version: 66.08
glider: 503
mission: 7
dive: 832
start: 1 23 111 9 13 46
data:
$ID,503
$MISSION,7
$DIVE,832
$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,-20579.129
$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,45
$R_STBD_OVSHOOT,33
$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
$GPS1,230111,090707,-7655.126,17614.723,37,1.3,38,125.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.3
$GPS2,230111,091319,-7655.131,17614.727,10,1.5,10,125.0
$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,296.5,18982,-16.1,-10.000
$D_GRID,422
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-170.3,0.0,0.0,0,92,0.00,0.00,-72.22,0.000,2,0.000,0.000,175,2789,3403,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.2,-7.3,12,118,9.35,1.65,-5.38,0.000,4,0.212,0.061,2556,3765,3659,0,0,0,0,0,0
$GC,308,-0.71,-170.3,42.7,-14.9,49,315,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2767,3662,0,0,0,0,0,0
$GC,450,-0.71,-170.3,63.0,-14.2,74,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2767,3662,0,0,0,0,0,0
$GC,594,-0.71,-170.3,83.5,-13.9,99,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2767,3662,0,0,0,0,0,0
$GC,734,-0.71,-170.3,103.5,-14.3,122,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2767,3662,0,0,0,0,0,0
$GC,861,-0.71,-170.3,121.5,-13.8,134,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2767,3663,0,0,0,0,0,0
$GC,989,-0.71,-170.3,138.8,-13.3,146,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2767,3663,0,0,0,0,0,0
$GC,1116,-0.71,-170.3,155.7,-13.0,158,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2767,3662,0,0,0,0,0,0
$GC,1244,-0.71,-170.3,172.6,-13.6,170,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2767,3663,0,0,0,0,0,0
$GC,1371,-0.71,-170.3,190.3,-14.0,182,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2767,3663,0,0,0,0,0,0
$GC,1499,-0.71,-170.3,207.7,-13.9,194,1502,0.00,1.65,0.00,0.000,4,0.000,0.048,2548,3758,3663,0,0,0,0,0,0
$GC,1534,-0.71,-170.3,213.0,-15.2,197,1539,0.00,1.52,0.00,0.000,6,0.000,0.029,2548,2793,3662,0,0,0,0,0,0
$GC,1675,-0.71,-170.3,233.4,-14.5,210,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2793,3663,0,0,0,0,0,0
$GC,1803,-0.71,-170.3,251.4,-14.2,222,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,1993,-0.71,-170.3,277.9,-13.8,240,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2793,3663,0,0,0,0,0,0
$GC,2183,-0.71,-170.3,304.5,-14.0,258,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2792,3663,0,0,0,0,0,0
$STATE,2329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2330,begin apogee
$GC,2337,-0.16,0.0,324.9,13.6,272,2483,0.57,0.00,139.10,0.942,4,0.119,0.000,2739,2689,2958,0,0,0,0,0,0
$STATE,2484,end apogee,CONTROL_FINISHED_OK
$STATE,2484,begin climb
$GC,2487,0.71,170.3,332.0,0.0,285,2649,0.88,2.33,150.35,0.896,4,0.073,0.031,3033,1302,2265,0,0,0,0,0,0
$GC,2864,0.75,205.1,308.3,8.6,318,2902,0.00,2.38,32.12,0.871,6,0.000,0.041,3033,2703,2123,0,0,0,0,0,0
$GC,3101,0.75,205.1,284.8,10.1,340,3105,0.00,2.28,0.00,0.000,4,0.000,0.033,3043,1308,2122,0,0,0,0,0,0
$GC,3268,0.76,209.3,267.8,9.8,354,3280,0.00,2.30,5.05,0.698,6,0.000,0.041,3043,2712,2105,0,0,0,0,0,0
$GC,3481,0.76,209.3,244.7,11.0,374,3485,0.00,1.70,0.00,0.000,4,0.000,0.050,3043,3766,2105,0,0,0,0,0,0
$GC,3541,0.76,209.3,237.3,13.5,379,3545,0.00,1.65,0.00,0.000,6,0.000,0.030,3052,2710,2104,0,0,0,0,0,0
$GC,3682,0.76,209.3,221.0,11.1,392,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2709,2104,0,0,0,0,0,0
$GC,3810,0.76,209.3,207.6,10.2,404,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2709,2104,0,0,0,0,0,0
$GC,3936,0.76,209.3,194.3,10.2,416,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2709,2103,0,0,0,0,0,0
$GC,4064,0.76,210.9,181.5,9.9,428,4067,0.00,1.70,0.00,0.000,4,0.000,0.047,3052,3764,2102,0,0,0,0,0,0
$GC,4100,0.76,210.9,177.6,11.7,431,4103,0.00,1.67,0.00,0.000,6,0.000,0.031,3059,2698,2103,0,0,0,0,0,0
$GC,4241,0.76,210.9,161.9,11.0,444,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2698,2103,0,0,0,0,0,0
$GC,4367,0.76,210.9,147.7,11.0,456,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2698,2103,0,0,0,0,0,0
$GC,4495,0.76,210.9,133.2,11.4,468,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2698,2102,0,0,0,0,0,0
$GC,4623,0.76,210.9,118.7,11.5,480,4627,0.00,1.77,0.00,0.000,4,0.000,0.048,3060,3763,2102,0,0,0,0,0,0
$GC,4672,0.76,210.9,112.1,13.7,484,4679,0.00,1.67,0.00,0.000,6,0.000,0.030,3068,2716,2102,0,0,0,0,0,0
$GC,4809,0.76,210.9,96.3,11.2,499,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2716,2102,0,0,0,0,0,0
$GC,4950,0.76,210.9,79.9,11.5,524,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2717,2101,0,0,0,0,0,0
$GC,5091,0.76,210.9,63.7,12.2,549,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2716,2101,0,0,0,0,0,0
$GC,5233,0.76,210.9,46.8,11.9,574,5240,0.00,1.73,0.00,0.000,4,0.000,0.048,3068,3759,2101,0,0,0,0,0,0
$GC,5282,0.76,210.9,40.2,13.8,582,5290,0.08,1.65,0.00,0.000,6,0.148,0.030,3049,2724,2101,0,0,0,0,0,0
$GC,5427,0.77,219.1,24.8,9.7,607,5440,0.00,0.00,9.20,0.750,6,0.000,0.000,3049,2724,2066,0,0,0,0,0,0
$FREEZE,8.80,-0.297,-1.899,2,1,0
$GC,5578,0.77,219.1,8.8,10.6,633,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2724,2066,0,0,0,0,0,0
$FREEZE,7.17,-0.291,-1.898,2,1,0
$FREEZE,6.62,-0.293,-1.897,2,1,0
$FREEZE,6.13,-0.291,-1.897,2,1,0
$FREEZE,5.64,-0.294,-1.897,2,1,0
$FREEZE,5.07,-0.296,-1.896,2,1,0
$FREEZE,4.43,-0.292,-1.896,2,1,0
$FREEZE,3.80,-0.293,-1.895,2,1,0
$FREEZE,3.12,-0.291,-1.894,2,1,0
$FREEZE,2.63,-0.293,-1.894,2,1,0
$STATE,5632,end climb,SURFACE_DEPTH_REACHED
$STATE,5632,begin surface coast
$FREEZE,1.95,-0.292,-1.894,2,1,0
$FREEZE,1.49,-0.301,-1.893,2,1,0
$FREEZE,0.79,-0.303,-1.893,2,1,0
$FREEZE,0.33,-0.313,-1.893,2,1,0
$FREEZE,-0.08,-0.613,-1.912,2,1,0
$FINISH,-0.1,1.027985
$STATE,5663,end surface coast,CONTROL_FINISHED_OK
$STATE,5663,begin surface
$SM_CCo,5682,14.18,0.101,0,0,1940,250.20
$SM_GC,1.26,0.00,0.00,14.18,0.000,0.000,0.101,186,2801,1940,-8.17,0.59,250.20
$IRIDIUM_FIX,-7612.11,17602.31,230111,070718
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.4
$ALTIM_BOTTOM_PING,300.2,39.3
$24V_AH,21.9,87.843
$10V_AH,9.8,35.539
$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,18.400,29.425,335.825,14.175,0.000,30.704,37.383,162.909,1.000,0.000,13.027,1613.574,2456.361,400.078,1332.435,271.575,0.000,1018.300,0.000,1056.093,0.000,8.854,0.000
$DEVICE_MAMPS,211.905,99.450,942.480,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.654,873.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258244
$DATA_FILE_SIZE,40413,648
$CAP_FILE_SIZE,80913,0
$CFSIZE,260165632,213725184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,163.7,1
$GPS,230111,104944,-7655.085,17618.102,18,1.4,18,125.0