version: 66.08
glider: 503
mission: 7
dive: 807
start: 1 21 111 12 39 55
data:
$ID,503
$MISSION,7
$DIVE,807
$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,-20545.703
$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,50
$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
$GPS1,210111,123254,-7653.407,17506.299,35,1.0,54,126.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.0
$GPS2,210111,123926,-7653.403,17506.211,13,1.3,13,126.5
$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,314.2,47796,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,94,0.00,0.00,-76.00,0.000,2,0.000,0.000,185,2774,3537,0,0,0,0,0,0
$GC,99,-0.71,-170.3,4.0,-9.9,13,120,9.15,1.62,-2.42,0.000,4,0.207,0.059,2560,3769,3659,0,0,1,0,0,0
$GC,367,-0.71,-170.3,53.1,-14.8,60,373,0.00,1.55,0.00,0.000,6,0.000,0.028,2560,2776,3662,0,0,0,0,0,0
$GC,510,-0.71,-170.3,73.3,-13.5,85,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2776,3664,0,0,0,0,0,0
$GC,652,-0.71,-170.3,92.9,-13.9,110,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2776,3663,0,0,0,0,0,0
$GC,790,-0.71,-170.3,111.4,-13.3,127,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2776,3663,0,0,0,0,0,0
$GC,916,-0.71,-170.3,128.6,-13.2,139,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2776,3663,0,0,0,0,0,0
$GC,1044,-0.71,-170.3,145.8,-13.6,151,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2776,3663,0,0,0,0,0,0
$GC,1172,-0.71,-170.3,163.2,-13.7,163,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2776,3664,0,0,0,0,0,0
$GC,1298,-0.71,-170.3,180.6,-13.4,175,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2776,3663,0,0,0,0,0,0
$GC,1426,-0.71,-170.3,197.4,-13.3,187,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2776,3664,0,0,0,0,0,0
$GC,1554,-0.71,-170.3,214.3,-13.2,199,1557,0.00,1.62,0.00,0.000,4,0.000,0.047,2552,3793,3664,0,0,0,0,0,0
$GC,1589,-0.71,-170.3,219.1,-13.7,202,1593,0.00,1.58,0.00,0.000,6,0.000,0.028,2552,2780,3663,0,0,0,0,0,0
$GC,1729,-0.71,-170.3,238.3,-13.6,215,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2781,3663,0,0,0,0,0,0
$GC,1859,-0.71,-170.3,255.8,-13.9,227,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2781,3663,0,0,0,0,0,0
$GC,2057,-0.71,-170.3,282.6,-13.1,246,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2781,3663,0,0,0,0,0,0
$GC,2249,-0.71,-170.3,307.7,-13.2,264,2253,0.00,1.60,0.00,0.000,4,0.000,0.048,2544,3754,3663,0,0,0,0,0,0
$GC,2284,-0.71,-170.3,312.6,-14.6,267,2288,0.00,1.50,0.00,0.000,6,0.000,0.029,2544,2793,3663,0,0,0,0,0,0
$GC,2488,-0.71,-170.3,340.2,-13.4,286,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2793,3663,0,0,0,0,0,0
$STATE,2528,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2528,begin apogee
$GC,2535,-0.16,0.0,346.0,13.6,290,2683,0.60,0.00,139.02,0.959,4,0.119,0.000,2743,2688,2959,0,0,0,0,0,0
$STATE,2684,end apogee,CONTROL_FINISHED_OK
$STATE,2684,begin climb
$GC,2687,0.71,170.3,352.9,0.0,303,2849,0.85,2.30,150.65,0.913,4,0.073,0.031,3030,1312,2265,0,0,0,0,0,0
$GC,2855,0.79,231.3,347.3,7.6,317,2920,0.00,2.47,59.08,0.877,6,0.000,0.041,3030,2697,2016,0,0,1,0,0,0
$GC,3119,0.79,231.3,319.7,10.3,342,3123,0.00,1.80,0.00,0.000,4,0.000,0.047,3030,3766,2013,0,0,0,0,0,0
$GC,3210,0.79,231.3,308.8,12.3,350,3214,0.00,1.67,0.00,0.000,6,0.000,0.029,3038,2720,2012,0,0,0,0,0,0
$GC,3416,0.79,231.3,287.1,10.4,369,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2718,2011,0,0,0,0,0,0
$GC,3606,0.79,231.3,266.7,10.9,387,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2718,2010,0,0,0,0,0,0
$GC,3797,0.79,231.3,246.0,10.8,405,3801,0.00,1.70,0.00,0.000,4,0.000,0.049,3038,3772,2010,0,0,0,0,0,0
$GC,3846,0.79,231.3,240.3,12.7,409,3850,0.00,1.65,0.00,0.000,6,0.000,0.029,3045,2709,2009,0,0,0,0,0,0
$GC,3987,0.79,231.3,223.9,11.1,422,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2710,2009,0,0,0,0,0,0
$GC,4114,0.79,231.3,209.7,11.3,434,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2709,2008,0,0,0,0,0,0
$GC,4242,0.79,231.3,195.0,11.4,446,4246,0.00,1.75,0.00,0.000,4,0.000,0.047,3045,3768,2008,0,0,0,0,0,0
$GC,4281,0.79,231.3,189.9,12.6,449,4287,0.00,1.65,0.00,0.000,6,0.000,0.029,3051,2728,2008,0,0,0,0,0,0
$GC,4415,0.79,231.3,173.8,11.8,462,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2727,2008,0,0,0,0,0,0
$GC,4543,0.79,231.3,158.5,12.1,474,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2727,2008,0,0,0,0,0,0
$GC,4670,0.79,231.3,143.6,11.4,486,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2727,2008,0,0,0,0,0,0
$GC,4797,0.79,231.3,129.5,10.6,498,4801,0.00,1.67,0.00,0.000,4,0.000,0.048,3051,3770,2008,0,0,0,0,0,0
$GC,4837,0.79,231.3,124.6,12.1,501,4844,0.00,1.65,0.00,0.000,6,0.000,0.031,3058,2733,2007,0,0,0,0,0,0
$GC,4972,0.79,231.3,109.3,11.2,514,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2733,2007,0,0,0,0,0,0
$GC,5101,0.79,231.3,94.6,11.0,530,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2733,2007,0,0,0,0,0,0
$GC,5243,0.79,231.3,78.4,11.4,555,5250,0.00,1.70,0.00,0.000,4,0.000,0.048,3058,3761,2007,0,0,0,0,0,0
$GC,5285,0.79,231.3,72.9,13.0,562,5292,0.00,1.62,0.00,0.000,6,0.000,0.031,3065,2738,2006,0,0,0,0,0,0
$GC,5430,0.79,231.3,55.1,12.2,587,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2737,2006,0,0,0,0,0,0
$GC,5573,0.79,231.3,37.1,12.6,612,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2738,2007,0,0,0,0,0,0
$GC,5718,0.79,231.3,19.6,11.4,637,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2737,2007,0,0,0,0,0,0
$FREEZE,8.28,-0.214,-1.898,2,1,0
$FREEZE,7.60,-0.214,-1.898,2,1,0
$FREEZE,7.10,-0.216,-1.897,2,1,0
$FREEZE,6.61,-0.216,-1.897,2,1,0
$FREEZE,6.11,-0.219,-1.897,2,1,0
$FREEZE,5.53,-0.222,-1.896,2,1,0
$FREEZE,4.72,-0.220,-1.896,2,1,0
$FREEZE,4.12,-0.221,-1.895,2,1,0
$FREEZE,3.55,-0.219,-1.895,2,1,0
$FREEZE,2.47,-0.222,-1.894,2,1,0
$STATE,5859,end climb,SURFACE_DEPTH_REACHED
$STATE,5859,begin surface coast
$FREEZE,1.62,-0.217,-1.893,2,1,0
$FREEZE,1.03,-0.214,-1.893,2,1,0
$FREEZE,0.45,-0.229,-1.892,2,1,0
$FREEZE,-0.03,-0.226,-1.892,2,1,0
$FINISH,-0.0,1.027692
$STATE,5881,end surface coast,CONTROL_FINISHED_OK
$STATE,5881,begin surface
$SM_CCo,5900,7.05,0.104,0,0,1940,250.20
$SM_GC,2.06,0.00,0.00,7.05,0.000,0.000,0.104,186,2795,1940,-8.17,0.42,250.20
$IRIDIUM_FIX,-7603.11,17447.48,210111,101049
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.7
$ALTIM_BOTTOM_PING,300.6,59.0
$24V_AH,21.7,85.265
$10V_AH,9.8,34.216
$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,18.200,31.300,348.750,7.050,0.000,28.699,38.308,169.427,1.000,0.000,16.324,1648.204,2637.152,411.284,1334.795,275.030,0.000,1038.198,0.000,1051.953,0.000,8.910,0.000
$DEVICE_MAMPS,207.315,117.045,959.310,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.079,876.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258152
$DATA_FILE_SIZE,43840,666
$CAP_FILE_SIZE,82653,0
$CFSIZE,260165632,214892544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.031,234.2,1
$GPS,210111,141926,-7653.333,17509.832,20,1.9,20,126.4