version: 66.08
glider: 503
mission: 7
dive: 806
start: 1 21 111 10 51 5
data:
$ID,503
$MISSION,7
$DIVE,806
$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,-20544.445
$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,45
$R_STBD_OVSHOOT,27
$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
$GPS1,210111,103350,-7653.400,17503.883,16,1.7,17,126.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.8
$GPS2,210111,105038,-7653.380,17503.504,12,1.3,12,126.6
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_SE
$TGT_LATLONG,-7655.000,17700.000
$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,309.7,48931,-16.1,-10.000
$D_GRID,377
$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,18,-0.71,-170.3,0.0,0.0,0,99,0.00,0.00,-77.72,0.000,2,0.000,0.000,182,2743,3593,0,0,0,0,0,0
$GC,102,-0.71,-170.3,4.2,-10.5,13,123,9.10,1.70,-1.27,0.000,4,0.204,0.057,2555,3773,3660,0,0,1,0,0,0
$GC,339,-0.71,-170.3,50.2,-14.6,54,346,0.00,1.58,0.00,0.000,6,0.000,0.027,2555,2770,3662,0,0,0,0,0,0
$GC,482,-0.71,-170.3,70.0,-13.6,79,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2769,3663,0,0,0,0,0,0
$GC,627,-0.71,-170.3,89.9,-13.7,104,634,0.00,1.65,0.00,0.000,4,0.000,0.047,2547,3762,3663,0,0,0,0,0,0
$GC,658,-0.71,-170.3,94.5,-15.4,109,665,0.00,1.52,0.00,0.000,6,0.000,0.028,2547,2797,3663,0,0,0,0,0,0
$GC,797,-0.71,-170.3,113.9,-14.2,125,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,923,-0.71,-170.3,131.7,-14.1,137,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,1051,-0.71,-170.3,149.7,-14.0,149,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,1179,-0.71,-170.3,168.1,-14.7,161,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,1305,-0.71,-170.3,186.3,-14.4,173,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3664,0,0,0,0,0,0
$GC,1432,-0.71,-170.3,204.4,-14.0,185,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3664,0,0,0,0,0,0
$GC,1561,-0.71,-170.3,222.4,-13.8,197,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,1687,-0.71,-170.3,240.2,-13.9,209,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,1815,-0.71,-170.3,257.8,-13.7,221,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,2008,-0.71,-170.3,283.9,-13.5,239,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,2207,-0.71,-170.3,310.9,-13.4,258,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,2400,-0.71,-170.3,336.4,-13.7,276,2403,0.00,1.60,0.00,0.000,4,0.000,0.048,2539,3763,3663,0,0,0,0,0,0
$GC,2436,-0.71,-170.3,341.7,-14.7,279,2440,0.08,1.52,0.00,0.000,6,0.129,0.029,2567,2794,3662,0,0,0,0,0,0
$STATE,2477,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2478,begin apogee
$GC,2485,-0.16,0.0,347.4,12.3,283,2632,0.52,0.00,139.02,0.959,4,0.115,0.000,2745,2693,2959,0,0,0,0,0,0
$STATE,2633,end apogee,CONTROL_FINISHED_OK
$STATE,2633,begin climb
$GC,2636,0.71,170.3,353.8,0.0,296,2796,0.85,2.35,150.27,0.910,4,0.073,0.033,3032,1305,2265,0,0,0,0,0,0
$GC,3039,0.75,197.7,326.0,8.9,331,3069,0.00,2.35,25.30,0.880,6,0.000,0.040,3032,2704,2153,0,0,0,0,0,0
$GC,3263,0.75,197.7,303.6,10.2,352,3267,0.00,2.28,0.00,0.000,4,0.000,0.034,3043,1306,2151,0,0,0,0,0,0
$GC,3432,0.75,200.7,286.2,9.9,366,3442,0.00,2.30,3.97,0.623,6,0.000,0.041,3043,2711,2140,0,0,0,0,0,0
$GC,3644,0.75,200.7,263.5,10.9,386,3647,0.00,1.67,0.00,0.000,4,0.000,0.049,3042,3759,2140,0,0,0,0,0,0
$GC,3701,0.75,200.7,256.0,12.3,391,3705,0.00,1.65,0.00,0.000,6,0.000,0.031,3051,2697,2139,0,0,0,0,0,0
$GC,3905,0.75,200.7,232.4,11.4,410,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2696,2139,0,0,0,0,0,0
$GC,4032,0.75,200.7,217.8,11.2,422,4036,0.00,1.73,0.00,0.000,4,0.000,0.049,3051,3762,2139,0,0,0,0,0,0
$GC,4089,0.75,200.7,210.5,13.0,427,4093,0.00,1.62,0.00,0.000,6,0.000,0.029,3059,2699,2139,0,0,1,0,0,0
$GC,4230,0.75,200.7,194.3,11.4,440,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2699,2138,0,0,0,0,0,0
$GC,4356,0.75,200.7,179.9,11.5,452,4360,0.00,1.70,0.00,0.000,4,0.000,0.049,3058,3759,2138,0,0,0,0,0,0
$GC,4406,0.75,200.7,173.6,12.4,456,4413,0.05,1.65,0.00,0.000,6,0.150,0.031,3047,2727,2138,0,0,0,0,0,0
$GC,4541,0.75,200.7,159.2,10.3,469,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2727,2138,0,0,0,0,0,0
$GC,4668,0.75,200.7,145.9,10.6,481,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2727,2138,0,0,0,0,0,0
$GC,4795,0.75,200.7,132.2,10.5,493,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2727,2137,0,0,0,0,0,0
$GC,4924,0.75,200.7,118.9,10.2,505,4928,0.00,1.70,0.00,0.000,4,0.000,0.048,3047,3752,2137,0,0,0,0,0,0
$GC,4981,0.75,200.7,112.0,12.5,510,4984,0.00,1.62,0.00,0.000,6,0.000,0.030,3055,2728,2137,0,0,0,0,0,0
$GC,5117,0.75,200.7,97.4,10.2,524,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2727,2137,0,0,0,0,0,0
$GC,5260,0.75,200.7,82.3,10.3,549,5268,0.00,1.70,0.00,0.000,4,0.000,0.049,3055,3758,2137,0,0,0,0,0,0
$GC,5304,0.75,200.7,77.1,12.8,556,5311,0.00,1.62,0.00,0.000,6,0.000,0.031,3062,2734,2136,0,0,0,0,0,0
$GC,5449,0.75,200.7,61.3,11.6,581,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2734,2136,0,0,0,0,0,0
$GC,5591,0.75,200.7,44.5,11.7,606,5598,0.00,1.70,0.00,0.000,4,0.000,0.048,3062,3762,2136,0,0,0,0,0,0
$GC,5633,0.75,200.7,39.3,12.9,613,5640,0.00,1.62,0.00,0.000,6,0.000,0.031,3070,2737,2136,0,0,0,0,0,0
$GC,5777,0.75,200.7,22.4,12.0,638,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2737,2136,0,0,0,0,0,0
$FREEZE,8.60,-0.166,-1.898,2,1,0
$FREEZE,8.13,-0.185,-1.898,2,1,0
$FREEZE,7.69,-0.196,-1.898,2,1,0
$FREEZE,7.23,-0.194,-1.898,2,1,0
$FREEZE,6.77,-0.193,-1.897,2,1,0
$FREEZE,5.38,-0.179,-1.896,2,1,0
$FREEZE,4.35,-0.179,-1.895,2,1,0
$FREEZE,3.48,-0.177,-1.895,2,1,0
$GC,5920,0.79,229.9,6.8,8.8,663,5951,0.00,1.70,22.83,0.762,4,0.000,0.050,3069,3758,2022,0,0,1,0,0,0
$FREEZE,1.34,-0.158,-1.893,2,1,0
$STATE,5958,end climb,SURFACE_DEPTH_REACHED
$STATE,5958,begin surface coast
$FREEZE,0.49,-0.154,-1.892,2,1,0
$FREEZE,-0.11,-0.170,-1.892,2,1,0
$FREEZE,-0.11,-0.346,-1.901,2,1,0
$FREEZE,-0.00,-0.395,-0.175,2,1,0
$FINISH,-0.0,1.002406
$STATE,5983,end surface coast,FINISH_DEPTH_REACHED
$STATE,5983,begin surface
$SM_CCo,6002,9.18,0.103,0,0,1940,250.20
$SM_GC,2.19,0.00,0.00,9.18,0.000,0.000,0.103,188,2774,1940,-8.16,-0.17,250.20
$IRIDIUM_FIX,-7612.11,17505.51,210111,101040
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,20.2
$ALTIM_BOTTOM_PING,300.9,61.2
$24V_AH,21.9,85.161
$10V_AH,9.7,34.164
$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,18.350,42.225,341.400,9.175,0.000,86.598,128.925,453.129,1.250,0.000,15.386,1672.695,2751.219,423.521,1830.031,348.015,0.000,1072.561,0.000,1102.826,0.000,8.918,0.000
$DEVICE_MAMPS,204.255,80.325,958.545,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.996,885.258,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,43689,672
$CAP_FILE_SIZE,94258,0
$CFSIZE,260165632,214929408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.076,218.8,1
$GPS,210111,123254,-7653.407,17506.299,35,1.0,54,126.5