version: 66.08
glider: 503
mission: 7
dive: 827
start: 1 23 111 0 30 21
data:
$ID,503
$MISSION,7
$DIVE,827
$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,-20572.838
$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,51
$R_STBD_OVSHOOT,45
$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
$GPS1,230111,002319,-7654.403,17601.193,13,1.8,19,125.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.1
$GPS2,230111,002952,-7654.401,17601.008,15,2.2,34,125.3
$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,331.1,24756,-16.1,-10.000
$D_GRID,402
$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,-75.30,0.000,2,0.000,0.000,178,2807,3465,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.2,-6.9,13,119,9.27,2.30,-4.03,0.000,4,0.207,0.041,2567,1367,3658,0,0,0,0,0,0
$GC,144,-0.71,-170.3,18.4,-24.1,20,151,0.00,2.28,0.00,0.000,6,0.000,0.042,2562,2764,3661,0,0,0,0,0,0
$GC,285,-0.71,-170.3,38.5,-13.6,45,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2764,3662,0,0,0,0,0,0
$GC,429,-0.71,-170.3,58.9,-14.4,70,436,0.00,1.65,0.00,0.000,4,0.000,0.049,2562,3765,3661,0,0,0,0,0,0
$GC,466,-0.71,-170.3,64.3,-14.6,76,473,0.00,1.55,0.00,0.000,6,0.000,0.028,2562,2781,3661,0,0,0,0,0,0
$GC,610,-0.71,-170.3,83.7,-13.3,101,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3662,0,0,0,0,0,0
$GC,757,-0.71,-170.3,103.5,-13.3,125,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3662,0,0,0,0,0,0
$GC,885,-0.71,-170.3,120.5,-13.3,137,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3662,0,0,0,0,0,0
$GC,1013,-0.71,-170.3,137.3,-12.9,149,1017,0.00,1.62,0.00,0.000,4,0.000,0.049,2562,3789,3662,0,0,0,0,0,0
$GC,1049,-0.71,-170.3,142.2,-13.7,152,1052,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2783,3662,0,0,0,0,0,0
$GC,1189,-0.71,-170.3,160.7,-12.9,165,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,1317,-0.71,-170.3,177.6,-13.4,177,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,1444,-0.71,-170.3,194.1,-13.0,189,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2783,3662,0,0,0,0,0,0
$GC,1571,-0.71,-170.3,210.2,-12.4,201,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2783,3662,0,0,0,0,0,0
$GC,1700,-0.71,-170.3,226.6,-12.7,213,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,1826,-0.71,-170.3,242.7,-12.4,225,1830,0.00,1.62,0.00,0.000,4,0.000,0.049,2562,3762,3662,0,0,0,0,0,0
$GC,1873,-0.71,-170.3,248.6,-12.7,229,1876,0.00,1.52,0.00,0.000,6,0.000,0.028,2563,2789,3662,0,0,0,0,0,0
$GC,2015,-0.71,-170.3,266.5,-12.8,242,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2789,3661,0,0,0,0,0,0
$GC,2214,-0.71,-170.3,292.2,-13.5,261,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2789,3661,0,0,0,0,0,0
$GC,2405,-0.71,-170.3,316.1,-12.7,279,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2789,3661,0,0,0,0,0,0
$STATE,2498,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2498,begin apogee
$GC,2506,-0.16,0.0,328.3,12.9,288,2652,0.52,0.00,139.10,0.946,4,0.116,0.000,2739,2688,2959,0,0,0,0,0,0
$STATE,2653,end apogee,CONTROL_FINISHED_OK
$STATE,2653,begin climb
$GC,2656,0.71,170.3,335.3,0.0,301,2816,0.85,2.33,150.52,0.899,4,0.074,0.031,3025,1304,2265,0,0,0,0,0,0
$GC,3012,0.77,217.9,314.1,8.1,332,3065,0.00,2.38,43.65,0.876,6,0.000,0.040,3026,2698,2070,0,0,0,0,0,0
$GC,3256,0.78,224.8,291.5,9.7,355,3269,0.00,2.35,7.75,0.777,4,0.000,0.032,3035,1308,2042,0,0,1,0,0,0
$GC,3406,0.80,244.3,277.5,9.2,368,3432,0.00,2.30,18.92,0.861,6,0.000,0.041,3035,2713,1962,0,0,0,0,0,0
$GC,3631,0.80,244.3,254.2,10.7,389,3635,0.00,1.70,0.00,0.000,4,0.000,0.049,3034,3766,1962,0,0,0,0,0,0
$GC,3681,0.80,244.3,247.9,12.4,393,3688,0.00,1.67,0.00,0.000,6,0.000,0.030,3042,2728,1962,0,0,0,0,0,0
$GC,3816,0.80,244.3,232.9,11.2,406,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2728,1962,0,0,0,0,0,0
$GC,3944,0.80,244.3,218.4,11.4,418,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2728,1962,0,0,0,0,0,0
$GC,4071,0.80,244.3,203.9,11.4,430,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2728,1962,0,0,0,0,0,0
$GC,4198,0.80,244.3,189.2,11.6,442,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2728,1961,0,0,0,0,0,0
$GC,4326,0.80,244.3,174.5,11.4,454,4330,0.00,1.67,0.00,0.000,4,0.000,0.048,3042,3766,1961,0,0,0,0,0,0
$GC,4365,0.80,244.3,169.2,13.1,457,4372,0.00,1.67,0.00,0.000,6,0.000,0.030,3049,2714,1961,0,0,0,0,0,0
$GC,4500,0.80,244.3,153.5,11.8,470,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2715,1961,0,0,0,0,0,0
$GC,4628,0.80,244.3,139.2,11.3,482,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2715,1961,0,0,0,0,0,0
$GC,4755,0.80,244.3,125.0,11.2,494,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2715,1961,0,0,0,0,0,0
$GC,4882,0.80,244.3,110.6,11.3,506,4886,0.00,1.73,0.00,0.000,4,0.000,0.049,3049,3754,1961,0,0,0,0,0,0
$GC,4917,0.80,244.3,106.3,13.1,509,4921,0.00,1.65,0.00,0.000,6,0.000,0.031,3055,2721,1960,0,0,0,0,0,0
$GC,5055,0.80,244.3,90.1,12.5,529,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2720,1960,0,0,0,0,0,0
$GC,5197,0.80,244.3,73.3,12.1,554,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2721,1960,0,0,0,0,0,0
$GC,5338,0.80,244.3,56.9,11.5,579,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2721,1960,0,0,0,0,0,0
$GC,5481,0.80,244.3,40.4,11.5,604,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2721,1959,0,0,0,0,0,0
$GC,5624,0.80,244.3,24.4,11.3,629,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2721,1959,0,0,0,0,0,0
$GC,5765,0.80,244.3,9.5,10.2,654,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2721,1959,0,0,0,0,0,0
$FREEZE,7.97,-0.218,-1.898,2,1,0
$FREEZE,7.35,-0.218,-1.897,2,1,0
$FREEZE,6.68,-0.218,-1.897,2,1,0
$FREEZE,6.21,-0.218,-1.897,2,1,0
$FREEZE,5.44,-0.218,-1.896,2,1,0
$FREEZE,4.71,-0.218,-1.895,2,1,0
$FREEZE,4.02,-0.218,-1.895,2,1,0
$FREEZE,3.45,-0.219,-1.894,2,1,0
$FREEZE,2.87,-0.217,-1.894,2,1,0
$STATE,5818,end climb,SURFACE_DEPTH_REACHED
$STATE,5818,begin surface coast
$FREEZE,2.21,-0.217,-1.893,2,1,0
$FREEZE,1.58,-0.217,-1.893,2,1,0
$FREEZE,0.81,-0.216,-1.892,2,1,0
$FREEZE,0.21,-0.217,-1.892,2,1,0
$FINISH,0.2,1.027687
$STATE,5843,end surface coast,CONTROL_FINISHED_OK
$STATE,5843,begin surface
$SM_CCo,5862,1.65,0.108,0,0,1939,250.20
$SM_GC,1.82,0.00,0.00,1.65,0.000,0.000,0.108,188,2795,1939,-8.16,0.42,250.20
$IRIDIUM_FIX,-7612.11,17552.83,220111,222213
$TT8_MAMPS,0.026964
$HUMID,53.03
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.2
$ALTIM_BOTTOM_PING,300.3,42.0
$24V_AH,21.8,87.343
$10V_AH,9.7,35.279
$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,18.200,33.775,359.950,1.650,0.000,24.428,43.703,159.164,1.000,0.000,37.813,1653.346,2527.237,422.632,1385.198,276.186,0.000,1068.348,0.000,1085.205,0.000,8.863,0.000
$DEVICE_MAMPS,207.315,97.155,945.540,107.865,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.096,893.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43709,668
$CAP_FILE_SIZE,84654,0
$CFSIZE,260165632,213942272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.112,251.0,1
$GPS,230111,020936,-7654.618,17603.215,42,1.1,48,125.3