,2027,0,0,0,0,0,0
$GC,4009,0.78,227.1,206.4,11.2,424,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2708,2027,0,0,0,0,0,0
$GC,4137,0.78,227.1,192.1,11.0,436,4140,0.00,1.70,0.00,0.000,4,0.000,0.048,3048,3766,2027,0,0,0,0,0,0
$GC,4172,0.78,227.1,187.9,12.3,439,4176,0.00,1.65,0.00,0.000,6,0.000,0.029,3055,2705,2026,0,0,0,0,0,0
$GC,4313,0.78,227.1,172.3,10.9,452,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2705,2026,0,0,0,0,0,0
$GC,4440,0.78,227.1,158.5,10.8,464,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2705,2026,0,0,0,0,0,0
$GC,4567,0.78,227.1,144.3,11.2,476,4570,0.00,1.73,0.00,0.000,4,0.000,0.048,3055,3769,2026,0,0,0,0,0,0
$GC,4614,0.78,227.1,138.3,13.4,480,4617,0.00,1.65,0.00,0.000,6,0.000,0.031,3063,2706,2026,0,0,0,0,0,0
$GC,4755,0.78,227.1,121.4,12.2,493,4758,0.00,1.73,0.00,0.000,4,0.000,0.048,3063,3775,2025,0,0,0,0,0,0
$GC,4790,0.78,227.1,116.8,13.4,496,4794,0.00,1.62,0.00,0.000,6,0.000,0.031,3071,2754,2025,0,0,0,0,0,0
$GC,4930,0.78,227.1,98.9,12.6,509,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2754,2025,0,0,0,0,0,0
$GC,5073,0.78,227.1,80.8,12.6,534,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2754,2025,0,0,0,0,0,0
$GC,5214,0.78,227.1,62.0,13.0,559,5222,0.00,1.67,0.00,0.000,4,0.000,0.048,3071,3765,2025,0,0,0,0,0,0
$GC,5258,0.78,227.1,56.1,13.8,566,5265,0.00,1.60,0.00,0.000,6,0.000,0.030,3079,2759,2025,0,0,0,0,0,0
$GC,5399,0.78,227.1,37.2,12.9,591,5407,0.00,2.30,0.00,0.000,4,0.000,0.033,3090,1300,2025,0,0,0,0,0,0
$GC,5442,0.78,227.1,31.8,12.3,598,5450,0.12,2.38,0.00,0.000,6,0.151,0.041,3055,2770,2025,0,0,0,0,0,0
$GC,5588,0.78,227.1,15.4,11.2,623,5595,0.00,1.62,0.00,0.000,4,0.000,0.049,3055,3762,2024,0,0,0,0,0,0
$GC,5620,0.78,227.1,11.5,11.9,628,5627,0.00,1.60,0.00,0.000,6,0.000,0.031,3062,2761,2024,0,0,0,0,0,0
$FREEZE,9.00,-0.268,-1.899,2,1,0
$FREEZE,8.31,-0.273,-1.899,2,1,0
$FREEZE,7.75,-0.276,-1.898,2,1,0
$FREEZE,7.11,-0.273,-1.898,2,1,0
$FREEZE,6.54,-0.271,-1.898,2,1,0
$FREEZE,5.80,-0.270,-1.897,2,1,0
$FREEZE,5.27,-0.270,-1.897,2,1,0
$FREEZE,4.75,-0.270,-1.896,2,1,0
$FREEZE,4.07,-0.270,-1.896,2,1,0
$FREEZE,3.43,-0.269,-1.895,2,1,0
$FREEZE,2.89,-0.273,-1.895,2,1,0
$STATE,5693,end climb,SURFACE_DEPTH_REACHED
$STATE,5693,begin surface coast
$FREEZE,1.87,-0.276,-1.894,2,1,0
$FREEZE,1.23,-0.271,-1.893,2,1,0
$FREEZE,0.60,-0.277,-1.893,2,1,0
$FREEZE,-0.07,-0.284,-1.893,2,1,0
$FREEZE,-0.20,-0.401,-1.028,2,1,0
$FINISH,-0.2,1.015204
$STATE,5722,end surface coast,CONTROL_FINISHED_OK
$STATE,5722,begin surface
$SM_CCo,5740,9.10,0.101,0,0,1939,250.20
$SM_GC,2.13,0.00,0.00,9.10,0.000,0.000,0.101,179,2761,1939,-8.19,-0.51,250.20
$IRIDIUM_FIX,-7603.11,17534.62,220111,121218
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,300.3,47.4
$24V_AH,21.7,86.728
$10V_AH,9.7,34.967
$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,18.225,47.425,344.300,9.100,0.000,31.457,37.295,159.162,1.000,0.000,33.207,1607.254,2525.092,421.930,1320.488,272.408,0.000,1046.576,0.000,1029.926,0.000,8.877,0.000
$DEVICE_MAMPS,206.550,79.560,950.130,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.605,857.863,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,40410,646
$CAP_FILE_SIZE,84926,0
$CFSIZE,260165632,214220800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.026,126.9,1
$GPS,220111,153937,-7654.392,17547.668,17,1.3,28,125.6