version: 66.08
glider: 503
mission: 7
dive: 794
start: 1 20 111 12 22 36
data:
$ID,503
$MISSION,7
$DIVE,794
$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,-20529.264
$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,26
$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
$GPS1,200111,121524,-7643.732,17528.154,24,1.4,42,125.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-75.8
$GPS2,200111,122207,-7643.747,17528.160,33,0.9,33,125.4
$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,127.5,23952,-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,-74.53,0.000,2,0.000,0.000,184,2758,3488,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.5,-7.9,13,119,9.18,2.20,-3.47,0.000,4,0.207,0.041,2564,1367,3657,0,0,0,0,0,0
$GC,234,-0.71,-170.3,30.4,-13.3,36,240,0.00,2.30,0.00,0.000,6,0.000,0.042,2560,2780,3660,0,0,0,0,0,0
$GC,376,-0.71,-170.3,50.0,-13.6,61,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2780,3660,0,0,0,0,0,0
$GC,518,-0.71,-170.3,69.4,-13.1,86,525,0.00,1.60,0.00,0.000,4,0.000,0.050,2556,3757,3660,0,0,0,0,0,0
$GC,576,-0.71,-170.3,77.6,-13.7,96,583,0.00,1.52,0.00,0.000,6,0.000,0.029,2556,2782,3661,0,0,0,0,0,0
$GC,719,-0.71,-170.3,96.9,-13.7,121,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2782,3661,0,0,0,0,0,0
$GC,862,-0.71,-170.3,116.5,-14.0,136,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2782,3662,0,0,0,0,0,0
$GC,990,-0.71,-170.3,134.3,-13.5,148,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2782,3661,0,0,0,0,0,0
$GC,1116,-0.71,-170.3,151.5,-13.2,160,1120,0.00,1.62,0.00,0.000,4,0.000,0.049,2549,3761,3662,0,0,0,0,0,0
$GC,1150,-0.71,-170.3,156.5,-14.5,163,1154,0.00,1.52,0.00,0.000,6,0.000,0.029,2549,2793,3661,0,0,0,0,0,0
$GC,1291,-0.71,-170.3,175.7,-13.6,176,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2793,3661,0,0,0,0,0,0
$GC,1419,-0.71,-170.3,193.0,-13.6,188,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2792,3661,0,0,0,0,0,0
$GC,1545,-0.71,-170.3,210.1,-13.9,200,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2793,3661,0,0,0,0,0,0
$GC,1673,-0.71,-170.3,227.6,-14.1,212,1676,0.00,1.60,0.00,0.000,4,0.000,0.049,2541,3758,3661,0,0,0,0,0,0
$GC,1712,-0.71,-170.3,233.7,-14.7,215,1720,0.00,1.52,0.00,0.000,6,0.000,0.028,2541,2791,3661,0,0,0,0,0,0
$GC,1847,-0.71,-170.3,252.6,-14.3,228,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2791,3661,0,0,0,0,0,0
$GC,2038,-0.71,-170.3,279.3,-14.0,246,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2791,3661,0,0,0,0,0,0
$GC,2231,-0.71,-170.3,305.4,-13.7,264,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2791,3661,0,0,0,0,0,0
$GC,2420,-0.71,-170.3,331.8,-13.7,282,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2791,3661,0,0,0,0,0,0
$STATE,2503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2503,begin apogee
$GC,2511,-0.16,0.0,343.4,13.5,290,2658,0.62,0.00,138.45,0.954,4,0.119,0.000,2748,2688,2960,0,0,0,0,0,0
$STATE,2659,end apogee,CONTROL_FINISHED_OK
$STATE,2659,begin climb
$GC,2662,0.71,170.3,350.4,0.0,303,2822,0.82,2.35,150.38,0.908,4,0.072,0.031,3027,1306,2265,0,0,0,0,0,0
$GC,2828,0.77,213.8,344.2,8.3,317,2879,0.00,2.50,42.35,0.868,6,0.000,0.041,3026,2704,2088,0,0,1,0,0,0
$GC,3071,0.77,216.2,319.8,9.9,340,3075,0.00,1.80,0.00,0.000,4,0.000,0.050,3027,3764,2085,0,0,0,0,0,0
$GC,3163,0.77,216.2,309.3,11.2,348,3166,0.00,1.67,0.00,0.000,6,0.000,0.030,3034,2713,2083,0,0,1,0,0,0
$GC,3369,0.77,216.2,287.8,10.0,367,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2713,2081,0,0,0,0,0,0
$GC,3567,0.77,216.2,267.2,10.3,386,3571,0.00,1.73,0.00,0.000,4,0.000,0.050,3034,3768,2080,0,0,0,0,0,0
$GC,3605,0.77,216.2,262.6,11.7,389,3612,0.00,1.70,0.00,0.000,6,0.000,0.030,3042,2684,2079,0,0,0,0,0,0
$GC,3805,0.77,216.2,241.1,11.2,408,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2685,2079,0,0,0,0,0,0
$GC,3931,0.77,216.2,227.2,11.1,420,3935,0.00,1.80,0.00,0.000,4,0.000,0.049,3041,3765,2079,0,0,0,0,0,0
$GC,3992,0.77,216.2,219.4,13.0,425,3999,0.00,1.67,0.00,0.000,6,0.000,0.029,3049,2715,2078,0,0,0,0,0,0
$GC,4126,0.77,216.2,203.5,11.4,438,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2715,2078,0,0,0,0,0,0
$GC,4255,0.77,216.2,188.7,11.3,450,4259,0.00,1.70,0.00,0.000,4,0.000,0.050,3049,3765,2078,0,0,0,0,0,0
$GC,4305,0.77,216.2,182.2,13.1,454,4312,0.00,1.65,0.00,0.000,6,0.000,0.030,3056,2730,2078,0,0,0,0,0,0
$GC,4440,0.77,216.2,166.4,11.9,467,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2731,2078,0,0,0,0,0,0
$GC,4567,0.77,216.2,151.7,11.4,479,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2731,2078,0,0,0,0,0,0
$GC,4696,0.77,216.2,136.8,11.6,491,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2731,2078,0,0,0,0,0,0
$GC,4822,0.77,216.2,122.1,11.5,503,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2731,2077,0,0,0,0,0,0
$GC,4950,0.77,216.2,107.2,11.8,515,4953,0.00,1.67,0.00,0.000,4,0.000,0.049,3056,3772,2077,0,0,0,0,0,0
$GC,4988,0.77,216.2,102.2,12.5,518,4995,0.00,1.62,0.00,0.000,6,0.000,0.030,3064,2743,2077,0,0,0,0,0,0
$GC,5128,0.77,216.2,86.0,11.9,541,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2743,2077,0,0,0,0,0,0
$GC,5268,0.77,216.2,69.6,11.1,566,5274,0.00,1.70,0.00,0.000,4,0.000,0.050,3063,3766,2076,0,0,0,0,0,0
$GC,5311,0.77,216.2,64.2,13.7,573,5317,0.00,1.60,0.00,0.000,6,0.000,0.030,3071,2758,2077,0,0,0,0,0,0
$GC,5455,0.77,216.2,47.0,11.7,598,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2758,2077,0,0,0,0,0,0
$GC,5598,0.77,216.2,29.8,12.2,623,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2758,2076,0,0,0,0,0,0
$GC,5739,0.77,216.2,13.0,11.9,648,5745,0.00,1.67,0.00,0.000,4,0.000,0.050,3071,3768,2075,0,0,0,0,0,0
$FREEZE,8.80,-0.094,-1.899,2,1,0
$FREEZE,8.39,-0.091,-1.898,2,1,0
$FREEZE,7.55,-0.087,-1.898,2,1,0
$FREEZE,6.74,-0.090,-1.897,2,1,0
$FREEZE,6.05,-0.086,-1.897,2,1,0
$FREEZE,5.36,-0.055,-1.896,2,1,0
$GC,5796,0.77,216.2,5.4,14.2,658,5804,0.08,1.60,0.00,0.000,6,0.148,0.030,3051,2760,2076,0,0,0,0,0,0
$FREEZE,3.21,-0.053,-1.894,2,1,0
$FREEZE,2.65,-0.052,-1.894,2,1,0
$STATE,5815,end climb,SURFACE_DEPTH_REACHED
$STATE,5815,begin surface coast
$FREEZE,2.06,-0.050,-1.893,2,1,0
$FREEZE,1.44,-0.048,-1.893,2,1,0
$FREEZE,0.89,-0.047,-1.893,2,1,0
$FREEZE,0.29,-0.061,-1.892,2,1,0
$FINISH,0.3,1.027683
$STATE,5839,end surface coast,CONTROL_FINISHED_OK
$STATE,5839,begin surface
$SM_CCo,5857,15.30,0.101,0,0,1939,250.20
$SM_GC,1.08,0.00,0.00,15.30,0.000,0.000,0.101,183,2759,1939,-8.18,-0.59,250.20
$IRIDIUM_FIX,-7603.11,17536.80,200111,101010
$TT8_MAMPS,0.026964
$HUMID,53.22
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.9
$ALTIM_BOTTOM_PING,301.1,56.2
$24V_AH,21.8,83.911
$10V_AH,9.8,33.498
$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,18.225,42.450,331.175,15.300,0.000,24.191,37.318,171.288,1.000,0.000,35.864,1645.374,2573.958,429.960,1351.295,281.658,0.000,1060.687,0.000,1053.942,0.000,8.901,0.000
$DEVICE_MAMPS,207.315,81.090,953.955,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.669,879.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,43679,665
$CAP_FILE_SIZE,85585,0
$CFSIZE,260165632,215543808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.155,138.3,1
$GPS,200111,140136,-7644.399,17525.686,14,1.3,25,125.5