version: 66.08
glider: 503
mission: 7
dive: 796
start: 1 20 111 15 58 36
data:
$ID,503
$MISSION,7
$DIVE,796
$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,-20531.777
$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,52
$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
$GPS1,200111,155120,-7645.053,17522.859,29,1.3,30,125.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.9
$GPS2,200111,155807,-7645.059,17522.812,25,2.0,25,125.6
$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,91.9,20746,-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,-74.78,0.000,2,0.000,0.000,184,2759,3498,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.7,-8.8,13,119,9.23,1.67,-3.20,0.000,4,0.207,0.058,2555,3777,3656,0,0,0,0,0,0
$GC,370,-0.71,-170.3,53.0,-14.7,61,377,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2774,3659,0,0,0,0,0,0
$GC,513,-0.71,-170.3,72.7,-14.1,86,520,0.00,1.65,0.00,0.000,4,0.000,0.049,2547,3767,3659,0,0,0,0,0,0
$GC,596,-0.71,-170.3,85.0,-14.6,100,602,0.00,1.55,0.00,0.000,6,0.000,0.028,2547,2780,3660,0,0,0,0,0,0
$GC,741,-0.71,-170.3,106.1,-14.2,122,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2781,3659,0,0,0,0,0,0
$GC,868,-0.71,-170.3,124.5,-14.6,134,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2780,3660,0,0,0,0,0,0
$GC,995,-0.71,-170.3,142.8,-14.5,146,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2780,3660,0,0,0,0,0,0
$GC,1124,-0.71,-170.3,161.2,-14.5,158,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2780,3660,0,0,0,0,0,0
$GC,1250,-0.71,-170.3,179.9,-14.5,170,1254,0.00,1.62,0.00,0.000,4,0.000,0.049,2539,3759,3660,0,0,1,0,0,0
$GC,1285,-0.71,-170.3,185.2,-15.6,173,1289,0.00,1.52,0.00,0.000,6,0.000,0.029,2539,2791,3660,0,0,0,0,0,0
$GC,1426,-0.71,-170.3,206.0,-14.3,186,1428,0.10,0.00,0.00,0.000,6,0.172,0.000,2567,2791,3660,0,0,0,0,0,0
$GC,1553,-0.71,-170.3,222.1,-12.2,198,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2791,3660,0,0,0,0,0,0
$GC,1680,-0.71,-170.3,237.9,-12.6,210,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2791,3660,0,0,0,0,0,0
$GC,1808,-0.71,-170.3,253.9,-12.7,222,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2791,3660,0,0,0,0,0,0
$GC,1999,-0.71,-170.3,278.1,-13.1,240,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2791,3660,0,0,0,0,0,0
$GC,2190,-0.71,-170.3,301.8,-12.2,258,2193,0.00,1.60,0.00,0.000,4,0.000,0.050,2560,3755,3660,0,0,0,0,0,0
$GC,2241,-0.71,-170.3,308.3,-12.2,262,2247,0.00,1.52,0.00,0.000,6,0.000,0.028,2560,2783,3660,0,0,0,0,0,0
$GC,2441,-0.71,-170.3,333.5,-13.2,281,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2783,3660,0,0,0,0,0,0
$STATE,2521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2521,begin apogee
$GC,2529,-0.16,0.0,344.1,12.5,289,2674,0.55,0.00,138.77,0.954,4,0.117,0.000,2744,2691,2960,0,0,0,0,0,0
$STATE,2675,end apogee,CONTROL_FINISHED_OK
$STATE,2675,begin climb
$GC,2678,0.71,170.3,351.1,0.0,302,2842,0.85,2.33,150.60,0.907,4,0.073,0.032,3030,1311,2265,0,0,0,0,0,0
$GC,3025,0.76,209.8,330.2,8.4,332,3070,0.00,2.38,36.33,0.885,6,0.000,0.041,3030,2707,2104,0,0,0,0,0,0
$GC,3260,0.76,209.8,306.3,10.1,354,3264,0.00,2.30,0.00,0.000,4,0.000,0.034,3040,1308,2102,0,0,0,0,0,0
$GC,3446,0.77,216.9,288.0,9.7,370,3459,0.00,2.28,7.38,0.789,6,0.000,0.041,3040,2699,2075,0,0,0,0,0,0
$GC,3653,0.77,216.9,266.0,11.1,389,3656,0.00,1.70,0.00,0.000,4,0.000,0.050,3040,3761,2075,0,0,0,0,0,0
$GC,3722,0.77,216.9,257.1,13.1,395,3726,0.00,1.67,0.00,0.000,6,0.000,0.031,3047,2715,2074,0,0,0,0,0,0
$GC,3926,0.77,216.9,233.8,11.3,414,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2714,2074,0,0,0,0,0,0
$GC,4053,0.77,216.9,219.2,11.5,426,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2714,2074,0,0,0,0,0,0
$GC,4181,0.77,216.9,204.5,11.3,438,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2714,2074,0,0,0,0,0,0
$GC,4308,0.77,216.9,190.2,11.0,450,4312,0.00,1.70,0.00,0.000,4,0.000,0.050,3047,3769,2073,0,0,0,0,0,0
$GC,4347,0.77,216.9,185.2,12.8,453,4353,0.00,1.67,0.00,0.000,6,0.000,0.030,3054,2709,2073,0,0,0,0,0,0
$GC,4482,0.77,216.9,170.3,11.0,466,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2708,2073,0,0,0,0,0,0
$GC,4608,0.77,216.9,155.7,11.7,478,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2708,2073,0,0,0,0,0,0
$GC,4736,0.77,216.9,140.7,11.7,490,4739,0.00,1.70,0.00,0.000,4,0.000,0.049,3055,3768,2072,0,0,0,0,0,0
$GC,4783,0.77,216.9,134.8,13.3,494,4786,0.00,1.65,0.00,0.000,6,0.000,0.030,3063,2692,2072,0,0,0,0,0,0
$GC,4923,0.77,216.9,117.3,12.3,507,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2692,2072,0,0,0,0,0,0
$GC,5050,0.77,216.9,102.3,11.4,519,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2693,2072,0,0,0,0,0,0
$GC,5183,0.77,216.9,87.3,11.8,541,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2692,2071,0,0,0,0,0,0
$GC,5325,0.77,216.9,71.2,12.1,566,5331,0.00,1.75,0.00,0.000,4,0.000,0.050,3063,3763,2071,0,0,0,0,0,0
$GC,5367,0.77,216.9,65.9,13.0,573,5374,0.00,1.65,0.00,0.000,6,0.000,0.031,3070,2726,2071,0,0,0,0,0,0
$GC,5511,0.77,216.9,49.1,11.8,598,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2727,2071,0,0,0,0,0,0
$GC,5652,0.77,216.9,31.7,12.6,623,5659,0.00,1.73,0.00,0.000,4,0.000,0.049,3070,3762,2071,0,0,0,0,0,0
$GC,5707,0.77,216.9,24.5,14.4,632,5715,0.08,1.65,0.00,0.000,6,0.150,0.029,3051,2732,2071,0,0,0,0,0,0
$FREEZE,9.00,-0.066,-1.898,2,1,0
$FREEZE,8.36,-0.066,-1.898,2,1,0
$GC,5852,0.77,216.9,8.4,11.0,657,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2732,2071,0,0,0,0,0,0
$FREEZE,6.82,-0.063,-1.897,2,1,0
$FREEZE,6.29,-0.065,-1.897,2,1,0
$FREEZE,5.71,-0.065,-1.896,2,1,0
$FREEZE,4.96,-0.062,-1.896,2,1,0
$FREEZE,4.55,-0.063,-1.895,2,1,0
$FREEZE,3.97,-0.061,-1.895,2,1,0
$FREEZE,3.42,-0.060,-1.895,2,1,0
$FREEZE,2.87,-0.058,-1.894,2,1,0
$STATE,5900,end climb,SURFACE_DEPTH_REACHED
$STATE,5900,begin surface coast
$FREEZE,2.26,-0.052,-1.894,2,1,0
$FREEZE,1.67,-0.050,-1.893,2,1,0
$FREEZE,1.11,-0.043,-1.893,2,1,0
$FREEZE,0.58,-0.037,-1.892,2,1,0
$FREEZE,0.18,-0.035,-1.892,2,1,0
$FINISH,0.2,1.027679
$STATE,5932,end surface coast,CONTROL_FINISHED_OK
$STATE,5932,begin surface
$SM_CCo,5951,15.20,0.101,0,0,1940,250.20
$SM_GC,1.55,0.00,0.00,15.20,0.000,0.000,0.101,185,2789,1940,-8.17,0.25,250.20
$IRIDIUM_FIX,-7554.21,17528.18,200111,141445
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$ALTIM_BOTTOM_PING,300.5,58.6
$24V_AH,21.9,84.109
$10V_AH,9.7,33.605
$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,18.350,39.025,333.075,15.200,0.000,28.941,38.719,173.640,1.000,0.000,28.175,1679.101,2607.651,411.363,1399.206,282.874,0.000,1051.892,0.000,1094.325,0.000,8.905,0.000
$DEVICE_MAMPS,207.315,113.985,953.955,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.683,883.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258200
$DATA_FILE_SIZE,43779,671
$CAP_FILE_SIZE,85297,0
$CFSIZE,260165632,215445504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.066,332.1,1
$GPS,200111,173930,-7645.446,17520.129,44,0.9,45,125.7