version: 66.08
glider: 503
mission: 7
dive: 829
start: 1 23 111 4 2 11
data:
$ID,503
$MISSION,7
$DIVE,829
$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,-20575.354
$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,39
$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
$GPS1,230111,035532,-7654.865,17605.480,21,1.6,22,125.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.2
$GPS2,230111,040144,-7654.896,17605.373,10,1.5,10,125.3
$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,303.3,22902,-16.1,-10.000
$D_GRID,413
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-75.93,0.000,2,0.000,0.000,175,2792,3523,0,0,0,0,0,0
$GC,101,-0.71,-170.3,3.8,-7.7,13,122,9.23,1.60,-2.67,0.000,4,0.207,0.061,2556,3756,3659,0,0,0,0,0,0
$GC,209,-0.71,-170.3,31.4,-15.7,31,217,0.00,1.55,0.00,0.000,6,0.000,0.028,2556,2776,3661,0,0,0,0,0,0
$GC,355,-0.71,-170.3,53.2,-14.9,56,361,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2776,3662,0,0,0,0,0,0
$GC,499,-0.71,-170.3,75.3,-15.4,81,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2776,3662,0,0,0,0,0,0
$GC,640,-0.71,-170.3,96.8,-15.4,106,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2776,3662,0,0,0,0,0,0
$GC,782,-0.71,-170.3,117.1,-14.3,121,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2776,3662,0,0,0,0,0,0
$GC,909,-0.71,-170.3,134.9,-14.0,133,912,0.00,1.60,0.00,0.000,4,0.000,0.048,2548,3746,3662,0,0,0,0,0,0
$GC,945,-0.71,-170.3,140.1,-15.1,136,948,0.00,1.52,0.00,0.000,6,0.000,0.028,2548,2771,3662,0,0,0,0,0,0
$GC,1086,-0.71,-170.3,159.7,-13.9,149,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2770,3662,0,0,0,0,0,0
$GC,1212,-0.71,-170.3,177.3,-13.8,161,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2770,3662,0,0,0,0,0,0
$GC,1339,-0.71,-170.3,195.0,-13.8,173,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2770,3662,0,0,0,0,0,0
$GC,1467,-0.71,-170.3,212.8,-13.8,185,1471,0.00,1.60,0.00,0.000,4,0.000,0.047,2540,3743,3662,0,0,0,0,0,0
$GC,1514,-0.71,-170.3,219.8,-14.6,189,1517,0.00,1.48,0.00,0.000,6,0.000,0.028,2540,2782,3662,0,0,1,0,0,0
$GC,1654,-0.71,-170.3,240.3,-14.8,202,1656,0.10,0.00,0.00,0.000,6,0.171,0.000,2568,2781,3662,0,0,0,0,0,0
$GC,1782,-0.71,-170.3,256.5,-12.6,214,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2781,3662,0,0,0,0,0,0
$GC,1974,-0.71,-170.3,280.5,-12.3,232,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2781,3662,0,0,0,0,0,0
$GC,2172,-0.71,-170.3,305.4,-12.3,251,2176,0.00,1.60,0.00,0.000,4,0.000,0.047,2561,3748,3662,0,0,0,0,0,0
$GC,2218,-0.71,-170.3,311.4,-13.2,255,2222,0.00,1.52,0.00,0.000,6,0.000,0.028,2561,2779,3662,0,0,0,0,0,0
$STATE,2336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2336,begin apogee
$GC,2343,-0.16,0.0,326.8,12.7,266,2491,0.55,0.00,139.02,0.942,4,0.116,0.000,2746,2693,2958,0,0,0,0,0,0
$STATE,2492,end apogee,CONTROL_FINISHED_OK
$STATE,2492,begin climb
$GC,2495,0.71,170.3,334.0,0.0,279,2657,0.85,2.33,150.55,0.896,4,0.072,0.032,3033,1307,2265,0,0,0,0,0,0
$GC,2876,0.74,193.3,309.5,9.1,312,2906,0.00,2.35,20.85,0.861,6,0.000,0.040,3034,2694,2173,0,0,0,0,0,0
$GC,3098,0.74,193.3,288.2,10.0,333,3102,0.00,2.25,0.00,0.000,4,0.000,0.033,3044,1310,2171,0,0,0,0,0,0
$GC,3257,0.75,202.1,272.8,9.7,346,3275,0.00,2.30,9.35,0.819,6,0.000,0.041,3044,2715,2135,0,0,0,0,0,0
$GC,3469,0.75,202.1,251.2,10.5,366,3472,0.00,1.67,0.00,0.000,4,0.000,0.049,3044,3761,2135,0,0,0,0,0,0
$GC,3526,0.75,202.1,244.2,11.9,371,3530,0.00,1.65,0.00,0.000,6,0.000,0.030,3052,2734,2135,0,0,0,0,0,0
$GC,3667,0.75,202.1,228.3,11.2,384,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2734,2135,0,0,0,0,0,0
$GC,3793,0.75,202.1,214.6,10.9,396,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2734,2134,0,0,0,0,0,0
$GC,3920,0.75,202.1,200.6,10.9,408,3924,0.00,1.70,0.00,0.000,4,0.000,0.048,3052,3759,2134,0,0,0,0,0,0
$GC,3967,0.75,202.1,195.1,12.8,412,3971,0.00,1.65,0.00,0.000,6,0.000,0.031,3060,2695,2133,0,0,0,0,0,0
$GC,4108,0.75,202.1,179.0,11.2,425,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2695,2133,0,0,0,0,0,0
$GC,4234,0.75,202.1,165.2,10.9,437,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2696,2133,0,0,0,0,0,0
$GC,4363,0.75,202.1,151.4,10.7,449,4366,0.00,1.73,0.00,0.000,4,0.000,0.049,3061,3763,2133,0,0,0,0,0,0
$GC,4431,0.75,202.1,142.8,12.9,455,4435,0.00,1.62,0.00,0.000,6,0.000,0.031,3068,2740,2133,0,0,0,0,0,0
$GC,4571,0.75,202.1,127.0,11.2,468,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2739,2133,0,0,0,0,0,0
$GC,4700,0.75,202.1,113.0,10.9,480,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2740,2133,0,0,0,0,0,0
$GC,4826,0.75,202.1,99.3,10.7,492,4834,0.00,1.70,0.00,0.000,4,0.000,0.049,3068,3765,2132,0,0,0,0,0,0
$GC,4874,0.75,202.1,93.4,12.8,500,4882,0.08,1.62,0.00,0.000,6,0.135,0.030,3047,2743,2132,0,0,0,0,0,0
$GC,5021,0.76,209.7,79.0,9.7,525,5034,0.00,0.00,7.82,0.763,6,0.000,0.000,3047,2743,2104,0,0,0,0,0,0
$GC,5170,0.77,213.7,64.0,9.8,551,5178,0.00,0.00,5.38,0.688,6,0.000,0.000,3047,2743,2088,0,0,0,0,0,0
$GC,5314,0.77,213.7,49.5,10.4,576,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2743,2088,0,0,0,0,0,0
$GC,5457,0.77,213.7,34.1,10.1,601,5463,0.00,1.67,0.00,0.000,4,0.000,0.050,3047,3751,2088,0,0,0,0,0,0
$GC,5500,0.77,213.7,29.4,11.8,608,5508,0.00,1.62,0.00,0.000,6,0.000,0.034,3052,2740,2088,0,0,0,0,0,0
$GC,5645,0.77,213.7,13.6,10.8,633,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2739,2088,0,0,0,0,0,0
$FREEZE,8.96,-0.261,-1.899,2,1,0
$FREEZE,8.46,-0.261,-1.899,2,1,0
$FREEZE,7.86,-0.261,-1.898,2,1,0
$FREEZE,7.22,-0.261,-1.898,2,1,0
$FREEZE,6.78,-0.261,-1.897,2,1,0
$FREEZE,6.16,-0.261,-1.897,2,1,0
$FREEZE,5.60,-0.260,-1.896,2,1,0
$FREEZE,5.08,-0.260,-1.896,2,1,0
$FREEZE,4.55,-0.260,-1.896,2,1,0
$FREEZE,3.94,-0.260,-1.895,2,1,0
$FREEZE,3.42,-0.259,-1.895,2,1,0
$FREEZE,2.72,-0.258,-1.894,2,1,0
$STATE,5744,end climb,SURFACE_DEPTH_REACHED
$STATE,5744,begin surface coast
$FREEZE,1.68,-0.258,-1.893,2,1,0
$FREEZE,1.21,-0.258,-1.893,2,1,0
$FREEZE,0.47,-0.257,-1.893,2,1,0
$FREEZE,-0.10,-0.263,-1.892,2,1,0
$FREEZE,-0.15,-0.460,-1.905,2,1,0
$FINISH,-0.1,1.027881
$STATE,5772,end surface coast,CONTROL_FINISHED_OK
$STATE,5772,begin surface
$SM_CCo,5791,16.52,0.100,0,0,1940,250.20
$SM_GC,1.00,0.00,0.00,16.52,0.000,0.000,0.100,177,2794,1940,-8.20,0.37,250.20
$IRIDIUM_FIX,-7612.11,17611.79,230111,020239
$TT8_MAMPS,0.026964
$HUMID,52.95
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,20.3
$ALTIM_BOTTOM_PING,300.1,40.7
$24V_AH,21.9,87.541
$10V_AH,9.7,35.385
$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,18.350,38.475,332.975,16.525,0.000,30.343,37.923,163.000,1.250,0.000,13.337,1642.839,2477.150,420.946,1361.858,282.768,0.000,1060.581,0.000,1082.112,0.000,8.858,0.000
$DEVICE_MAMPS,206.550,143.055,941.715,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.879,879.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258216
$DATA_FILE_SIZE,43688,656
$CAP_FILE_SIZE,85423,0
$CFSIZE,260165632,213852160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.149,197.2,1
$GPS,230111,054030,-7655.066,17608.029,41,1.1,48,125.2