version: 66.08
glider: 503
mission: 7
dive: 816
start: 1 22 111 5 2 13
data:
$ID,503
$MISSION,7
$DIVE,816
$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,-20557.025
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,220111,045506,-7653.719,17526.781,30,1.0,40,126.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.7
$GPS2,220111,050144,-7653.750,17526.654,12,1.5,12,126.1
$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,302.9,39202,-16.1,-10.000
$D_GRID,376
$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,-170.3,0.0,0.0,0,94,0.00,0.00,-75.28,0.000,2,0.000,0.000,176,2742,3505,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.8,-9.4,13,119,9.27,1.70,-3.03,0.000,4,0.208,0.057,2557,3774,3657,0,0,0,0,0,0
$GC,266,-0.71,-170.3,39.1,-14.2,42,272,0.00,1.58,0.00,0.000,6,0.000,0.028,2558,2776,3659,0,0,0,0,0,0
$GC,407,-0.71,-170.3,60.0,-15.2,67,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2775,3660,0,0,0,0,0,0
$GC,552,-0.71,-170.3,81.4,-14.9,92,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2775,3660,0,0,0,0,0,0
$GC,695,-0.71,-170.3,101.6,-13.9,116,698,0.00,1.62,0.00,0.000,4,0.000,0.047,2550,3782,3660,0,0,0,0,0,0
$GC,722,-0.71,-170.3,106.1,-15.2,118,729,0.00,1.58,0.00,0.000,6,0.000,0.028,2550,2791,3660,0,0,0,0,0,0
$GC,857,-0.71,-170.3,125.9,-14.9,131,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2791,3660,0,0,0,0,0,0
$GC,985,-0.71,-170.3,144.4,-14.5,143,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2792,3660,0,0,0,0,0,0
$GC,1111,-0.71,-170.3,162.4,-14.3,155,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2791,3660,0,0,0,0,0,0
$GC,1238,-0.71,-170.3,180.6,-14.0,167,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2791,3660,0,0,0,0,0,0
$GC,1366,-0.71,-170.3,198.4,-14.0,179,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2791,3660,0,0,0,0,0,0
$GC,1494,-0.71,-170.3,216.4,-14.4,191,1498,0.00,1.60,0.00,0.000,4,0.000,0.048,2542,3754,3660,0,0,0,0,0,0
$GC,1540,-0.71,-170.3,223.5,-15.6,195,1544,0.00,1.52,0.00,0.000,6,0.000,0.029,2542,2785,3660,0,0,0,0,0,0
$GC,1681,-0.71,-170.3,245.0,-15.6,208,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3660,0,0,0,0,0,0
$GC,1808,-0.71,-170.3,264.1,-15.1,220,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3660,0,0,0,0,0,0
$GC,1999,-0.71,-170.3,292.4,-14.7,238,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3660,0,0,0,0,0,0
$GC,2189,-0.71,-170.3,320.1,-14.6,256,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3660,0,0,0,0,0,0
$STATE,2315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2315,begin apogee
$GC,2322,-0.16,0.0,338.6,15.1,268,2469,0.60,0.00,138.50,0.955,4,0.119,0.000,2742,2692,2959,0,0,0,0,0,0
$STATE,2469,end apogee,CONTROL_FINISHED_OK
$STATE,2469,begin climb
$GC,2472,0.71,170.3,346.3,0.0,281,2633,0.85,2.33,150.43,0.905,4,0.076,0.032,3026,1312,2265,0,0,0,0,0,0
$GC,2848,0.77,216.2,322.9,8.2,314,2897,0.00,2.35,41.97,0.883,6,0.000,0.041,3027,2698,2077,0,0,0,0,0,0
$GC,3096,0.78,222.8,298.7,9.7,337,3109,0.00,2.33,7.35,0.774,4,0.000,0.033,3037,1312,2051,0,0,1,0,0,0
$GC,3269,0.79,232.9,282.2,9.6,352,3284,0.00,2.28,10.48,0.828,6,0.000,0.041,3037,2705,2010,0,0,0,0,0,0
$GC,3483,0.79,232.9,260.1,10.6,371,3486,0.00,1.70,0.00,0.000,4,0.000,0.049,3037,3763,2010,0,0,0,0,0,0
$GC,3521,0.79,232.9,254.9,12.0,374,3528,0.00,1.67,0.00,0.000,6,0.000,0.030,3044,2723,2010,0,0,0,0,0,0
$GC,3721,0.79,232.9,233.2,10.9,393,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2723,2009,0,0,0,0,0,0
$GC,3847,0.79,232.9,219.3,11.1,405,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2723,2009,0,0,0,0,0,0
$GC,3975,0.79,232.9,205.6,10.6,417,3978,0.00,1.67,0.00,0.000,4,0.000,0.048,3044,3763,2009,0,0,0,0,0,0
$GC,4011,0.79,232.9,201.4,12.0,420,4015,0.00,1.65,0.00,0.000,6,0.000,0.031,3052,2704,2009,0,0,0,0,0,0
$GC,4152,0.79,232.9,185.4,11.0,433,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2704,2008,0,0,0,0,0,0
$GC,4279,0.79,232.9,171.4,10.6,445,4283,0.00,1.75,0.00,0.000,4,0.000,0.048,3052,3762,2008,0,0,0,0,0,0
$GC,4315,0.79,232.9,167.3,11.8,448,4319,0.00,1.67,0.00,0.000,6,0.000,0.030,3059,2711,2008,0,0,0,0,0,0
$GC,4455,0.79,232.9,151.0,11.4,461,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2711,2008,0,0,0,0,0,0
$GC,4583,0.79,232.9,136.6,11.1,473,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2710,2007,0,0,0,0,0,0
$GC,4710,0.79,232.9,122.2,11.3,485,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2710,2007,0,0,0,0,0,0
$GC,4838,0.79,232.9,107.9,10.8,497,4842,0.00,1.70,0.00,0.000,4,0.000,0.047,3059,3766,2007,0,0,0,0,0,0
$GC,4884,0.79,232.9,102.1,13.0,501,4889,0.00,1.67,0.00,0.000,6,0.000,0.029,3066,2711,2006,0,0,0,0,0,0
$GC,5029,0.79,232.9,85.7,11.5,524,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2711,2007,0,0,0,0,0,0
$GC,5170,0.79,232.9,69.3,11.1,549,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2711,2007,0,0,0,0,0,0
$GC,5311,0.79,232.9,52.6,11.8,574,5318,0.00,1.73,0.00,0.000,4,0.000,0.047,3066,3757,2007,0,0,0,0,0,0
$GC,5353,0.79,232.9,46.9,13.8,581,5360,0.00,1.62,0.00,0.000,6,0.000,0.031,3073,2733,2006,0,0,0,0,0,0
$GC,5499,0.79,232.9,29.1,11.7,606,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2732,2006,0,0,0,0,0,0
$GC,5640,0.79,232.9,11.5,12.2,631,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2732,2006,0,0,0,0,0,0
$FREEZE,8.96,-0.042,-1.899,2,1,0
$FREEZE,8.27,-0.027,-1.898,2,1,0
$FREEZE,7.75,-0.028,-1.898,2,1,0
$FREEZE,6.99,-0.029,-1.897,2,1,0
$FREEZE,6.58,-0.020,-1.897,2,1,0
$FREEZE,6.04,-0.016,-1.896,2,1,0
$FREEZE,5.25,-0.016,-1.896,2,1,0
$FREEZE,4.56,-0.017,-1.895,2,1,0
$FREEZE,3.94,-0.018,-1.895,2,1,0
$FREEZE,3.38,-0.018,-1.895,2,1,0
$FREEZE,2.54,-0.021,-1.894,2,1,0
$STATE,5712,end climb,SURFACE_DEPTH_REACHED
$STATE,5712,begin surface coast
$FREEZE,1.82,-0.017,-1.893,2,1,0
$FREEZE,0.97,-0.021,-1.893,2,1,0
$FREEZE,0.32,-0.018,-1.892,2,1,0
$FREEZE,-0.06,-0.018,-1.892,2,1,0
$FINISH,-0.1,1.027676
$STATE,5737,end surface coast,CONTROL_FINISHED_OK
$STATE,5738,begin surface
$SM_CCo,5757,6.95,0.103,0,0,1940,250.20
$SM_GC,1.92,0.00,0.00,6.95,0.000,0.000,0.103,180,2795,1940,-8.19,0.42,250.20
$IRIDIUM_FIX,-7603.11,17525.19,220111,030323
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.0
$ALTIM_BOTTOM_PING,300.1,52.2
$24V_AH,21.9,86.210
$10V_AH,9.7,34.696
$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,18.225,35.875,348.725,6.950,0.000,31.216,40.276,172.358,1.000,0.000,15.085,1621.750,2495.821,408.457,1352.294,289.967,0.000,1038.890,0.000,1066.212,0.000,8.886,0.000
$DEVICE_MAMPS,208.080,110.925,954.720,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.231,860.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,40449,648
$CAP_FILE_SIZE,83396,0
$CFSIZE,260165632,214466560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.155,203.9,1
$GPS,220111,063936,-7653.943,17529.215,19,0.8,36,126.0