version: 66.08
glider: 503
mission: 7
dive: 793
start: 1 20 111 10 26 48
data:
$ID,503
$MISSION,7
$DIVE,793
$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,-20528.004
$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,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
$GPS1,200111,101707,-7642.868,17529.891,33,1.0,34,125.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-74.7
$GPS2,200111,102619,-7642.913,17530.031,12,1.4,12,125.3
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_SW
$TGT_LATLONG,-7655.000,17500.000
$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,129.1,25683,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,92,0.00,0.00,-73.45,0.000,2,0.000,0.000,184,2799,3470,0,0,0,0,0,0
$GC,95,-0.71,-170.3,3.6,-8.3,12,117,9.25,2.30,-3.90,0.000,4,0.207,0.041,2565,1362,3658,0,0,0,0,0,0
$GC,152,-0.71,-170.3,19.8,-15.5,21,159,0.00,2.30,0.00,0.000,6,0.000,0.043,2561,2767,3659,0,0,0,0,0,0
$GC,294,-0.71,-170.3,39.2,-13.6,46,302,0.00,1.62,0.00,0.000,4,0.000,0.051,2562,3752,3661,0,0,0,0,0,0
$GC,332,-0.71,-170.3,44.8,-14.1,52,339,0.00,1.52,0.00,0.000,6,0.000,0.029,2563,2783,3661,0,0,0,0,0,0
$GC,474,-0.71,-170.3,64.3,-13.4,77,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3661,0,0,0,0,0,0
$GC,614,-0.71,-170.3,83.4,-13.8,102,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3661,0,0,0,0,0,0
$GC,760,-0.71,-170.3,102.9,-12.9,126,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2783,3662,0,0,0,0,0,0
$GC,888,-0.71,-170.3,119.6,-12.8,138,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,1015,-0.71,-170.3,136.2,-12.8,150,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,1143,-0.71,-170.3,152.8,-13.0,162,1146,0.00,1.62,0.00,0.000,4,0.000,0.051,2562,3789,3662,0,0,0,0,0,0
$GC,1190,-0.71,-170.3,159.0,-13.4,166,1193,0.00,1.58,0.00,0.000,6,0.000,0.029,2562,2785,3661,0,0,0,0,0,0
$GC,1331,-0.71,-170.3,177.3,-13.2,179,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3661,0,0,0,0,0,0
$GC,1458,-0.71,-170.3,194.1,-13.1,191,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3661,0,0,0,0,0,0
$GC,1585,-0.71,-170.3,210.8,-13.2,203,1589,0.00,1.62,0.00,0.000,4,0.000,0.051,2562,3765,3661,0,0,0,0,0,0
$GC,1624,-0.71,-170.3,216.3,-13.5,206,1632,0.00,1.52,0.00,0.000,6,0.000,0.028,2562,2794,3661,0,0,0,0,0,0
$GC,1759,-0.71,-170.3,233.8,-12.9,219,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2794,3661,0,0,0,0,0,0
$GC,1888,-0.71,-170.3,249.9,-12.4,231,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2794,3661,0,0,0,0,0,0
$GC,2014,-0.71,-170.3,265.7,-12.3,243,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2795,3661,0,0,0,0,0,0
$GC,2205,-0.71,-170.3,288.8,-12.1,261,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2794,3661,0,0,0,0,0,0
$GC,2397,-0.71,-170.3,312.2,-11.9,279,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2794,3661,0,0,0,0,0,0
$GC,2587,-0.71,-170.3,335.1,-12.3,297,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2794,3661,0,0,0,0,0,0
$STATE,2723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2723,begin apogee
$GC,2731,-0.16,0.0,352.2,12.0,310,2878,0.55,0.00,139.25,0.961,4,0.117,0.000,2746,2691,2959,0,0,0,0,0,0
$STATE,2879,end apogee,CONTROL_FINISHED_OK
$STATE,2879,begin climb
$GC,2881,0.71,170.3,358.3,0.0,323,3042,0.80,0.00,150.90,0.912,6,0.075,0.000,3027,2690,2265,0,0,0,0,0,0
$GC,3237,0.71,171.6,334.9,9.9,355,3241,0.00,1.83,0.00,0.000,4,0.000,0.048,3027,3762,2258,0,0,0,0,0,0
$GC,3453,0.71,171.6,310.3,10.9,374,3456,0.00,1.65,0.00,0.000,6,0.000,0.030,3035,2719,2254,0,0,0,0,0,0
$GC,3657,0.72,174.1,290.0,9.9,393,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2719,2254,0,0,0,0,0,0
$GC,3849,0.72,178.0,270.6,9.8,411,3862,0.00,1.70,6.12,0.770,4,0.000,0.048,3035,3764,2233,0,0,0,0,0,0
$GC,3913,0.72,178.0,263.3,11.7,416,3919,0.00,1.65,0.00,0.000,6,0.000,0.030,3042,2731,2233,0,0,0,0,0,0
$GC,4112,0.72,178.0,243.3,10.3,435,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2731,2232,0,0,0,0,0,0
$GC,4240,0.73,186.5,230.6,9.7,447,4253,0.00,1.67,8.90,0.825,4,0.000,0.047,3042,3765,2200,0,0,0,0,0,0
$GC,4300,0.73,186.5,223.8,11.9,452,4304,0.00,1.65,0.00,0.000,6,0.000,0.029,3050,2704,2199,0,0,0,0,0,0
$GC,4441,0.73,186.5,208.6,10.7,465,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2703,2200,0,0,0,0,0,0
$GC,4568,0.73,186.5,195.4,10.4,477,4572,0.00,1.70,0.00,0.000,4,0.000,0.049,3050,3765,2199,0,0,0,0,0,0
$GC,4618,0.73,186.5,189.6,11.5,481,4625,0.00,1.62,0.00,0.000,6,0.000,0.030,3057,2737,2199,0,0,0,0,0,0
$GC,4754,0.73,186.5,175.2,10.5,494,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2737,2199,0,0,0,0,0,0
$GC,4880,0.73,186.5,161.8,10.5,506,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2737,2198,0,0,0,0,0,0
$GC,5008,0.73,186.5,147.9,11.0,518,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2737,2198,0,0,0,0,0,0
$GC,5136,0.73,186.5,134.2,10.8,530,5139,0.00,1.65,0.00,0.000,4,0.000,0.050,3057,3764,2198,0,0,0,0,0,0
$GC,5196,0.73,186.5,126.4,12.4,535,5204,0.00,1.62,0.00,0.000,6,0.000,0.030,3066,2737,2197,0,0,0,0,0,0
$GC,5332,0.73,186.5,111.3,11.1,548,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2737,2198,0,0,0,0,0,0
$GC,5460,0.73,186.5,97.0,11.2,562,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2737,2198,0,0,0,0,0,0
$GC,5602,0.73,186.5,81.6,10.7,587,5610,0.00,1.70,0.00,0.000,4,0.000,0.050,3066,3766,2198,0,0,0,0,0,0
$GC,5639,0.73,186.5,77.2,12.6,593,5646,0.10,1.62,0.00,0.000,6,0.140,0.029,3039,2742,2197,0,0,0,0,0,0
$GC,5784,0.78,226.2,64.1,8.4,618,5822,0.00,0.00,36.67,0.791,6,0.000,0.000,3038,2742,2036,0,0,0,0,0,0
$GC,5958,0.78,226.2,47.3,10.4,648,5965,0.00,1.70,0.00,0.000,4,0.000,0.051,3038,3757,2036,0,0,0,0,0,0
$GC,6011,0.78,226.2,41.3,11.4,657,6018,0.00,1.60,0.00,0.000,6,0.000,0.031,3044,2758,2036,0,0,0,0,0,0
$GC,6154,0.79,234.0,26.7,9.7,682,6167,0.00,0.00,8.02,0.718,6,0.000,0.000,3044,2758,2006,0,0,0,0,0,0
$GC,6305,0.79,234.0,10.4,11.5,708,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2758,2005,0,0,0,0,0,0
$FREEZE,8.74,0.008,-1.899,2,1,0
$FREEZE,8.05,0.009,-1.898,2,1,0
$FREEZE,7.50,0.008,-1.898,2,1,0
$FREEZE,6.90,0.008,-1.897,2,1,0
$FREEZE,6.60,0.009,-1.897,2,1,0
$FREEZE,5.75,0.009,-1.896,2,1,0
$FREEZE,5.30,0.007,-1.896,2,1,0
$FREEZE,4.82,0.009,-1.896,2,1,0
$FREEZE,4.36,0.009,-1.895,2,1,0
$FREEZE,3.72,0.009,-1.895,2,1,0
$FREEZE,3.05,0.009,-1.894,2,1,0
$FREEZE,2.55,0.010,-1.894,2,1,0
$STATE,6375,end climb,SURFACE_DEPTH_REACHED
$STATE,6375,begin surface coast
$FREEZE,1.85,0.004,-1.894,2,1,0
$FREEZE,1.05,0.006,-1.893,2,1,0
$FREEZE,0.43,0.002,-1.893,2,1,0
$FREEZE,0.14,0.003,-1.892,2,1,0
$FREEZE,-0.04,-0.000,-1.892,2,1,0
$FINISH,-0.0,1.027680
$STATE,6406,end surface coast,CONTROL_FINISHED_OK
$STATE,6406,begin surface
$SM_CCo,6424,7.00,0.103,0,0,1939,250.20
$SM_GC,2.27,0.00,0.00,7.00,0.000,0.000,0.103,184,2758,1939,-8.18,-0.62,250.20
$IRIDIUM_FIX,-7554.21,17528.18,200111,101024
$TT8_MAMPS,0.026964
$HUMID,52.36
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$ALTIM_BOTTOM_PING,300.5,66.1
$24V_AH,21.8,83.811
$10V_AH,9.8,33.445
$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,18.275,37.575,349.875,7.000,0.000,59.511,112.344,169.482,1.000,0.000,15.001,1802.157,2911.674,431.861,1552.662,292.941,0.000,1106.610,0.000,1156.042,0.000,8.926,0.000
$DEVICE_MAMPS,207.315,79.560,960.840,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.945,956.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,47053,726
$CAP_FILE_SIZE,92294,0
$CFSIZE,260165632,215584768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204,140.2,1
$GPS,200111,121524,-7643.732,17528.154,24,1.4,42,125.4