version: 66.08
glider: 503
mission: 7
dive: 830
start: 1 23 111 5 47 41
data:
$ID,503
$MISSION,7
$DIVE,830
$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,-20576.611
$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,42
$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
$GPS1,230111,054030,-7655.066,17608.029,41,1.1,48,125.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.9
$GPS2,230111,054714,-7655.103,17607.963,11,1.2,11,125.2
$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,293.5,21816,-16.1,-10.000
$D_GRID,416
$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,-75.68,0.000,2,0.000,0.000,172,2795,3516,0,0,0,0,0,0
$GC,100,-0.71,-170.3,4.0,-9.3,13,121,9.27,1.55,-2.85,0.000,4,0.210,0.058,2560,3759,3661,0,0,0,0,0,0
$GC,245,-0.71,-170.3,35.5,-14.6,38,251,0.00,1.55,0.00,0.000,6,0.000,0.029,2560,2779,3663,0,0,0,0,0,0
$GC,389,-0.71,-170.3,55.1,-13.2,63,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2779,3664,0,0,0,0,0,0
$GC,533,-0.71,-170.3,74.5,-13.7,88,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2779,3663,0,0,0,0,0,0
$GC,673,-0.71,-170.3,92.7,-12.7,113,680,0.00,2.20,0.00,0.000,4,0.000,0.031,2560,1370,3664,0,0,0,0,0,0
$GC,704,-0.71,-170.3,96.5,-12.4,118,712,0.00,2.28,0.00,0.000,6,0.000,0.042,2549,2774,3664,0,0,0,0,0,0
$GC,841,-0.71,-170.3,114.8,-13.3,133,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2774,3664,0,0,0,0,0,0
$GC,969,-0.71,-170.3,132.7,-14.4,145,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2774,3664,0,0,0,0,0,0
$GC,1097,-0.71,-170.3,150.8,-14.0,157,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2774,3664,0,0,0,0,0,0
$GC,1224,-0.71,-170.3,169.1,-14.5,169,1227,0.00,1.62,0.00,0.000,4,0.000,0.049,2542,3795,3665,0,0,0,0,0,0
$GC,1251,-0.71,-170.3,173.6,-15.5,171,1259,0.00,1.58,0.00,0.000,6,0.000,0.028,2542,2790,3664,0,0,0,0,0,0
$GC,1387,-0.71,-170.3,194.1,-15.6,184,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2790,3665,0,0,0,0,0,0
$GC,1513,-0.71,-170.3,213.7,-15.5,196,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2790,3665,0,0,0,0,0,0
$GC,1641,-0.71,-170.3,232.9,-15.1,208,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2790,3664,0,0,0,0,0,0
$GC,1769,-0.71,-170.3,252.0,-15.0,220,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2790,3664,0,0,0,0,0,0
$GC,1958,-0.71,-170.3,280.0,-14.4,238,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2790,3664,0,0,0,0,0,0
$GC,2150,-0.71,-170.3,307.8,-14.6,256,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2790,3664,0,0,0,0,0,0
$STATE,2285,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2285,begin apogee
$GC,2293,-0.16,0.0,327.4,14.2,269,2439,0.62,0.00,139.05,0.946,4,0.116,0.000,2750,2688,2959,0,0,0,0,0,0
$STATE,2439,end apogee,CONTROL_FINISHED_OK
$STATE,2439,begin climb
$GC,2443,0.71,170.3,334.2,0.0,282,2602,0.82,2.33,150.38,0.897,4,0.071,0.031,3030,1305,2265,0,0,0,0,0,0
$GC,2639,0.77,215.9,326.6,8.2,299,2689,0.00,2.47,44.22,0.866,6,0.000,0.040,3030,2698,2079,0,0,0,0,0,0
$GC,2882,0.77,215.9,302.1,10.1,321,2886,0.00,1.80,0.00,0.000,4,0.000,0.048,3030,3765,2076,0,0,0,0,0,0
$GC,2941,0.77,215.9,295.5,12.0,326,2944,0.00,1.67,0.00,0.000,6,0.000,0.030,3038,2716,2075,0,0,1,0,0,0
$GC,3145,0.77,215.9,273.9,10.4,345,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2715,2074,0,0,0,0,0,0
$GC,3336,0.77,215.9,254.5,10.1,363,3339,0.00,1.73,0.00,0.000,4,0.000,0.049,3038,3769,2073,0,0,0,0,0,0
$GC,3375,0.77,215.9,249.8,12.4,366,3382,0.00,1.67,0.00,0.000,6,0.000,0.030,3045,2715,2073,0,0,1,0,0,0
$GC,3574,0.77,215.9,228.0,11.2,385,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2715,2072,0,0,0,0,0,0
$GC,3701,0.77,215.9,214.6,10.5,397,3705,0.00,1.70,0.00,0.000,4,0.000,0.048,3045,3765,2072,0,0,0,0,0,0
$GC,3738,0.77,215.9,210.6,11.5,400,3741,0.00,1.65,0.00,0.000,6,0.000,0.030,3052,2708,2072,0,0,0,0,0,0
$GC,3878,0.77,215.9,195.4,10.4,413,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2708,2072,0,0,0,0,0,0
$GC,4005,0.77,215.9,181.8,10.6,425,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2708,2072,0,0,0,0,0,0
$GC,4134,0.77,215.9,168.1,10.8,437,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2707,2071,0,0,0,0,0,0
$GC,4260,0.77,215.9,154.2,10.6,449,4264,0.00,1.75,0.00,0.000,4,0.000,0.048,3052,3763,2071,0,0,0,0,0,0
$GC,4305,0.77,215.9,148.6,13.0,453,4309,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2701,2071,0,0,0,0,0,0
$GC,4447,0.77,215.9,132.4,11.4,466,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2701,2071,0,0,0,0,0,0
$GC,4573,0.77,215.9,117.5,11.6,478,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2702,2071,0,0,0,0,0,0
$GC,4701,0.77,215.9,103.0,11.4,490,4704,0.00,1.73,0.00,0.000,4,0.000,0.048,3059,3766,2071,0,0,0,0,0,0
$GC,4742,0.77,215.9,98.0,12.7,494,4749,0.00,1.65,0.00,0.000,6,0.000,0.029,3067,2730,2070,0,0,0,0,0,0
$GC,4885,0.77,215.9,81.4,11.1,519,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2731,2070,0,0,0,0,0,0
$GC,5029,0.77,215.9,64.7,11.5,544,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2731,2070,0,0,0,0,0,0
$GC,5170,0.77,215.9,48.2,11.7,569,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2731,2070,0,0,0,0,0,0
$GC,5313,0.77,215.9,31.7,11.6,594,5319,0.00,1.70,0.00,0.000,4,0.000,0.048,3067,3760,2070,0,0,0,0,0,0
$GC,5352,0.77,215.9,26.9,12.5,600,5358,0.00,1.62,0.00,0.000,6,0.000,0.030,3074,2737,2070,0,0,0,0,0,0
$GC,5496,0.77,215.9,9.8,11.2,625,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2737,2069,0,0,0,0,0,0
$FREEZE,7.83,-0.273,-1.898,2,1,0
$FREEZE,7.23,-0.272,-1.897,2,1,0
$FREEZE,6.54,-0.272,-1.897,2,1,0
$FREEZE,5.84,-0.274,-1.896,2,1,0
$FREEZE,5.16,-0.275,-1.896,2,1,0
$FREEZE,4.49,-0.276,-1.895,2,1,0
$FREEZE,3.95,-0.274,-1.895,2,1,0
$FREEZE,3.29,-0.275,-1.894,2,1,0
$FREEZE,2.63,-0.277,-1.894,2,1,0
$STATE,5549,end climb,SURFACE_DEPTH_REACHED
$STATE,5549,begin surface coast
$FREEZE,1.85,-0.277,-1.893,2,1,0
$FREEZE,1.13,-0.280,-1.893,2,1,0
$FREEZE,0.40,-0.282,-1.892,2,1,0
$FREEZE,-0.06,-0.291,-1.892,2,1,0
$FINISH,-0.1,1.027697
$STATE,5574,end surface coast,CONTROL_FINISHED_OK
$STATE,5575,begin surface
$SM_CCo,5593,14.52,0.102,0,0,1940,250.20
$SM_GC,1.31,0.00,0.00,14.52,0.000,0.000,0.102,178,2791,1940,-8.20,0.31,250.20
$IRIDIUM_FIX,-7603.11,17612.42,230111,030343
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.9
$ALTIM_BOTTOM_PING,300.1,41.1
$24V_AH,21.9,87.641
$10V_AH,9.7,35.435
$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,18.375,36.075,333.650,14.525,0.000,28.117,39.755,193.299,1.000,0.000,13.778,1581.045,2444.364,411.793,1313.120,266.706,0.000,1013.625,0.000,1006.541,0.000,8.857,0.000
$DEVICE_MAMPS,209.610,116.280,945.540,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.868,859.766,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,40363,639
$CAP_FILE_SIZE,81051,0
$CFSIZE,260165632,213815296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.145,180.5,1
$GPS,230111,072209,-7655.109,17611.322,16,1.6,17,125.1