version: 66.08
glider: 503
mission: 7
dive: 825
start: 1 22 111 21 5 47
data:
$ID,503
$MISSION,7
$DIVE,825
$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,-20570.322
$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,48
$R_STBD_OVSHOOT,40
$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
$GPS1,220111,205900,-7654.225,17557.035,20,1.4,36,125.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.6
$GPS2,220111,210520,-7654.216,17556.930,10,1.6,10,125.4
$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,341.5,26481,-16.1,-10.000
$D_GRID,396
$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,-170.3,0.0,0.0,0,98,0.00,0.00,-77.30,0.000,2,0.000,0.000,184,2794,3537,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.9,-9.6,13,123,9.32,1.58,-2.40,0.000,4,0.211,0.059,2561,3757,3660,0,0,0,0,0,0
$GC,148,-0.71,-170.3,21.2,-28.9,20,155,0.00,1.55,0.00,0.000,6,0.000,0.028,2561,2778,3661,0,0,0,0,0,0
$GC,290,-0.71,-170.3,42.3,-15.2,45,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2778,3662,0,0,0,0,0,0
$GC,433,-0.71,-170.3,62.8,-14.1,70,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2778,3662,0,0,0,0,0,0
$GC,576,-0.71,-170.3,82.6,-13.9,95,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2778,3663,0,0,0,0,0,0
$GC,719,-0.71,-170.3,102.0,-14.1,119,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2778,3663,0,0,0,0,0,0
$GC,845,-0.71,-170.3,120.1,-14.2,131,849,0.00,1.62,0.00,0.000,4,0.000,0.048,2553,3783,3663,0,0,0,0,0,0
$GC,872,-0.71,-170.3,124.5,-15.5,133,879,0.00,1.58,0.00,0.000,6,0.000,0.030,2552,2787,3663,0,0,0,0,0,0
$GC,1007,-0.71,-170.3,144.2,-14.6,146,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2787,3663,0,0,0,0,0,0
$GC,1134,-0.71,-170.3,162.8,-14.6,158,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2787,3663,0,0,0,0,0,0
$GC,1262,-0.71,-170.3,180.8,-14.1,170,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2787,3663,0,0,0,0,0,0
$GC,1390,-0.71,-170.3,198.5,-13.6,182,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2787,3663,0,0,0,0,0,0
$GC,1516,-0.71,-170.3,215.7,-13.4,194,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2787,3663,0,0,0,0,0,0
$GC,1646,-0.71,-170.3,233.0,-13.4,206,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2787,3663,0,0,0,0,0,0
$GC,1786,-0.71,-170.3,251.2,-13.2,219,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2787,3663,0,0,0,0,0,0
$GC,1984,-0.71,-170.3,278.6,-13.3,238,1988,0.00,1.60,0.00,0.000,4,0.000,0.049,2547,3748,3663,0,0,0,0,0,0
$GC,2034,-0.71,-170.3,286.0,-14.3,242,2041,0.00,1.48,0.00,0.000,6,0.000,0.029,2547,2798,3663,0,0,1,0,0,0
$GC,2233,-0.71,-170.3,313.3,-14.1,261,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2798,3663,0,0,0,0,0,0
$STATE,2356,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2356,begin apogee
$GC,2363,-0.16,0.0,330.7,14.0,273,2510,0.60,0.00,139.12,0.949,4,0.119,0.000,2745,2691,2959,0,0,0,0,0,0
$STATE,2511,end apogee,CONTROL_FINISHED_OK
$STATE,2511,begin climb
$GC,2514,0.71,170.3,337.3,0.0,286,2675,0.85,2.33,150.20,0.901,4,0.072,0.032,3033,1307,2265,0,0,0,0,0,0
$GC,2838,0.75,199.7,317.7,8.8,314,2871,0.00,2.38,27.55,0.870,6,0.000,0.040,3032,2690,2144,0,0,0,0,0,0
$GC,3071,0.75,202.3,294.8,9.9,336,3075,0.00,2.28,0.00,0.000,4,0.000,0.033,3043,1307,2143,0,0,0,0,0,0
$GC,3218,0.76,210.2,280.3,9.7,348,3236,0.00,2.33,10.10,0.826,6,0.000,0.041,3043,2719,2103,0,0,0,0,0,0
$GC,3431,0.76,210.2,258.1,10.7,368,3434,0.00,1.67,0.00,0.000,4,0.000,0.047,3042,3763,2103,0,0,0,0,0,0
$GC,3491,0.76,210.2,250.2,12.6,373,3498,0.00,1.65,0.00,0.000,6,0.000,0.029,3051,2721,2103,0,0,1,0,0,0
$GC,3691,0.76,210.2,228.3,11.0,392,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2721,2102,0,0,0,0,0,0
$GC,3817,0.76,210.2,214.6,10.6,404,3821,0.00,1.67,0.00,0.000,4,0.000,0.048,3051,3763,2102,0,0,0,0,0,0
$GC,3867,0.76,210.2,208.2,12.2,408,3874,0.00,1.65,0.00,0.000,6,0.000,0.030,3058,2725,2102,0,0,0,0,0,0
$GC,4003,0.76,210.2,193.3,11.2,421,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2724,2102,0,0,0,0,0,0
$GC,4129,0.76,210.2,179.5,11.0,433,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2725,2101,0,0,0,0,0,0
$GC,4256,0.76,210.2,165.7,10.6,445,4260,0.00,1.73,0.00,0.000,4,0.000,0.048,3058,3766,2101,0,0,0,0,0,0
$GC,4314,0.76,210.2,158.6,12.5,450,4318,0.00,1.65,0.00,0.000,6,0.000,0.029,3066,2697,2101,0,0,0,0,0,0
$GC,4455,0.76,210.2,142.7,11.3,463,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2696,2101,0,0,0,0,0,0
$GC,4581,0.76,210.2,128.3,11.2,475,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2696,2101,0,0,0,0,0,0
$GC,4708,0.76,210.2,113.7,11.5,487,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2696,2101,0,0,0,0,0,0
$GC,4837,0.76,210.2,98.9,11.9,499,4844,0.00,1.75,0.00,0.000,4,0.000,0.049,3066,3781,2100,0,0,0,0,0,0
$GC,4896,0.76,210.2,91.0,13.5,509,4903,0.00,1.67,0.00,0.000,6,0.000,0.031,3074,2729,2099,0,0,0,0,0,0
$GC,5040,0.76,210.2,73.6,12.2,534,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2729,2100,0,0,0,0,0,0
$GC,5182,0.76,210.2,56.1,12.6,559,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2729,2100,0,0,0,0,0,0
$GC,5325,0.76,210.2,38.5,12.3,584,5332,0.00,1.70,0.00,0.000,4,0.000,0.048,3074,3762,2100,0,0,0,0,0,0
$GC,5383,0.76,210.2,30.6,13.6,594,5391,0.08,1.65,0.00,0.000,6,0.145,0.029,3054,2724,2099,0,0,0,0,0,0
$GC,5526,0.76,210.2,14.8,11.7,619,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2723,2099,0,0,0,0,0,0
$FREEZE,8.82,-0.287,-1.899,2,1,0
$FREEZE,8.23,-0.288,-1.899,2,1,0
$FREEZE,7.64,-0.288,-1.898,2,1,0
$FREEZE,6.94,-0.286,-1.897,2,1,0
$FREEZE,6.29,-0.289,-1.897,2,1,0
$FREEZE,5.78,-0.289,-1.897,2,1,0
$FREEZE,5.05,-0.288,-1.896,2,1,0
$FREEZE,4.58,-0.289,-1.896,2,1,0
$FREEZE,3.99,-0.289,-1.895,2,1,0
$FREEZE,3.47,-0.288,-1.895,2,1,0
$FREEZE,2.83,-0.287,-1.894,2,1,0
$STATE,5633,end climb,SURFACE_DEPTH_REACHED
$STATE,5633,begin surface coast
$FREEZE,1.83,-0.286,-1.894,2,1,0
$FREEZE,1.25,-0.280,-1.893,2,1,0
$FREEZE,0.67,-0.279,-1.893,2,1,0
$FREEZE,-0.05,-0.281,-1.892,2,1,0
$FREEZE,-0.14,-0.367,-1.714,2,1,0
$FINISH,-0.1,1.025171
$STATE,5660,end surface coast,CONTROL_FINISHED_OK
$STATE,5660,begin surface
$SM_CCo,5679,17.95,0.101,0,0,1940,250.20
$SM_GC,0.93,0.00,0.00,17.95,0.000,0.000,0.101,175,2796,1940,-8.21,0.42,250.20
$IRIDIUM_FIX,-7612.11,17552.83,220111,191908
$TT8_MAMPS,0.026964
$HUMID,52.87
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.4
$ALTIM_BOTTOM_PING,301.4,43.3
$24V_AH,21.9,87.135
$10V_AH,9.6,35.176
$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,18.350,35.700,326.975,17.950,0.000,30.250,49.904,159.336,1.250,0.000,12.867,1594.963,2453.128,427.834,1334.082,273.767,0.000,1050.129,0.000,1048.166,0.000,11.805,0.000
$DEVICE_MAMPS,211.140,95.625,948.600,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.299,859.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258148
$DATA_FILE_SIZE,40486,643
$CAP_FILE_SIZE,82496,0
$CFSIZE,260165632,214036480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.116,298.2,1
$GPS,220111,224206,-7654.249,17558.906,21,1.0,38,125.4