version: 66.08
glider: 503
mission: 7
dive: 828
start: 1 23 111 2 16 16
data:
$ID,503
$MISSION,7
$DIVE,828
$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,-20574.098
$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,41
$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
$GPS1,230111,020936,-7654.618,17603.215,42,1.1,48,125.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.0
$GPS2,230111,021549,-7654.629,17603.070,13,1.2,13,125.3
$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,318.2,23877,-16.1,-10.000
$D_GRID,409
$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,-76.95,0.000,2,0.000,0.000,185,2797,3522,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.7,-9.1,13,122,9.25,0.00,-2.75,0.000,6,0.207,0.000,2567,2797,3660,0,0,0,0,0,0
$GC,257,-0.71,-170.3,36.0,-14.7,40,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2797,3662,0,0,0,0,0,0
$GC,399,-0.71,-170.3,55.7,-14.6,65,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2798,3662,0,0,0,0,0,0
$GC,542,-0.71,-170.3,75.3,-13.2,90,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2797,3663,0,0,0,0,0,0
$GC,683,-0.71,-170.3,94.0,-12.9,115,691,0.00,2.25,0.00,0.000,4,0.000,0.030,2567,1363,3663,0,0,0,0,0,0
$GC,722,-0.71,-170.3,98.9,-12.6,121,729,0.00,2.28,0.00,0.000,6,0.000,0.042,2562,2767,3663,0,0,0,0,0,0
$GC,864,-0.71,-170.3,117.8,-13.3,135,867,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3783,3663,0,0,0,0,0,0
$GC,914,-0.71,-170.3,124.9,-14.0,139,922,0.00,1.55,0.00,0.000,6,0.000,0.028,2562,2793,3663,0,0,0,0,0,0
$GC,1053,-0.71,-170.3,142.2,-12.8,152,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2793,3663,0,0,0,0,0,0
$GC,1187,-0.71,-170.3,160.1,-12.5,165,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2793,3663,0,0,0,0,0,0
$GC,1315,-0.71,-170.3,177.0,-12.7,177,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2793,3663,0,0,0,0,0,0
$GC,1443,-0.71,-170.3,194.1,-13.7,189,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2793,3664,0,0,0,0,0,0
$GC,1569,-0.71,-170.3,211.3,-13.6,201,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2793,3663,0,0,0,0,0,0
$GC,1696,-0.71,-170.3,228.3,-13.3,213,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2793,3663,0,0,0,0,0,0
$GC,1825,-0.71,-170.3,245.1,-13.4,225,1828,0.00,1.60,0.00,0.000,4,0.000,0.050,2563,3759,3663,0,0,0,0,0,0
$GC,1852,-0.71,-170.3,249.1,-13.2,227,1860,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2792,3663,0,0,0,0,0,0
$GC,1989,-0.71,-170.3,266.5,-13.3,240,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2791,3664,0,0,0,0,0,0
$GC,2188,-0.71,-170.3,292.4,-12.7,259,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2792,3663,0,0,0,0,0,0
$GC,2379,-0.71,-170.3,316.8,-12.6,277,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2792,3663,0,0,0,0,0,0
$STATE,2451,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2451,begin apogee
$GC,2458,-0.16,0.0,326.4,12.9,284,2605,0.55,0.00,139.18,0.946,4,0.117,0.000,2747,2687,2959,0,0,0,0,0,0
$STATE,2606,end apogee,CONTROL_FINISHED_OK
$STATE,2606,begin climb
$GC,2608,0.71,170.3,333.2,0.0,297,2769,0.82,2.33,150.43,0.897,4,0.072,0.031,3026,1307,2265,0,0,0,0,0,0
$GC,2929,0.76,207.6,314.8,8.5,325,2969,0.00,2.38,34.65,0.871,6,0.000,0.040,3026,2698,2113,0,0,0,0,0,0
$GC,3163,0.76,207.6,292.2,10.1,346,3167,0.00,2.28,0.00,0.000,4,0.000,0.031,3036,1310,2112,0,0,0,0,0,0
$GC,3318,0.77,219.2,277.1,9.5,359,3335,0.00,2.30,11.32,0.832,6,0.000,0.041,3036,2712,2066,0,0,0,0,0,0
$GC,3532,0.77,219.2,255.1,10.1,378,3535,0.00,1.70,0.00,0.000,4,0.000,0.049,3035,3765,2066,0,0,0,0,0,0
$GC,3601,0.77,219.2,246.7,12.2,384,3605,0.00,1.67,0.00,0.000,6,0.000,0.030,3043,2722,2065,0,0,0,0,0,0
$GC,3742,0.77,219.2,231.9,10.1,397,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2722,2065,0,0,0,0,0,0
$GC,3869,0.77,219.2,218.6,10.4,409,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2722,2065,0,0,0,0,0,0
$GC,3996,0.77,219.2,205.4,10.1,421,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2723,2064,0,0,0,0,0,0
$GC,4125,0.77,219.2,192.2,10.4,433,4128,0.00,1.67,0.00,0.000,4,0.000,0.048,3043,3760,2064,0,0,0,0,0,0
$GC,4171,0.77,219.2,186.8,12.2,437,4175,0.00,1.65,0.00,0.000,6,0.000,0.030,3050,2727,2064,0,0,0,0,0,0
$GC,4311,0.77,219.2,172.1,10.2,450,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2726,2064,0,0,0,0,0,0
$GC,4439,0.77,219.2,159.1,10.4,462,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2727,2064,0,0,0,0,0,0
$GC,4565,0.77,219.2,145.7,10.6,474,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2727,2064,0,0,0,0,0,0
$GC,4693,0.77,219.2,132.4,10.4,486,4696,0.00,1.67,0.00,0.000,4,0.000,0.048,3050,3768,2063,0,0,0,0,0,0
$GC,4728,0.77,219.2,128.5,12.1,489,4732,0.00,1.65,0.00,0.000,6,0.000,0.029,3057,2703,2063,0,0,0,0,0,0
$GC,4869,0.77,219.2,112.7,11.0,502,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2703,2063,0,0,0,0,0,0
$GC,4997,0.77,219.2,98.5,11.0,515,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2703,2063,0,0,0,0,0,0
$GC,5141,0.77,219.2,83.0,11.3,540,5148,0.00,1.75,0.00,0.000,4,0.000,0.048,3057,3784,2062,0,0,0,0,0,0
$GC,5184,0.77,219.2,78.0,12.8,547,5191,0.00,1.67,0.00,0.000,6,0.000,0.030,3066,2732,2063,0,0,0,0,0,0
$GC,5330,0.77,219.2,61.6,11.5,572,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2733,2062,0,0,0,0,0,0
$GC,5472,0.77,219.2,45.2,12.0,597,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2733,2062,0,0,0,0,0,0
$GC,5614,0.77,219.2,28.3,11.0,622,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2732,2062,0,0,0,0,0,0
$GC,5757,0.77,219.2,11.9,12.0,647,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2733,2062,0,0,0,0,0,0
$FREEZE,8.59,-0.249,-1.899,2,1,0
$FREEZE,7.87,-0.253,-1.898,2,1,0
$FREEZE,7.26,-0.254,-1.898,2,1,0
$FREEZE,6.61,-0.252,-1.897,2,1,0
$FREEZE,6.04,-0.252,-1.897,2,1,0
$FREEZE,5.41,-0.251,-1.896,2,1,0
$FREEZE,4.79,-0.249,-1.896,2,1,0
$FREEZE,4.16,-0.249,-1.896,2,1,0
$FREEZE,3.57,-0.249,-1.895,2,1,0
$FREEZE,2.83,-0.248,-1.895,2,1,0
$STATE,5834,end climb,SURFACE_DEPTH_REACHED
$STATE,5834,begin surface coast
$FREEZE,2.17,-0.248,-1.894,2,1,0
$FREEZE,1.06,-0.248,-1.893,2,1,0
$FREEZE,0.39,-0.253,-1.893,2,1,0
$FREEZE,-0.02,-0.253,-1.892,2,1,0
$FINISH,-0.0,1.027697
$STATE,5859,end surface coast,CONTROL_FINISHED_OK
$STATE,5859,begin surface
$SM_CCo,5878,13.25,0.101,0,0,1939,250.45
$SM_GC,1.21,0.00,0.00,13.25,0.000,0.000,0.101,182,2790,1939,-8.18,0.28,250.45
$IRIDIUM_FIX,-7612.11,17552.83,230111,000030
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.7
$ALTIM_BOTTOM_PING,300.5,40.1
$24V_AH,21.9,87.443
$10V_AH,9.8,35.332
$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,18.225,33.725,335.575,13.250,0.000,22.260,38.128,169.241,1.250,0.000,15.814,1656.043,2545.745,424.777,1361.776,281.382,0.000,1063.856,0.000,1077.959,0.000,11.790,0.000
$DEVICE_MAMPS,207.315,113.985,945.540,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.155,896.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,43660,665
$CAP_FILE_SIZE,84206,0
$CFSIZE,260165632,213897216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,222.8,1
$GPS,230111,035532,-7654.865,17605.480,21,1.6,22,125.2