version: 66.08
glider: 503
mission: 7
dive: 826
start: 1 22 111 22 48 40
data:
$ID,503
$MISSION,7
$DIVE,826
$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,-20571.578
$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,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
$GPS1,220111,224206,-7654.249,17558.906,21,1.0,38,125.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.0
$GPS2,220111,224813,-7654.238,17558.787,7,1.8,13,125.4
$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,337.9,25701,-16.1,-10.000
$D_GRID,396
$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,-170.3,0.0,0.0,0,97,0.00,0.00,-76.62,0.000,2,0.000,0.000,174,2796,3522,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.8,-9.4,13,123,9.35,2.30,-2.72,0.000,4,0.211,0.040,2563,1358,3660,0,0,0,0,0,0
$GC,152,-0.71,-170.3,20.7,-18.6,21,159,0.00,2.30,0.00,0.000,6,0.000,0.042,2560,2769,3661,0,0,0,0,0,0
$GC,294,-0.71,-170.3,41.2,-14.7,46,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2768,3662,0,0,0,0,0,0
$GC,438,-0.71,-170.3,62.0,-14.6,71,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2768,3663,0,0,0,0,0,0
$GC,582,-0.71,-170.3,82.6,-14.4,96,589,0.00,1.62,0.00,0.000,4,0.000,0.050,2560,3758,3663,0,0,0,0,0,0
$GC,625,-0.71,-170.3,88.9,-15.2,103,634,0.00,1.55,0.00,0.000,6,0.000,0.030,2560,2779,3663,0,0,0,0,0,0
$GC,767,-0.71,-170.3,109.2,-14.2,122,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2779,3663,0,0,0,0,0,0
$GC,894,-0.71,-170.3,126.9,-13.7,134,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2779,3663,0,0,0,0,0,0
$GC,1022,-0.71,-170.3,144.2,-13.4,146,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2779,3663,0,0,0,0,0,0
$GC,1151,-0.71,-170.3,161.3,-13.0,158,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2779,3663,0,0,0,0,0,0
$GC,1276,-0.71,-170.3,178.1,-13.3,170,1280,0.00,1.62,0.00,0.000,4,0.000,0.048,2553,3758,3663,0,0,0,0,0,0
$GC,1327,-0.71,-170.3,185.2,-14.3,174,1333,0.00,1.52,0.00,0.000,6,0.000,0.029,2553,2793,3663,0,0,0,0,0,0
$GC,1461,-0.71,-170.3,203.6,-13.6,187,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2793,3663,0,0,0,0,0,0
$GC,1589,-0.71,-170.3,221.0,-13.7,199,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2793,3663,0,0,0,0,0,0
$GC,1717,-0.71,-170.3,238.3,-13.8,211,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2793,3663,0,0,0,0,0,0
$GC,1843,-0.71,-170.3,255.0,-13.2,223,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2792,3663,0,0,0,0,0,0
$GC,2034,-0.71,-170.3,280.2,-13.1,241,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2793,3663,0,0,0,0,0,0
$GC,2226,-0.71,-170.3,305.5,-13.3,259,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2792,3663,0,0,0,0,0,0
$STATE,2404,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2404,begin apogee
$GC,2411,-0.16,0.0,329.7,13.3,276,2558,0.57,0.00,139.12,0.946,4,0.117,0.000,2745,2690,2959,0,0,0,0,0,0
$STATE,2559,end apogee,CONTROL_FINISHED_OK
$STATE,2559,begin climb
$GC,2561,0.71,170.3,336.1,0.0,289,2722,0.85,2.35,150.32,0.899,4,0.072,0.031,3032,1313,2265,0,0,0,0,0,0
$GC,2740,0.80,240.0,329.9,7.2,304,2815,0.00,2.50,67.05,0.867,6,0.000,0.040,3032,2700,1981,0,0,0,0,0,0
$GC,3007,0.80,240.0,303.1,10.7,329,3010,0.00,1.83,0.00,0.000,4,0.000,0.049,3032,3763,1980,0,0,0,0,0,0
$GC,3063,0.80,240.0,296.1,12.3,334,3067,0.00,1.67,0.00,0.000,6,0.000,0.030,3039,2721,1979,0,0,1,0,0,0
$GC,3269,0.80,240.0,273.5,11.0,353,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2719,1978,0,0,0,0,0,0
$GC,3459,0.80,240.0,252.8,10.5,371,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2719,1977,0,0,0,0,0,0
$GC,3649,0.80,240.0,232.2,10.8,389,3653,0.00,1.70,0.00,0.000,4,0.000,0.048,3039,3771,1977,0,0,0,0,0,0
$GC,3696,0.80,240.0,226.5,12.4,393,3700,0.00,1.67,0.00,0.000,6,0.000,0.031,3046,2697,1976,0,0,0,0,0,0
$GC,3838,0.80,240.0,210.8,11.2,406,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2695,1976,0,0,0,0,0,0
$GC,3964,0.80,240.0,196.7,11.3,418,3968,0.00,1.73,0.00,0.000,4,0.000,0.049,3046,3766,1976,0,0,0,0,0,0
$GC,3992,0.80,240.0,193.1,12.1,420,3999,0.00,1.67,0.00,0.000,6,0.000,0.031,3052,2713,1976,0,0,0,0,0,0
$GC,4128,0.80,240.0,178.2,11.1,433,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2713,1975,0,0,0,0,0,0
$GC,4254,0.80,240.0,164.3,10.9,445,4257,0.00,1.70,0.00,0.000,4,0.000,0.048,3052,3769,1975,0,0,0,0,0,0
$GC,4289,0.80,240.0,160.0,12.2,448,4292,0.00,1.65,0.00,0.000,6,0.000,0.030,3059,2702,1975,0,0,0,0,0,0
$GC,4430,0.80,240.0,143.5,11.7,461,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2702,1975,0,0,0,0,0,0
$GC,4556,0.80,240.0,128.6,11.8,473,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2702,1975,0,0,0,0,0,0
$GC,4684,0.80,240.0,113.6,11.7,485,4687,0.00,1.70,0.00,0.000,4,0.000,0.048,3059,3766,1975,0,0,0,0,0,0
$GC,4720,0.80,240.0,109.1,13.1,488,4723,0.00,1.65,0.00,0.000,6,0.000,0.030,3066,2689,1975,0,0,0,0,0,0
$GC,4857,0.80,240.0,91.9,12.4,506,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2688,1974,0,0,0,0,0,0
$GC,4999,0.80,240.0,74.8,11.5,531,5006,0.00,1.75,0.00,0.000,4,0.000,0.047,3066,3776,1974,0,0,0,0,0,0
$GC,5041,0.80,240.0,69.2,13.3,538,5047,0.00,1.65,0.00,0.000,6,0.000,0.029,3073,2728,1974,0,0,0,0,0,0
$GC,5184,0.80,240.0,51.4,11.8,563,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2728,1974,0,0,0,0,0,0
$GC,5327,0.80,240.0,33.2,13.1,588,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2728,1974,0,0,0,0,0,0
$GC,5468,0.80,240.0,15.2,13.4,613,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2728,1974,0,0,0,0,0,0
$FREEZE,8.40,-0.218,-1.898,2,1,0
$FREEZE,7.86,-0.217,-1.898,2,1,0
$FREEZE,7.26,-0.218,-1.897,2,1,0
$FREEZE,6.36,-0.218,-1.897,2,1,0
$FREEZE,5.67,-0.218,-1.896,2,1,0
$FREEZE,5.04,-0.217,-1.896,2,1,0
$FREEZE,4.43,-0.216,-1.895,2,1,0
$FREEZE,3.97,-0.217,-1.895,2,1,0
$FREEZE,3.24,-0.216,-1.894,2,1,0
$FREEZE,2.55,-0.215,-1.894,2,1,0
$STATE,5568,end climb,SURFACE_DEPTH_REACHED
$STATE,5568,begin surface coast
$FREEZE,1.45,-0.215,-1.893,2,1,0
$FREEZE,0.94,-0.216,-1.893,2,1,0
$FREEZE,-0.05,-0.239,-1.893,2,1,0
$FREEZE,-0.12,-0.380,-0.981,2,1,0
$FREEZE,-0.20,-0.494,-1.908,2,1,0
$FINISH,-0.2,1.027939
$STATE,5595,end surface coast,CONTROL_FINISHED_OK
$STATE,5595,begin surface
$SM_CCo,5613,3.03,0.104,0,0,1940,250.20
$SM_GC,1.70,0.00,0.00,3.03,0.000,0.000,0.104,181,2805,1940,-8.19,0.71,250.20
$IRIDIUM_FIX,-7603.11,17602.96,220111,212110
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.1
$ALTIM_BOTTOM_PING,301.2,43.1
$24V_AH,21.7,87.239
$10V_AH,9.8,35.227
$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,18.275,36.350,356.500,3.025,0.000,26.110,38.939,157.283,1.000,0.000,15.930,1568.739,2462.816,419.794,1271.247,266.181,0.000,1026.001,0.000,1005.143,0.000,8.867,0.000
$DEVICE_MAMPS,211.140,95.625,946.305,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.526,850.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258260
$DATA_FILE_SIZE,40398,636
$CAP_FILE_SIZE,81174,0
$CFSIZE,260165632,213995520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.115,282.0,1
$GPS,230111,002319,-7654.403,17601.193,13,1.8,19,125.3