version: 66.08
glider: 503
mission: 7
dive: 838
start: 1 23 111 19 30 59
data:
$ID,503
$MISSION,7
$DIVE,838
$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,-20588.617
$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,42
$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
$GPS1,230111,192136,-7654.938,17637.213,33,1.1,34,124.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.1
$GPS2,230111,193031,-7654.932,17637.119,9,1.1,14,124.5
$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,331.9,9593,-16.1,-10.000
$D_GRID,421
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,95,0.00,0.00,-75.90,0.000,2,0.000,0.000,179,2792,3505,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.6,-6.5,13,119,9.20,1.58,-3.08,0.000,4,0.207,0.057,2560,3765,3656,0,0,0,0,0,0
$GC,177,-0.71,-170.3,24.9,-15.3,26,184,0.00,1.58,0.00,0.000,6,0.000,0.028,2560,2775,3659,0,0,0,0,0,0
$GC,321,-0.71,-170.3,45.4,-14.5,51,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3658,0,0,0,0,0,0
$GC,464,-0.71,-170.3,65.2,-13.7,76,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3658,0,0,0,0,0,0
$GC,607,-0.71,-170.3,84.3,-13.1,101,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3659,0,0,0,0,0,0
$GC,747,-0.71,-170.3,103.1,-13.4,124,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3659,0,0,0,0,0,0
$GC,875,-0.71,-170.3,120.5,-13.6,136,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2775,3659,0,0,0,0,0,0
$GC,1003,-0.71,-170.3,138.1,-14.0,148,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3659,0,0,0,0,0,0
$GC,1129,-0.71,-170.3,155.8,-13.8,160,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3659,0,0,0,0,0,0
$GC,1257,-0.71,-170.3,173.8,-14.0,172,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3659,0,0,0,0,0,0
$GC,1384,-0.71,-170.3,191.1,-13.2,184,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2775,3659,0,0,0,0,0,0
$GC,1512,-0.71,-170.3,208.0,-12.9,196,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2775,3659,0,0,0,0,0,0
$GC,1639,-0.71,-170.3,224.4,-12.9,208,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3659,0,0,0,0,0,0
$GC,1766,-0.71,-170.3,240.7,-13.3,220,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3659,0,0,0,0,0,0
$GC,1894,-0.71,-170.3,257.7,-13.6,232,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3659,0,0,0,0,0,0
$GC,2083,-0.71,-170.3,282.6,-12.7,250,2087,0.00,1.62,0.00,0.000,4,0.000,0.048,2552,3781,3659,0,0,0,0,0,0
$GC,2134,-0.71,-170.3,289.6,-13.2,254,2141,0.00,1.58,0.00,0.000,6,0.000,0.028,2552,2782,3659,0,0,0,0,0,0
$STATE,2308,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2308,begin apogee
$GC,2318,-0.16,0.0,312.8,12.9,271,2466,0.57,0.00,137.90,0.937,4,0.119,0.000,2744,2689,2959,0,0,0,0,0,0
$STATE,2467,end apogee,CONTROL_FINISHED_OK
$STATE,2467,begin climb
$GC,2470,0.71,170.3,319.6,0.0,284,2630,0.85,2.30,150.02,0.888,4,0.073,0.031,3030,1309,2265,0,0,0,0,0,0
$GC,2637,0.79,237.6,314.4,7.3,298,2713,0.00,2.47,64.43,0.857,6,0.000,0.040,3031,2689,1993,0,0,1,0,0,0
$GC,2903,0.79,237.6,287.4,10.5,323,2907,0.00,1.83,0.00,0.000,4,0.000,0.048,3031,3765,1991,0,0,0,0,0,0
$GC,2976,0.79,237.6,278.6,12.2,329,2983,0.00,1.67,0.00,0.000,6,0.000,0.030,3039,2717,1990,0,0,1,0,0,0
$GC,3175,0.79,237.6,256.4,11.1,348,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2717,1989,0,0,0,0,0,0
$GC,3367,0.79,237.6,236.0,10.4,366,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2717,1988,0,0,0,0,0,0
$GC,3493,0.79,237.6,222.7,10.7,378,3497,0.00,1.70,0.00,0.000,4,0.000,0.049,3039,3766,1987,0,0,0,0,0,0
$GC,3532,0.79,237.6,218.0,12.1,381,3539,0.00,1.67,0.00,0.000,6,0.000,0.030,3047,2716,1987,0,0,0,0,0,0
$GC,3667,0.79,237.6,203.6,10.6,394,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2715,1987,0,0,0,0,0,0
$GC,3794,0.79,237.6,189.8,10.9,406,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2715,1986,0,0,0,0,0,0
$GC,3922,0.79,237.6,176.1,11.0,418,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2715,1987,0,0,0,0,0,0
$GC,4049,0.79,237.6,162.4,10.6,430,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2715,1986,0,0,0,0,0,0
$GC,4177,0.79,237.6,149.1,10.0,442,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2715,1987,0,0,0,0,0,0
$GC,4304,0.79,237.6,136.2,10.4,454,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2715,1986,0,0,0,0,0,0
$GC,4431,0.79,237.6,123.3,10.1,466,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2715,1986,0,0,0,0,0,0
$GC,4560,0.79,237.6,109.8,10.8,478,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2714,1986,0,0,0,0,0,0
$GC,4687,0.79,237.6,96.0,10.6,493,4694,0.00,1.73,0.00,0.000,4,0.000,0.049,3047,3759,1985,0,0,0,0,0,0
$GC,4729,0.79,237.6,91.1,12.0,500,4736,0.00,1.65,0.00,0.000,6,0.000,0.031,3053,2719,1985,0,0,0,0,0,0
$GC,4873,0.79,237.6,75.2,11.2,525,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2719,1985,0,0,0,0,0,0
$GC,5015,0.79,237.6,58.7,11.2,550,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2719,1985,0,0,0,0,0,0
$GC,5157,0.79,237.6,43.5,10.6,575,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2720,1985,0,0,0,0,0,0
$GC,5300,0.79,237.6,28.1,10.9,600,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2719,1984,0,0,0,0,0,0
$GC,5443,0.79,237.6,12.6,10.4,625,5450,0.00,1.73,0.00,0.000,4,0.000,0.050,3053,3753,1984,0,0,0,0,0,0
$FREEZE,8.50,-0.223,-1.897,2,1,0
$FREEZE,7.81,-0.222,-1.896,2,1,0
$GC,5481,0.79,237.6,7.8,12.5,631,5489,0.00,1.62,0.00,0.000,6,0.000,0.031,3060,2718,1984,0,0,1,0,0,0
$FREEZE,5.70,-0.222,-1.895,2,1,0
$FREEZE,4.98,-0.227,-1.894,2,1,0
$FREEZE,4.37,-0.228,-1.894,2,1,0
$FREEZE,3.92,-0.227,-1.893,2,1,0
$FREEZE,3.15,-0.229,-1.893,2,1,0
$FREEZE,2.52,-0.226,-1.892,2,1,0
$STATE,5520,end climb,SURFACE_DEPTH_REACHED
$STATE,5520,begin surface coast
$FREEZE,1.98,-0.226,-1.892,2,1,0
$FREEZE,1.23,-0.225,-1.891,2,1,0
$FREEZE,0.59,-0.224,-1.891,2,1,0
$FREEZE,-0.08,-0.230,-1.890,2,1,0
$FREEZE,0.09,-0.230,-1.890,2,1,0
$FINISH,0.1,1.027660
$STATE,5550,end surface coast,CONTROL_FINISHED_OK
$STATE,5550,begin surface
$SM_CCo,5569,4.32,0.103,0,0,1940,250.20
$SM_GC,2.32,0.00,0.00,4.32,0.000,0.000,0.103,181,2793,1940,-8.19,0.37,250.20
$IRIDIUM_FIX,-7612.11,17640.80,230111,191946
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.3
$ALTIM_BOTTOM_PING,300.2,26.3
$24V_AH,21.7,88.470
$10V_AH,9.7,35.847
$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,18.250,24.900,352.350,4.325,0.000,53.701,112.765,160.596,1.000,0.000,18.599,1572.668,2475.408,423.637,1374.861,268.087,0.000,1021.524,0.000,997.986,0.000,8.820,0.000
$DEVICE_MAMPS,207.315,98.685,937.125,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.333,881.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40417,643
$CAP_FILE_SIZE,79718,0
$CFSIZE,260165632,213454848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.048,323.3,1
$GPS,230111,210506,-7654.930,17640.676,19,1.2,30,124.4