version: 66.08
glider: 503
mission: 7
dive: 831
start: 1 23 111 7 28 59
data:
$ID,503
$MISSION,7
$DIVE,831
$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,-20577.869
$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,35
$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
$GPS1,230111,072209,-7655.109,17611.322,16,1.6,17,125.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.5
$GPS2,230111,072832,-7655.125,17611.332,13,1.7,13,125.1
$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,293.0,20404,-16.1,-10.000
$D_GRID,419
$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,-170.3,0.0,0.0,0,92,0.00,0.00,-71.25,0.000,2,0.000,0.000,175,2793,3389,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.0,-5.8,12,117,9.35,0.00,-5.80,0.000,6,0.209,0.000,2567,2793,3659,0,0,0,0,0,0
$GC,254,-0.71,-170.3,32.6,-13.7,39,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2793,3662,0,0,0,0,0,0
$GC,396,-0.71,-170.3,52.3,-13.5,64,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2793,3662,0,0,0,0,0,0
$GC,538,-0.71,-170.3,71.3,-13.8,89,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2793,3663,0,0,0,0,0,0
$GC,680,-0.71,-170.3,90.0,-13.5,114,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2793,3663,0,0,0,0,0,0
$GC,826,-0.71,-170.3,108.9,-12.9,134,829,0.00,2.25,0.00,0.000,4,0.000,0.030,2567,1368,3663,0,0,0,0,0,0
$GC,852,-0.71,-170.3,112.8,-13.2,136,859,0.00,2.28,0.00,0.000,6,0.000,0.042,2563,2777,3663,0,0,0,0,0,0
$GC,987,-0.71,-170.3,130.5,-13.6,149,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3663,0,0,0,0,0,0
$GC,1115,-0.71,-170.3,147.7,-13.3,161,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3663,0,0,0,0,0,0
$GC,1242,-0.71,-170.3,164.7,-13.2,173,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3663,0,0,0,0,0,0
$GC,1369,-0.71,-170.3,182.2,-14.1,185,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3663,0,0,0,0,0,0
$GC,1498,-0.71,-170.3,199.5,-13.8,197,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3663,0,0,0,0,0,0
$GC,1626,-0.71,-170.3,216.6,-13.3,209,1629,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3787,3663,0,0,0,0,0,0
$GC,1661,-0.71,-170.3,221.5,-13.6,212,1665,0.00,1.60,0.00,0.000,6,0.000,0.029,2563,2779,3663,0,0,0,0,0,0
$GC,1802,-0.71,-170.3,239.8,-12.6,225,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3663,0,0,0,0,0,0
$GC,1928,-0.71,-170.3,256.1,-12.9,237,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3663,0,0,0,0,0,0
$GC,2121,-0.71,-170.3,280.7,-12.9,255,2125,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3784,3663,0,0,0,0,0,0
$GC,2168,-0.71,-170.3,287.0,-12.9,259,2172,0.00,1.58,0.00,0.000,6,0.000,0.029,2563,2786,3663,0,0,0,0,0,0
$GC,2374,-0.71,-170.3,313.2,-12.6,278,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2786,3663,0,0,0,0,0,0
$STATE,2453,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2453,begin apogee
$GC,2461,-0.16,0.0,323.6,12.7,286,2608,0.55,0.00,139.20,0.945,4,0.117,0.000,2746,2686,2958,0,0,0,0,0,0
$STATE,2609,end apogee,CONTROL_FINISHED_OK
$STATE,2609,begin climb
$GC,2612,0.71,170.3,330.7,0.0,299,2773,0.82,2.33,150.43,0.897,4,0.071,0.031,3026,1300,2265,0,0,0,0,0,0
$GC,2980,0.77,217.8,308.6,8.1,331,3028,0.00,2.35,43.28,0.875,6,0.000,0.040,3026,2699,2072,0,0,0,0,0,0
$GC,3228,0.77,218.9,284.3,10.0,354,3232,0.00,2.25,0.00,0.000,4,0.000,0.031,3036,1307,2071,0,0,0,0,0,0
$GC,3377,0.79,235.2,270.2,9.4,366,3399,0.00,2.30,16.62,0.856,6,0.000,0.041,3036,2708,2001,0,0,0,0,0,0
$GC,3601,0.79,235.2,246.8,10.5,387,3605,0.00,1.70,0.00,0.000,4,0.000,0.050,3036,3764,2001,0,0,0,0,0,0
$GC,3663,0.79,235.2,238.7,12.1,392,3670,0.00,1.67,0.00,0.000,6,0.000,0.030,3043,2716,2001,0,0,0,0,0,0
$GC,3800,0.79,235.2,223.8,10.9,405,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2716,2000,0,0,0,0,0,0
$GC,3925,0.79,235.2,210.0,11.2,417,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2716,2001,0,0,0,0,0,0
$GC,4053,0.79,235.2,196.2,10.7,429,4057,0.00,1.67,0.00,0.000,4,0.000,0.049,3043,3762,2000,0,0,0,0,0,0
$GC,4099,0.79,235.2,190.7,12.4,433,4102,0.00,1.65,0.00,0.000,6,0.000,0.031,3050,2695,2000,0,0,0,0,0,0
$GC,4239,0.79,235.2,175.2,10.9,446,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2694,2000,0,0,0,0,0,0
$GC,4369,0.79,235.2,161.1,11.0,458,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2695,2000,0,0,0,0,0,0
$GC,4504,0.79,235.2,146.1,11.0,471,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2695,2000,0,0,0,0,0,0
$GC,4631,0.79,235.2,132.0,11.1,483,4635,0.00,1.73,0.00,0.000,4,0.000,0.049,3050,3762,2000,0,0,0,0,0,0
$GC,4678,0.79,235.2,126.2,13.5,487,4682,0.00,1.62,0.00,0.000,6,0.000,0.031,3057,2706,1999,0,0,1,0,0,0
$GC,4820,0.79,235.2,109.5,11.6,500,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2706,1999,0,0,0,0,0,0
$GC,4948,0.79,235.2,94.8,10.9,516,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2706,1999,0,0,0,0,0,0
$GC,5090,0.79,235.2,79.1,11.1,541,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2706,1999,0,0,0,0,0,0
$GC,5232,0.79,235.2,63.5,10.8,566,5240,0.00,1.75,0.00,0.000,4,0.000,0.048,3057,3780,1998,0,0,0,0,0,0
$GC,5265,0.79,235.2,59.7,12.2,571,5272,0.00,1.67,0.00,0.000,6,0.000,0.030,3064,2737,1999,0,0,0,0,0,0
$GC,5408,0.79,235.2,43.5,10.9,596,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2738,1999,0,0,0,0,0,0
$GC,5550,0.79,235.2,26.9,11.3,621,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2737,1999,0,0,0,0,0,0
$GC,5692,0.79,235.2,10.2,11.5,646,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2737,1998,0,0,0,0,0,0
$FREEZE,8.30,-0.262,-1.898,2,1,0
$FREEZE,7.78,-0.260,-1.898,2,1,0
$FREEZE,7.18,-0.259,-1.897,2,1,0
$FREEZE,6.65,-0.258,-1.897,2,1,0
$FREEZE,5.95,-0.259,-1.896,2,1,0
$FREEZE,5.27,-0.258,-1.896,2,1,0
$FREEZE,4.61,-0.257,-1.895,2,1,0
$FREEZE,4.03,-0.258,-1.895,2,1,0
$FREEZE,3.39,-0.257,-1.895,2,1,0
$FREEZE,2.83,-0.257,-1.894,2,1,0
$STATE,5750,end climb,SURFACE_DEPTH_REACHED
$STATE,5750,begin surface coast
$FREEZE,2.12,-0.256,-1.893,2,1,0
$FREEZE,1.28,-0.257,-1.893,2,1,0
$FREEZE,0.82,-0.259,-1.893,2,1,0
$FREEZE,0.00,-0.257,-1.892,2,1,0
$FREEZE,-0.02,-0.260,-1.892,2,1,0
$FINISH,-0.0,1.027692
$STATE,5780,end surface coast,CONTROL_FINISHED_OK
$STATE,5780,begin surface
$SM_CCo,5800,5.97,0.103,0,0,1939,250.20
$SM_GC,1.99,0.00,0.00,5.97,0.000,0.000,0.103,178,2787,1939,-8.20,0.20,250.20
$IRIDIUM_FIX,-7612.11,17602.31,230111,050539
$TT8_MAMPS,0.026964
$HUMID,53.46
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.2
$ALTIM_BOTTOM_PING,301.0,37.5
$24V_AH,21.8,87.745
$10V_AH,9.7,35.488
$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,18.275,33.825,349.525,5.975,0.000,28.737,36.593,174.427,1.000,0.000,16.184,1644.715,2471.868,421.246,1377.508,279.791,0.000,1063.468,0.000,1086.863,0.000,8.851,0.000
$DEVICE_MAMPS,208.845,120.105,944.775,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.050,891.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258124
$DATA_FILE_SIZE,43632,662
$CAP_FILE_SIZE,83620,0
$CFSIZE,260165632,213762048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.130,175.2,1
$GPS,230111,090707,-7655.126,17614.723,37,1.3,38,125.0