version: 66.08
glider: 503
mission: 7
dive: 824
start: 1 22 111 19 22 5
data:
$ID,503
$MISSION,7
$DIVE,824
$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,-20569.062
$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,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
$GPS1,220111,191450,-7654.228,17554.629,19,1.6,20,125.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.1
$GPS2,220111,192136,-7654.213,17554.545,31,1.1,31,125.5
$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,340.4,27479,-16.1,-10.000
$D_GRID,390
$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,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,94,0.00,0.00,-76.20,0.000,2,0.000,0.000,184,2780,3492,0,0,0,0,0,0
$GC,99,-0.71,-170.3,3.6,-8.5,13,120,9.18,2.25,-3.35,0.000,4,0.209,0.041,2563,1366,3657,0,0,0,0,0,0
$GC,189,-0.71,-170.3,25.0,-12.8,28,196,0.00,2.30,0.00,0.000,6,0.000,0.041,2554,2779,3659,0,0,0,0,0,0
$GC,332,-0.71,-170.3,45.9,-14.3,53,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2779,3660,0,0,0,0,0,0
$GC,474,-0.71,-170.3,67.0,-15.0,78,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2779,3660,0,0,0,0,0,0
$GC,616,-0.71,-170.3,88.0,-15.3,103,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2779,3661,0,0,0,0,0,0
$GC,762,-0.71,-170.3,109.7,-14.9,123,766,0.00,1.60,0.00,0.000,4,0.000,0.048,2546,3759,3661,0,0,0,0,0,0
$GC,797,-0.71,-170.3,115.2,-15.8,126,801,0.00,1.55,0.00,0.000,6,0.000,0.029,2546,2781,3660,0,0,0,0,0,0
$GC,937,-0.71,-170.3,136.4,-15.1,139,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3661,0,0,0,0,0,0
$GC,1065,-0.71,-170.3,155.1,-14.5,151,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3661,0,0,0,0,0,0
$GC,1192,-0.71,-170.3,173.8,-14.7,163,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3661,0,0,0,0,0,0
$GC,1319,-0.71,-170.3,192.6,-14.6,175,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3661,0,0,0,0,0,0
$GC,1448,-0.71,-170.3,211.1,-14.4,187,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3661,0,0,0,0,0,0
$GC,1574,-0.71,-170.3,229.4,-14.2,199,1578,0.00,1.62,0.00,0.000,4,0.000,0.048,2538,3794,3660,0,0,0,0,0,0
$GC,1609,-0.71,-170.3,234.7,-15.1,202,1613,0.05,1.58,0.00,0.000,6,0.139,0.028,2572,2790,3660,0,0,0,0,0,0
$GC,1749,-0.71,-170.3,252.5,-12.2,215,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2790,3661,0,0,0,0,0,0
$GC,1941,-0.71,-170.3,275.4,-12.0,233,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2790,3661,0,0,0,0,0,0
$GC,2131,-0.71,-170.3,298.2,-11.8,251,2135,0.00,1.60,0.00,0.000,4,0.000,0.048,2566,3759,3661,0,0,0,0,0,0
$GC,2177,-0.71,-170.3,304.1,-12.6,255,2181,0.00,1.50,0.00,0.000,6,0.000,0.030,2566,2811,3660,0,0,0,0,0,0
$GC,2381,-0.71,-170.3,329.5,-12.7,274,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2811,3660,0,0,0,0,0,0
$STATE,2411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2411,begin apogee
$GC,2418,-0.16,0.0,333.4,12.5,277,2564,0.52,0.00,138.40,0.952,4,0.117,0.000,2743,2691,2958,0,0,0,0,0,0
$STATE,2565,end apogee,CONTROL_FINISHED_OK
$STATE,2565,begin climb
$GC,2568,0.71,170.3,340.3,0.0,290,2729,0.85,2.35,150.23,0.902,4,0.073,0.032,3029,1301,2265,0,0,0,0,0,0
$GC,2901,0.76,212.0,320.7,8.3,319,2947,0.00,2.40,38.65,0.878,6,0.000,0.040,3029,2700,2095,0,0,0,0,0,0
$GC,3138,0.76,213.4,297.6,9.9,341,3142,0.00,2.30,0.00,0.000,4,0.000,0.034,3039,1306,2093,0,0,1,0,0,0
$GC,3297,0.78,228.3,282.2,9.4,354,3319,0.00,2.33,15.32,0.859,6,0.000,0.041,3039,2717,2029,0,0,0,0,0,0
$GC,3520,0.78,228.3,258.8,10.7,375,3524,0.00,1.67,0.00,0.000,4,0.000,0.048,3039,3763,2029,0,0,0,0,0,0
$GC,3571,0.78,228.3,252.3,12.5,379,3579,0.00,1.65,0.00,0.000,6,0.000,0.030,3047,2710,2029,0,0,0,0,0,0
$GC,3769,0.78,228.3,230.2,10.9,398,3773,0.00,1.70,0.00,0.000,4,0.000,0.048,3047,3763,2029,0,0,0,0,0,0
$GC,3804,0.78,228.3,226.1,12.1,401,3807,0.00,1.65,0.00,0.000,6,0.000,0.029,3055,2706,2029,0,0,0,0,0,0
$GC,3945,0.78,228.3,210.0,11.4,414,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2706,2028,0,0,0,0,0,0
$GC,4071,0.78,228.3,195.5,11.6,426,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2706,2028,0,0,0,0,0,0
$GC,4198,0.78,228.3,181.2,11.2,438,4202,0.00,1.70,0.00,0.000,4,0.000,0.048,3055,3764,2028,0,0,0,0,0,0
$GC,4237,0.78,228.3,176.2,13.3,441,4244,0.00,1.65,0.00,0.000,6,0.000,0.031,3062,2725,2028,0,0,0,0,0,0
$GC,4372,0.78,228.3,160.2,12.1,454,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2725,2027,0,0,0,0,0,0
$GC,4499,0.78,228.3,145.1,11.4,466,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2725,2027,0,0,0,0,0,0
$GC,4627,0.78,228.3,130.3,11.5,478,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2725,2027,0,0,0,0,0,0
$GC,4754,0.78,228.3,115.8,11.5,490,4758,0.00,1.67,0.00,0.000,4,0.000,0.047,3061,3766,2027,0,0,0,0,0,0
$GC,4789,0.78,228.3,111.4,13.2,493,4792,0.00,1.65,0.00,0.000,6,0.000,0.030,3069,2705,2027,0,0,0,0,0,0
$GC,4926,0.78,228.3,95.2,11.9,509,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2705,2027,0,0,0,0,0,0
$GC,5068,0.78,228.3,78.3,11.4,534,5075,0.00,1.75,0.00,0.000,4,0.000,0.048,3069,3784,2027,0,0,0,0,0,0
$GC,5110,0.78,228.3,72.7,13.5,541,5117,0.00,1.67,0.00,0.000,6,0.000,0.030,3078,2734,2026,0,0,0,0,0,0
$GC,5254,0.78,228.3,55.2,11.9,566,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2734,2026,0,0,0,0,0,0
$GC,5396,0.78,228.3,37.8,11.7,591,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2734,2026,0,0,0,0,0,0
$GC,5539,0.78,228.3,20.5,12.7,616,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2734,2026,0,0,0,0,0,0
$FREEZE,8.78,-0.291,-1.899,2,1,0
$FREEZE,8.24,-0.289,-1.898,2,1,0
$FREEZE,7.53,-0.286,-1.898,2,1,0
$FREEZE,6.88,-0.288,-1.898,2,1,0
$FREEZE,6.28,-0.286,-1.897,2,1,0
$FREEZE,5.65,-0.287,-1.897,2,1,0
$FREEZE,4.91,-0.287,-1.896,2,1,0
$FREEZE,4.20,-0.286,-1.895,2,1,0
$FREEZE,3.69,-0.285,-1.895,2,1,0
$FREEZE,2.86,-0.285,-1.894,2,1,0
$STATE,5679,end climb,SURFACE_DEPTH_REACHED
$STATE,5679,begin surface coast
$FREEZE,2.11,-0.284,-1.894,2,1,0
$FREEZE,1.37,-0.283,-1.893,2,1,0
$FREEZE,0.70,-0.284,-1.893,2,1,0
$FREEZE,0.09,-0.284,-1.892,2,1,0
$FREEZE,-0.11,-0.372,-1.897,2,1,0
$FINISH,-0.1,1.027774
$STATE,5707,end surface coast,CONTROL_FINISHED_OK
$STATE,5707,begin surface
$SM_CCo,5726,9.27,0.102,0,0,1940,250.20
$SM_GC,2.04,0.00,0.00,9.27,0.000,0.000,0.102,185,2793,1940,-8.17,0.37,250.20
$IRIDIUM_FIX,-7603.11,17553.51,220111,171733
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$ALTIM_BOTTOM_PING,300.4,47.0
$24V_AH,21.9,87.037
$10V_AH,9.7,35.125
$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,18.275,40.350,342.600,9.275,0.000,28.811,38.194,168.111,1.250,0.000,34.023,1611.666,2476.897,414.991,1363.921,280.657,0.000,1048.537,0.000,1063.610,0.000,11.815,0.000
$DEVICE_MAMPS,208.845,113.220,951.660,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.901,855.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258204
$DATA_FILE_SIZE,40373,646
$CAP_FILE_SIZE,84365,0
$CFSIZE,260165632,214081536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097,316.0,1
$GPS,220111,205900,-7654.225,17557.035,20,1.4,36,125.4