version: 66.08
glider: 503
mission: 7
dive: 798
start: 1 20 111 19 36 43
data:
$ID,503
$MISSION,7
$DIVE,798
$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,-20534.293
$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,49
$R_STBD_OVSHOOT,30
$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
$GPS1,200111,192944,-7645.776,17518.119,15,1.7,16,125.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.0
$GPS2,200111,193614,-7645.755,17517.975,14,1.5,14,125.8
$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,49.7,18706,-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,-74.25,0.000,2,0.000,0.000,180,2752,3479,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.6,-8.6,13,118,9.25,2.20,-3.65,0.000,4,0.207,0.041,2565,1364,3658,0,0,0,0,0,0
$GC,258,-0.71,-170.3,34.2,-12.7,41,265,0.00,2.30,0.00,0.000,6,0.000,0.041,2562,2780,3660,0,0,0,0,0,0
$GC,400,-0.71,-170.3,54.3,-14.5,66,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3661,0,0,0,0,0,0
$GC,542,-0.71,-170.3,74.2,-13.9,91,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3661,0,0,0,0,0,0
$GC,686,-0.71,-170.3,93.8,-13.7,116,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3661,0,0,0,0,0,0
$GC,828,-0.71,-170.3,113.0,-13.2,133,832,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3761,3661,0,0,0,0,0,0
$GC,864,-0.71,-170.3,117.7,-13.5,136,868,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2785,3662,0,0,0,0,0,0
$GC,1005,-0.71,-170.3,136.4,-13.6,149,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2786,3662,0,0,0,0,0,0
$GC,1131,-0.71,-170.3,153.6,-13.4,161,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3662,0,0,0,0,0,0
$GC,1259,-0.71,-170.3,170.6,-12.9,173,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3662,0,0,0,0,0,0
$GC,1386,-0.71,-170.3,186.7,-12.5,185,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3662,0,0,0,0,0,0
$GC,1514,-0.71,-170.3,202.3,-12.2,197,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3662,0,0,0,0,0,0
$GC,1641,-0.71,-170.3,218.3,-12.7,209,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3662,0,0,0,0,0,0
$GC,1768,-0.71,-170.3,234.3,-12.6,221,1772,0.00,1.62,0.00,0.000,4,0.000,0.050,2555,3790,3662,0,0,0,0,0,0
$GC,1808,-0.71,-170.3,239.8,-14.0,224,1815,0.00,1.58,0.00,0.000,6,0.000,0.029,2555,2786,3661,0,0,0,0,0,0
$GC,1942,-0.71,-170.3,257.0,-12.7,237,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2786,3661,0,0,0,0,0,0
$GC,2135,-0.71,-170.3,281.7,-12.8,255,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2786,3661,0,0,0,0,0,0
$GC,2325,-0.71,-170.3,306.6,-13.2,273,2329,0.00,1.62,0.00,0.000,4,0.000,0.050,2547,3789,3661,0,0,0,0,0,0
$GC,2361,-0.71,-170.3,311.4,-13.9,276,2364,0.00,1.58,0.00,0.000,6,0.000,0.029,2547,2790,3661,0,0,0,0,0,0
$GC,2567,-0.71,-170.3,339.1,-13.3,295,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2790,3661,0,0,0,0,0,0
$STATE,2605,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2605,begin apogee
$GC,2612,-0.16,0.0,344.6,13.4,299,2759,0.57,0.00,139.12,0.957,4,0.119,0.000,2739,2689,2958,0,0,0,0,0,0
$STATE,2760,end apogee,CONTROL_FINISHED_OK
$STATE,2760,begin climb
$GC,2764,0.71,170.3,351.1,0.0,312,2922,0.82,0.00,150.50,0.906,6,0.073,0.000,3028,2689,2264,0,0,0,0,0,0
$GC,3118,0.73,187.7,325.1,9.3,344,3139,0.00,1.88,16.10,0.855,4,0.000,0.049,3028,3753,2194,0,0,1,0,0,0
$GC,3185,0.73,187.7,317.5,11.3,350,3191,0.00,1.70,0.00,0.000,6,0.000,0.030,3036,2730,2194,0,0,1,0,0,0
$GC,3384,0.73,187.7,296.9,10.5,369,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2730,2192,0,0,0,0,0,0
$GC,3574,0.73,187.7,277.6,10.2,387,3578,0.00,1.73,0.00,0.000,4,0.000,0.048,3036,3759,2191,0,0,0,0,0,0
$GC,3634,0.73,187.7,270.6,11.8,392,3641,0.00,1.70,0.00,0.000,6,0.000,0.030,3044,2705,2190,0,0,0,0,0,0
$GC,3833,0.73,187.7,249.8,10.3,411,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2705,2190,0,0,0,0,0,0
$GC,3960,0.73,187.7,236.2,10.9,423,3963,0.00,1.70,0.00,0.000,4,0.000,0.047,3044,3763,2189,0,0,0,0,0,0
$GC,4018,0.73,187.7,229.4,11.9,428,4022,0.00,1.65,0.00,0.000,6,0.000,0.031,3052,2703,2190,0,0,0,0,0,0
$GC,4159,0.73,187.7,213.5,11.3,441,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2701,2189,0,0,0,0,0,0
$GC,4285,0.73,187.7,199.7,10.8,453,4289,0.00,1.75,0.00,0.000,4,0.000,0.049,3052,3759,2189,0,0,0,0,0,0
$GC,4334,0.73,187.7,193.3,12.6,457,4341,0.00,1.62,0.00,0.000,6,0.000,0.029,3059,2735,2188,0,0,0,0,0,0
$GC,4470,0.73,187.7,177.9,11.8,470,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2735,2188,0,0,0,0,0,0
$GC,4596,0.73,187.7,163.2,11.7,482,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2736,2188,0,0,0,0,0,0
$GC,4723,0.73,187.7,148.6,11.3,494,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2736,2188,0,0,0,0,0,0
$GC,4851,0.73,187.7,133.7,11.8,506,4855,0.00,1.70,0.00,0.000,4,0.000,0.049,3060,3759,2187,0,0,0,0,0,0
$GC,4901,0.73,187.7,126.9,13.3,510,4909,0.08,1.62,0.00,0.000,6,0.151,0.030,3041,2739,2187,0,0,0,0,0,0
$GC,5036,0.73,187.7,112.8,10.2,523,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2739,2187,0,0,0,0,0,0
$GC,5164,0.74,193.0,100.0,9.8,535,5174,0.00,1.73,4.97,0.679,4,0.000,0.050,3041,3762,2172,0,0,1,0,0,0
$GC,5209,0.74,193.0,95.1,11.2,542,5215,0.00,1.62,0.00,0.000,6,0.000,0.031,3047,2745,2173,0,0,0,0,0,0
$GC,5355,0.75,198.9,80.6,9.8,567,5369,0.00,0.00,7.10,0.749,6,0.000,0.000,3047,2745,2149,0,0,0,0,0,0
$GC,5505,0.75,198.9,65.2,10.0,593,5512,0.00,1.70,0.00,0.000,4,0.000,0.050,3047,3761,2149,0,0,0,0,0,0
$GC,5548,0.75,198.9,60.3,11.3,600,5555,0.00,1.62,0.00,0.000,6,0.000,0.031,3055,2743,2149,0,0,0,0,0,0
$GC,5692,0.75,198.9,45.3,10.2,625,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2743,2149,0,0,0,0,0,0
$GC,5834,0.75,198.9,30.3,10.2,650,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2743,2149,0,0,0,0,0,0
$GC,5976,0.75,198.9,15.2,11.1,675,5984,0.00,1.70,0.00,0.000,4,0.000,0.050,3054,3759,2149,0,0,0,0,0,0
$FREEZE,8.53,-0.094,-1.898,2,1,0
$FREEZE,7.84,-0.092,-1.898,2,1,0
$FREEZE,7.27,-0.091,-1.897,2,1,0
$GC,6042,0.75,198.9,7.3,12.9,686,6049,0.00,1.60,0.00,0.000,6,0.000,0.031,3062,2760,2149,0,0,0,0,0,0
$FREEZE,5.48,-0.071,-1.896,2,1,0
$FREEZE,4.84,-0.042,-1.895,2,1,0
$FREEZE,4.25,-0.032,-1.894,2,1,0
$FREEZE,3.65,-0.045,-1.894,2,1,0
$FREEZE,3.06,-0.033,-1.894,2,1,0
$FREEZE,2.53,-0.027,-1.893,2,1,0
$STATE,6080,end climb,SURFACE_DEPTH_REACHED
$STATE,6080,begin surface coast
$FREEZE,1.95,-0.027,-1.893,2,1,0
$FREEZE,1.35,-0.007,-1.892,2,1,0
$FREEZE,0.90,0.001,-1.892,2,1,0
$FREEZE,0.24,-0.011,-1.892,2,1,0
$FREEZE,0.00,-0.021,-1.109,2,1,0
$FINISH,0.0,1.016392
$STATE,6110,end surface coast,CONTROL_FINISHED_OK
$STATE,6110,begin surface
$SM_CCo,6128,24.10,0.101,0,0,1939,250.20
$SM_GC,0.56,0.00,0.00,24.10,0.000,0.000,0.101,184,2759,1939,-8.18,-0.59,250.20
$IRIDIUM_FIX,-7603.11,17518.85,200111,171748
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,301.0,58.1
$24V_AH,21.9,84.302
$10V_AH,9.7,33.713
$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,18.275,41.150,317.800,24.100,0.000,30.659,38.266,169.642,1.000,0.000,17.245,1732.145,2713.085,426.402,1389.757,287.838,0.000,1077.804,0.000,1099.529,0.000,8.905,0.000
$DEVICE_MAMPS,207.315,81.855,957.015,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.334,927.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258128
$DATA_FILE_SIZE,43721,698
$CAP_FILE_SIZE,88430,0
$CFSIZE,260165632,215343104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.189,316.5,1
$GPS,200111,212037,-7646.216,17516.512,38,1.3,39,125.8