version: 66.08
glider: 503
mission: 7
dive: 823
start: 1 22 111 17 33 5
data:
$ID,503
$MISSION,7
$DIVE,823
$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,-20567.803
$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,37
$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
$GPS1,220111,172625,-7654.282,17551.689,44,1.3,45,125.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-75.1
$GPS2,220111,173238,-7654.278,17551.645,8,1.7,8,125.5
$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,333.9,28688,-16.1,-10.000
$D_GRID,384
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.71,-170.3,0.0,0.0,0,97,0.00,0.00,-76.47,0.000,2,0.000,0.000,185,2795,3506,0,0,0,0,0,0
$GC,101,-0.71,-170.3,3.5,-7.9,13,121,9.25,0.00,-3.10,0.000,6,0.209,0.000,2568,2795,3659,0,0,0,0,0,0
$GC,257,-0.71,-170.3,34.7,-13.4,40,264,0.00,2.25,0.00,0.000,4,0.000,0.029,2568,1368,3662,0,0,0,0,0,0
$GC,299,-0.71,-170.3,40.2,-12.5,47,307,0.00,2.28,0.00,0.000,6,0.000,0.041,2563,2771,3662,0,0,0,0,0,0
$GC,444,-0.71,-170.3,59.6,-14.3,72,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2771,3662,0,0,0,0,0,0
$GC,585,-0.71,-170.3,78.9,-13.5,97,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2771,3662,0,0,0,0,0,0
$GC,728,-0.71,-170.3,97.9,-13.2,122,735,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3762,3663,0,0,0,0,0,0
$GC,764,-0.71,-170.3,103.0,-13.9,127,767,0.00,1.55,0.00,0.000,6,0.000,0.029,2563,2780,3662,0,0,0,0,0,0
$GC,905,-0.71,-170.3,122.2,-13.6,140,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3662,0,0,0,0,0,0
$GC,1033,-0.71,-170.3,139.4,-13.7,152,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3663,0,0,0,0,0,0
$GC,1159,-0.71,-170.3,156.4,-13.6,164,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3662,0,0,0,0,0,0
$GC,1286,-0.71,-170.3,173.6,-12.9,176,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3662,0,0,0,0,0,0
$GC,1415,-0.71,-170.3,190.7,-13.6,188,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3662,0,0,0,0,0,0
$GC,1541,-0.71,-170.3,207.6,-13.2,200,1545,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3762,3662,0,0,1,0,0,0
$GC,1587,-0.71,-170.3,213.9,-13.6,204,1590,0.00,1.52,0.00,0.000,6,0.000,0.028,2563,2788,3662,0,0,0,0,0,0
$GC,1728,-0.71,-170.3,232.5,-13.4,217,1732,0.00,2.17,0.00,0.000,4,0.000,0.031,2562,1377,3662,0,0,0,0,0,0
$GC,1769,-0.71,-170.3,237.8,-12.1,220,1773,0.00,2.28,0.00,0.000,6,0.000,0.043,2562,2786,3662,0,0,0,0,0,0
$GC,1904,-0.71,-170.3,255.3,-12.9,232,1907,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3764,3662,0,0,0,0,0,0
$GC,1951,-0.71,-170.3,261.3,-12.6,236,1955,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2791,3662,0,0,0,0,0,0
$GC,2155,-0.71,-170.3,287.2,-12.6,255,2159,0.00,2.20,0.00,0.000,4,0.000,0.031,2562,1377,3662,0,0,0,0,0,0
$GC,2189,-0.71,-170.3,291.7,-12.1,257,2195,0.00,2.28,0.00,0.000,6,0.000,0.042,2553,2787,3661,0,0,0,0,0,0
$GC,2388,-0.71,-170.3,317.2,-13.4,276,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2788,3661,0,0,0,0,0,0
$STATE,2491,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2492,begin apogee
$GC,2499,-0.16,0.0,331.1,13.3,286,2647,0.57,0.00,138.90,0.947,4,0.117,0.000,2745,2693,2958,0,0,0,0,0,0
$STATE,2648,end apogee,CONTROL_FINISHED_OK
$STATE,2648,begin climb
$GC,2650,0.71,170.3,338.3,0.0,299,2812,0.85,2.33,150.43,0.901,4,0.073,0.032,3031,1307,2265,0,0,0,0,0,0
$GC,2998,0.74,196.4,317.2,9.0,329,3028,0.00,2.38,24.12,0.868,6,0.000,0.040,3031,2702,2159,0,0,0,0,0,0
$GC,3221,0.74,196.4,295.6,10.1,350,3225,0.00,2.28,0.00,0.000,4,0.000,0.033,3042,1304,2158,0,0,0,0,0,0
$GC,3397,0.76,207.6,278.4,9.6,365,3413,0.00,2.30,11.30,0.842,6,0.000,0.040,3042,2715,2112,0,0,0,0,0,0
$GC,3610,0.76,207.6,256.7,10.3,384,3614,0.00,1.67,0.00,0.000,4,0.000,0.048,3042,3760,2112,0,0,0,0,0,0
$GC,3646,0.76,207.6,252.1,12.4,387,3650,0.00,1.65,0.00,0.000,6,0.000,0.030,3049,2707,2112,0,0,0,0,0,0
$GC,3851,0.76,207.6,230.2,10.5,406,3854,0.00,1.70,0.00,0.000,4,0.000,0.048,3050,3763,2112,0,0,0,0,0,0
$GC,3878,0.76,207.6,226.7,11.8,408,3885,0.00,1.67,0.00,0.000,6,0.000,0.030,3057,2715,2111,0,0,0,0,0,0
$GC,4013,0.76,207.6,211.9,11.1,421,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2715,2111,0,0,0,0,0,0
$GC,4141,0.76,207.6,198.0,10.9,433,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2715,2111,0,0,0,0,0,0
$GC,4268,0.76,207.6,184.2,11.1,445,4272,0.00,1.73,0.00,0.000,4,0.000,0.049,3057,3759,2111,0,0,0,0,0,0
$GC,4317,0.76,207.6,178.2,13.1,449,4323,0.00,1.65,0.00,0.000,6,0.000,0.031,3065,2724,2110,0,0,0,0,0,0
$GC,4452,0.76,207.6,163.4,11.1,462,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2725,2110,0,0,0,0,0,0
$GC,4578,0.76,207.6,149.6,10.8,474,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2725,2110,0,0,0,0,0,0
$GC,4706,0.76,207.6,135.7,11.0,486,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2725,2110,0,0,0,0,0,0
$GC,4834,0.76,207.6,122.2,10.4,498,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2725,2110,0,0,0,0,0,0
$GC,4960,0.76,207.6,108.4,10.7,510,4963,0.00,1.65,0.00,0.000,4,0.000,0.047,3065,3760,2109,0,0,0,0,0,0
$GC,4998,0.76,207.6,103.5,12.9,513,5005,0.00,1.65,0.00,0.000,6,0.000,0.031,3074,2722,2108,0,0,0,0,0,0
$GC,5138,0.76,207.6,87.6,11.6,535,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2722,2109,0,0,0,0,0,0
$GC,5282,0.76,207.6,70.9,11.4,560,5288,0.00,1.70,0.00,0.000,4,0.000,0.047,3074,3753,2109,0,0,0,0,0,0
$GC,5323,0.76,207.6,65.6,12.8,567,5331,0.10,1.62,0.00,0.000,6,0.135,0.031,3046,2736,2109,0,0,0,0,0,0
$GC,5470,0.77,218.6,51.1,9.6,592,5483,0.00,0.00,10.43,0.771,6,0.000,0.000,3046,2736,2068,0,0,0,0,0,0
$GC,5620,0.77,218.6,35.9,10.2,618,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2736,2068,0,0,0,0,0,0
$GC,5762,0.77,218.6,21.0,10.9,643,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2736,2068,0,0,0,0,0,0
$FREEZE,8.51,-0.294,-1.899,2,1,0
$FREEZE,7.87,-0.295,-1.898,2,1,0
$FREEZE,7.52,-0.294,-1.898,2,1,0
$FREEZE,7.14,-0.293,-1.898,2,1,0
$FREEZE,5.80,-0.294,-1.897,2,1,0
$FREEZE,5.11,-0.293,-1.896,2,1,0
$FREEZE,4.18,-0.294,-1.895,2,1,0
$FREEZE,3.36,-0.294,-1.895,2,1,0
$GC,5906,0.81,250.2,7.1,8.7,668,5945,0.00,1.73,27.95,0.757,4,0.000,0.049,3046,3759,1940,0,0,1,0,0,0
$FREEZE,1.39,-0.292,-1.893,2,1,0
$STATE,5951,end climb,SURFACE_DEPTH_REACHED
$STATE,5951,begin surface coast
$FREEZE,0.71,-0.292,-1.893,2,1,0
$FREEZE,-0.02,-0.293,-1.892,2,1,0
$FINISH,-0.0,1.027699
$STATE,5966,end surface coast,CONTROL_FINISHED_OK
$STATE,5966,begin surface
$SM_CCo,6046,0.00,0.000,0,0,1939,250.45
$SM_GC,1.06,7.50,0.00,0.00,0.038,0.000,0.000,185,2780,1939,-8.08,-0.03,250.45
$IRIDIUM_FIX,-7612.11,17612.42,220111,151541
$TT8_MAMPS,0.026215
$HUMID,52.28
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,20.0
$ALTIM_BOTTOM_PING,300.3,45.5
$24V_AH,21.9,86.935
$10V_AH,9.8,35.073
$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,18.275,52.300,363.125,0.000,0.000,27.846,37.385,169.697,1.250,0.000,11.030,1677.159,2617.264,440.307,1396.386,289.869,0.000,1107.816,0.000,1116.737,0.000,8.872,0.000
$DEVICE_MAMPS,208.845,78.795,947.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.461,907.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,43701,676
$CAP_FILE_SIZE,89437,0
$CFSIZE,260165632,214122496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.072,331.9,1
$GPS,220111,191450,-7654.228,17554.629,19,1.6,20,125.5