version: 66.08
glider: 503
mission: 7
dive: 801
start: 1 21 111 1 13 37
data:
$ID,503
$MISSION,7
$DIVE,801
$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,-20538.158
$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,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
$GPS1,210111,010500,-7647.396,17513.869,44,1.1,50,126.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.2
$GPS2,210111,011308,-7647.436,17513.639,11,1.4,11,126.0
$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,48.4,15130,-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,-74.50,0.000,2,0.000,0.000,186,2763,3481,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.5,-7.5,13,118,9.20,2.25,-3.67,0.000,4,0.208,0.043,2566,1365,3657,0,0,0,0,0,0
$GC,248,-0.71,-170.3,31.9,-12.6,39,256,0.00,2.30,0.00,0.000,6,0.000,0.042,2562,2777,3660,0,0,0,0,0,0
$GC,393,-0.71,-170.3,51.6,-13.4,64,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3660,0,0,0,0,0,0
$GC,535,-0.71,-170.3,71.1,-13.4,89,542,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3765,3660,0,0,0,0,0,0
$GC,583,-0.71,-170.3,77.7,-13.2,97,590,0.00,1.55,0.00,0.000,6,0.000,0.029,2562,2781,3661,0,0,0,0,0,0
$GC,725,-0.71,-170.3,96.8,-13.7,122,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3661,0,0,0,0,0,0
$GC,861,-0.71,-170.3,114.7,-13.2,137,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3661,0,0,0,0,0,0
$GC,990,-0.71,-170.3,131.4,-13.1,149,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3661,0,0,0,0,0,0
$GC,1116,-0.71,-170.3,148.0,-13.0,161,1120,0.00,1.62,0.00,0.000,4,0.000,0.048,2556,3762,3661,0,0,0,0,0,0
$GC,1155,-0.71,-170.3,153.8,-14.1,164,1162,0.00,1.52,0.00,0.000,6,0.000,0.029,2556,2791,3661,0,0,0,0,0,0
$GC,1291,-0.71,-170.3,171.6,-13.2,177,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2791,3662,0,0,0,0,0,0
$GC,1417,-0.71,-170.3,188.4,-12.9,189,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2792,3661,0,0,0,0,0,0
$GC,1545,-0.71,-170.3,204.4,-12.4,201,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2791,3662,0,0,0,0,0,0
$GC,1673,-0.71,-170.3,220.5,-12.5,213,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2791,3661,0,0,0,0,0,0
$GC,1800,-0.71,-170.3,236.6,-12.6,225,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2791,3661,0,0,0,0,0,0
$GC,1927,-0.71,-170.3,252.9,-12.8,237,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2791,3661,0,0,0,0,0,0
$GC,2120,-0.71,-170.3,276.9,-12.3,255,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2791,3661,0,0,0,0,0,0
$GC,2314,-0.71,-170.3,300.4,-12.5,273,2317,0.00,1.60,0.00,0.000,4,0.000,0.049,2548,3752,3661,0,0,0,0,0,0
$GC,2363,-0.71,-170.3,307.9,-13.7,277,2370,0.00,1.50,0.00,0.000,6,0.000,0.028,2548,2796,3661,0,0,0,0,0,0
$GC,2564,-0.71,-170.3,333.4,-13.6,296,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2796,3661,0,0,0,0,0,0
$STATE,2666,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2666,begin apogee
$GC,2673,-0.16,0.0,347.1,12.8,306,2821,0.60,0.00,138.55,0.959,4,0.118,0.000,2747,2692,2960,0,0,0,0,0,0
$STATE,2821,end apogee,CONTROL_FINISHED_OK
$STATE,2822,begin climb
$GC,2824,0.71,170.3,353.8,0.0,319,2985,0.82,2.35,150.82,0.911,4,0.072,0.032,3025,1305,2265,0,0,0,0,0,0
$GC,2999,0.79,235.2,347.3,7.4,334,3069,0.00,2.50,62.75,0.880,6,0.000,0.040,3026,2700,2000,0,0,0,0,0,0
$GC,3269,0.79,235.2,319.4,10.2,359,3273,0.00,1.83,0.00,0.000,4,0.000,0.050,3025,3762,1998,0,0,0,0,0,0
$GC,3326,0.79,235.2,312.8,11.8,364,3330,0.00,1.73,0.00,0.000,6,0.000,0.030,3033,2716,1997,0,0,1,0,0,0
$GC,3530,0.79,235.2,290.5,11.0,383,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2716,1996,0,0,0,0,0,0
$GC,3721,0.79,235.2,270.0,10.6,401,3725,0.00,1.73,0.00,0.000,4,0.000,0.050,3033,3771,1994,0,0,0,0,0,0
$GC,3768,0.79,235.2,264.5,12.1,405,3772,0.00,1.73,0.00,0.000,6,0.000,0.031,3041,2704,1994,0,0,0,0,0,0
$GC,3972,0.79,235.2,242.7,10.4,424,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2703,1994,0,0,0,0,0,0
$GC,4101,0.79,235.2,229.1,10.9,436,4104,0.00,1.73,0.00,0.000,4,0.000,0.049,3040,3765,1994,0,0,0,0,0,0
$GC,4147,0.79,235.2,223.4,13.0,440,4151,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2708,1993,0,0,0,0,0,0
$GC,4288,0.79,235.2,207.5,11.4,453,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2708,1993,0,0,0,0,0,0
$GC,4416,0.79,235.2,193.0,11.3,465,4419,0.00,1.75,0.00,0.000,4,0.000,0.049,3048,3761,1993,0,0,0,0,0,0
$GC,4443,0.79,235.2,189.2,12.5,467,4450,0.00,1.65,0.00,0.000,6,0.000,0.031,3055,2725,1992,0,0,0,0,0,0
$GC,4578,0.79,235.2,173.6,11.8,480,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2725,1992,0,0,0,0,0,0
$GC,4706,0.79,235.2,159.3,11.0,492,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2725,1992,0,0,0,0,0,0
$GC,4832,0.79,235.2,145.0,11.2,504,4836,0.00,1.67,0.00,0.000,4,0.000,0.049,3055,3763,1992,0,0,0,0,0,0
$GC,4878,0.79,235.2,139.3,12.5,508,4882,0.00,1.65,0.00,0.000,6,0.000,0.031,3062,2703,1992,0,0,0,0,0,0
$GC,5020,0.79,235.2,122.9,11.5,521,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2702,1992,0,0,0,0,0,0
$GC,5146,0.79,235.2,108.3,11.7,533,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2702,1992,0,0,0,0,0,0
$GC,5275,0.79,235.2,93.2,12.2,550,5282,0.00,1.75,0.00,0.000,4,0.000,0.049,3062,3753,1992,0,0,0,0,0,0
$GC,5324,0.79,235.2,87.0,12.7,558,5330,0.00,1.62,0.00,0.000,6,0.000,0.029,3069,2730,1991,0,0,0,0,0,0
$GC,5465,0.79,235.2,69.4,12.3,583,5472,0.00,1.73,0.00,0.000,4,0.000,0.049,3069,3768,1991,0,0,0,0,0,0
$GC,5495,0.79,235.2,65.4,13.4,588,5503,0.00,1.65,0.00,0.000,6,0.000,0.031,3077,2737,1991,0,0,0,0,0,0
$GC,5639,0.79,235.2,46.9,12.7,613,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2736,1991,0,0,0,0,0,0
$GC,5780,0.79,235.2,28.7,12.9,638,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2737,1991,0,0,0,0,0,0
$GC,5922,0.79,235.2,10.7,12.7,663,5928,0.00,1.70,0.00,0.000,4,0.000,0.049,3077,3762,1990,0,0,0,0,0,0
$FREEZE,8.62,0.043,-1.898,2,1,0
$FREEZE,7.90,0.056,-1.898,2,1,0
$FREEZE,7.29,0.066,-1.897,2,1,0
$FREEZE,6.56,0.075,-1.897,2,1,0
$FREEZE,5.67,0.091,-1.896,2,1,0
$FREEZE,4.90,0.105,-1.895,2,1,0
$FREEZE,4.13,0.109,-1.895,2,1,0
$GC,5969,0.79,235.2,4.1,15.5,671,5976,0.00,1.60,0.00,0.000,6,0.000,0.030,3084,2754,1990,0,0,0,0,0,0
$FREEZE,1.77,0.157,-1.893,2,1,0
$STATE,5982,end climb,SURFACE_DEPTH_REACHED
$STATE,5982,begin surface coast
$FREEZE,0.95,0.173,-1.892,2,1,0
$FREEZE,0.26,0.180,-1.891,2,1,0
$FREEZE,-0.07,0.172,-0.926,2,1,0
$FREEZE,-0.06,0.120,-0.960,2,1,0
$FINISH,-0.1,1.014190
$STATE,6005,end surface coast,CONTROL_FINISHED_OK
$STATE,6005,begin surface
$SM_CCo,6024,5.07,0.104,0,0,1940,250.20
$SM_GC,2.17,0.00,0.00,5.07,0.000,0.000,0.104,191,2753,1940,-8.16,-0.76,250.20
$IRIDIUM_FIX,-7603.11,17507.93,200111,232345
$TT8_MAMPS,0.027713
$HUMID,53.15
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.9
$ALTIM_BOTTOM_PING,300.4,60.6
$24V_AH,21.7,84.612
$10V_AH,9.7,33.879
$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,18.300,46.075,352.125,5.075,0.000,60.253,42.983,172.475,1.000,0.000,14.592,1677.711,2738.882,430.466,1397.741,279.183,0.000,1077.416,0.000,1071.794,0.000,8.911,0.000
$DEVICE_MAMPS,208.080,80.325,959.310,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.197,890.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,43642,677
$CAP_FILE_SIZE,87688,0
$CFSIZE,260165632,215191552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.135,246.3,1
$GPS,210111,025530,-7648.568,17512.584,42,1.7,42,126.1