version: 66.08
glider: 503
mission: 7
dive: 822
start: 1 22 111 15 46 5
data:
$ID,503
$MISSION,7
$DIVE,822
$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,-20566.545
$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,24
$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
$GPS1,220111,153937,-7654.392,17547.668,17,1.3,28,125.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-75.0
$GPS2,220111,154538,-7654.392,17547.635,11,1.5,11,125.6
$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,323.4,30359,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-170.3,0.0,0.0,0,96,0.00,0.00,-74.88,0.000,2,0.000,0.000,178,2761,3472,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.6,-8.8,13,120,9.35,0.00,-3.83,0.000,6,0.210,0.000,2566,2760,3659,0,0,0,0,0,0
$GC,256,-0.71,-170.3,35.1,-14.3,40,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2760,3662,0,0,0,0,0,0
$GC,397,-0.71,-170.3,54.8,-14.5,65,403,0.00,2.17,0.00,0.000,4,0.000,0.030,2566,1374,3662,0,0,0,0,0,0
$GC,434,-0.71,-170.3,60.1,-13.5,71,442,0.00,2.30,0.00,0.000,6,0.000,0.041,2563,2785,3662,0,0,0,0,0,0
$GC,579,-0.71,-170.3,79.9,-13.7,96,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3662,0,0,0,0,0,0
$GC,722,-0.71,-170.3,99.5,-14.0,121,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3663,0,0,0,0,0,0
$GC,856,-0.71,-170.3,117.9,-13.7,134,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3663,0,0,0,0,0,0
$GC,984,-0.71,-170.3,134.9,-13.2,146,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3662,0,0,0,0,0,0
$GC,1112,-0.71,-170.3,152.0,-13.6,158,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3663,0,0,0,0,0,0
$GC,1239,-0.71,-170.3,169.3,-13.7,170,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3662,0,0,0,0,0,0
$GC,1366,-0.71,-170.3,186.3,-13.5,182,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3662,0,0,0,0,0,0
$GC,1495,-0.71,-170.3,203.7,-13.6,194,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3663,0,0,0,0,0,0
$GC,1623,-0.71,-170.3,221.2,-13.6,206,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3663,0,0,0,0,0,0
$GC,1748,-0.71,-170.3,238.5,-13.4,218,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3662,0,0,0,0,0,0
$GC,1876,-0.71,-170.3,255.6,-13.2,230,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3662,0,0,0,0,0,0
$GC,2067,-0.71,-170.3,280.9,-13.3,248,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3662,0,0,0,0,0,0
$GC,2258,-0.71,-170.3,305.5,-12.8,266,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3663,0,0,0,0,0,0
$GC,2450,-0.71,-170.3,329.8,-12.7,284,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3662,0,0,0,0,0,0
$STATE,2457,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2457,begin apogee
$GC,2464,-0.16,0.0,331.2,13.1,285,2610,0.52,0.00,139.10,0.949,4,0.116,0.000,2740,2692,2958,0,0,0,0,0,0
$STATE,2611,end apogee,CONTROL_FINISHED_OK
$STATE,2611,begin climb
$GC,2614,0.71,170.3,338.4,0.0,298,2774,0.85,2.35,150.45,0.900,4,0.074,0.032,3025,1307,2265,0,0,0,0,0,0
$GC,2799,0.76,210.5,332.0,8.4,314,2845,0.00,2.47,39.42,0.862,6,0.000,0.040,3025,2697,2100,0,0,0,0,0,0
$GC,3038,0.78,225.0,309.6,9.4,336,3061,0.00,1.88,14.02,0.835,4,0.000,0.047,3026,3762,2042,0,0,0,0,0,0
$GC,3146,0.78,225.0,297.4,11.3,345,3153,0.00,1.65,0.00,0.000,6,0.000,0.029,3032,2719,2042,0,0,1,0,0,0
$GC,3345,0.78,225.0,276.8,10.3,364,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2719,2041,0,0,0,0,0,0
$GC,3535,0.78,225.0,257.4,10.1,382,3539,0.00,1.70,0.00,0.000,4,0.000,0.049,3032,3766,2040,0,0,0,0,0,0
$GC,3582,0.78,225.0,252.1,11.7,386,3585,0.00,1.67,0.00,0.000,6,0.000,0.030,3039,2722,2040,0,0,0,0,0,0
$GC,3786,0.78,225.0,230.9,10.3,405,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2722,2040,0,0,0,0,0,0
$GC,3914,0.79,232.9,218.0,9.7,417,3924,0.00,0.00,7.85,0.801,6,0.000,0.000,3038,2722,2010,0,0,0,0,0,0
$GC,4050,0.79,232.9,204.1,10.3,430,4054,0.00,1.70,0.00,0.000,4,0.000,0.048,3039,3771,2010,0,0,0,0,0,0
$GC,4089,0.79,232.9,199.5,11.1,433,4096,0.00,1.67,0.00,0.000,6,0.000,0.031,3045,2724,2010,0,0,0,0,0,0
$GC,4225,0.79,232.9,185.6,10.5,446,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2724,2010,0,0,0,0,0,0
$GC,4351,0.79,232.9,172.2,10.7,458,4355,0.00,1.73,0.00,0.000,4,0.000,0.048,3045,3763,2010,0,0,0,0,0,0
$GC,4386,0.79,232.9,168.0,12.7,461,4390,0.00,1.65,0.00,0.000,6,0.000,0.031,3051,2730,2010,0,0,0,0,0,0
$GC,4527,0.79,232.9,152.0,11.2,474,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2730,2010,0,0,0,0,0,0
$GC,4653,0.79,232.9,138.0,11.0,486,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2730,2010,0,0,0,0,0,0
$GC,4780,0.79,232.9,124.6,10.5,498,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2730,2010,0,0,0,0,0,0
$GC,4909,0.79,232.9,111.1,10.8,510,4912,0.00,1.67,0.00,0.000,4,0.000,0.048,3051,3773,2010,0,0,0,0,0,0
$GC,4966,0.79,232.9,104.2,12.1,515,4970,0.00,1.65,0.00,0.000,6,0.000,0.030,3059,2709,2009,0,0,0,0,0,0
$GC,5106,0.79,232.9,88.8,11.2,536,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2709,2009,0,0,0,0,0,0
$GC,5248,0.79,232.9,73.6,10.7,561,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2709,2009,0,0,0,0,0,0
$GC,5389,0.79,232.9,58.4,10.7,586,5396,0.00,1.75,0.00,0.000,4,0.000,0.048,3059,3791,2009,0,0,0,0,0,0
$GC,5437,0.79,232.9,53.0,11.5,594,5444,0.00,1.67,0.00,0.000,6,0.000,0.029,3066,2734,2009,0,0,0,0,0,0
$GC,5578,0.79,232.9,37.1,11.4,619,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2734,2009,0,0,0,0,0,0
$GC,5721,0.79,232.9,20.5,11.6,644,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2733,2009,0,0,0,0,0,0
$FREEZE,8.75,-0.292,-1.899,2,1,0
$FREEZE,8.10,-0.292,-1.899,2,1,0
$FREEZE,7.61,-0.292,-1.898,2,1,0
$FREEZE,7.11,-0.290,-1.898,2,1,0
$FREEZE,6.32,-0.290,-1.897,2,1,0
$FREEZE,5.60,-0.290,-1.897,2,1,0
$FREEZE,4.85,-0.291,-1.896,2,1,0
$FREEZE,4.19,-0.292,-1.896,2,1,0
$FREEZE,3.49,-0.290,-1.895,2,1,0
$GC,5864,0.79,232.9,3.5,12.3,669,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2734,2008,0,0,0,0,0,0
$FREEZE,1.77,-0.292,-1.894,2,1,0
$STATE,5875,end climb,SURFACE_DEPTH_REACHED
$STATE,5875,begin surface coast
$FREEZE,1.10,-0.294,-1.893,2,1,0
$FREEZE,0.38,-0.294,-1.893,2,1,0
$FREEZE,-0.11,-0.304,-1.893,2,1,0
$FREEZE,-0.13,-0.341,-1.871,2,1,0
$FREEZE,-0.08,-0.485,-1.901,2,1,0
$FINISH,-0.1,1.027831
$STATE,5905,end surface coast,CONTROL_FINISHED_OK
$STATE,5905,begin surface
$SM_CCo,5925,7.25,0.102,0,0,1940,250.20
$SM_GC,2.28,0.00,0.00,7.25,0.000,0.000,0.102,186,2794,1940,-8.17,0.40,250.20
$IRIDIUM_FIX,-7612.11,17542.65,220111,131349
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$ALTIM_BOTTOM_PING,300.0,45.9
$24V_AH,21.8,86.830
$10V_AH,9.8,35.019
$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,18.375,29.875,350.850,7.250,0.000,23.785,37.008,158.473,1.000,0.000,13.887,1669.984,2603.808,421.662,1323.665,279.524,0.000,1055.242,0.000,1062.422,0.000,8.868,0.000
$DEVICE_MAMPS,209.610,116.280,949.365,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.907,905.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258168
$DATA_FILE_SIZE,43755,676
$CAP_FILE_SIZE,83978,0
$CFSIZE,260165632,214171648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.033,355.7,1
$GPS,220111,172625,-7654.282,17551.689,44,1.3,45,125.5