version: 66.08
glider: 503
mission: 7
dive: 840
start: 1 23 111 22 55 6
data:
$ID,503
$MISSION,7
$DIVE,840
$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,-20591.135
$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,37
$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
$GPS1,230111,224808,-7654.922,17643.588,30,1.5,31,124.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.0
$GPS2,230111,225437,-7654.897,17643.498,31,0.9,31,124.4
$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,336.5,6921,-16.1,-10.000
$D_GRID,399
$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,-170.3,0.0,0.0,0,93,0.00,0.00,-74.28,0.000,2,0.000,0.000,177,2791,3406,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.1,-5.9,13,119,9.35,1.65,-5.40,0.000,4,0.210,0.063,2561,3765,3659,0,0,0,0,0,0
$GC,212,-0.71,-170.3,27.1,-14.8,32,219,0.00,1.58,0.00,0.000,6,0.000,0.028,2561,2773,3661,0,0,0,0,0,0
$GC,354,-0.71,-170.3,47.7,-14.7,57,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2773,3661,0,0,0,0,0,0
$GC,496,-0.71,-170.3,68.3,-14.8,82,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2773,3662,0,0,0,0,0,0
$GC,638,-0.71,-170.3,88.4,-14.1,107,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2773,3662,0,0,0,0,0,0
$GC,778,-0.71,-170.3,107.3,-13.4,127,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2773,3662,0,0,0,0,0,0
$GC,904,-0.71,-170.3,124.0,-12.9,139,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2773,3662,0,0,0,0,0,0
$GC,1032,-0.71,-170.3,140.5,-12.9,151,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2772,3662,0,0,0,0,0,0
$GC,1160,-0.71,-170.3,156.4,-12.1,163,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2773,3662,0,0,0,0,0,0
$GC,1286,-0.71,-170.3,171.9,-12.3,175,1290,0.00,1.62,0.00,0.000,4,0.000,0.048,2553,3753,3662,0,0,0,0,0,0
$GC,1332,-0.71,-170.3,178.0,-13.2,179,1335,0.00,1.52,0.00,0.000,6,0.000,0.028,2552,2782,3661,0,0,0,0,0,0
$GC,1474,-0.71,-170.3,196.8,-13.5,192,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3662,0,0,0,0,0,0
$GC,1599,-0.71,-170.3,214.3,-13.9,204,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3662,0,0,0,0,0,0
$GC,1727,-0.71,-170.3,231.4,-13.3,216,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3662,0,0,0,0,0,0
$GC,1855,-0.71,-170.3,248.0,-12.9,228,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3662,0,0,0,0,0,0
$GC,1981,-0.71,-170.3,264.6,-13.2,240,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3662,0,0,0,0,0,0
$GC,2172,-0.71,-170.3,290.0,-13.4,258,2175,0.00,1.60,0.00,0.000,4,0.000,0.048,2545,3748,3662,0,0,0,0,0,0
$GC,2219,-0.71,-170.3,296.4,-13.7,262,2223,0.00,1.50,0.00,0.000,6,0.000,0.028,2545,2779,3662,0,0,1,0,0,0
$STATE,2325,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2325,begin apogee
$GC,2332,-0.16,0.0,311.5,13.8,272,2478,0.60,0.00,138.80,0.938,4,0.119,0.000,2744,2693,2959,0,0,0,0,0,0
$STATE,2479,end apogee,CONTROL_FINISHED_OK
$STATE,2479,begin climb
$GC,2482,0.71,170.3,318.5,0.0,285,2642,0.85,2.33,149.82,0.889,4,0.073,0.031,3031,1305,2264,0,0,0,0,0,0
$GC,2827,0.76,207.0,298.0,8.5,315,2868,0.00,2.35,33.67,0.863,6,0.000,0.040,3031,2690,2116,0,0,0,0,0,0
$GC,3059,0.76,209.4,275.9,9.9,337,3072,0.00,2.30,3.83,0.579,4,0.000,0.034,3042,1317,2106,0,0,1,0,0,0
$GC,3230,0.78,226.5,259.9,9.3,352,3254,0.00,2.28,16.45,0.851,6,0.000,0.041,3042,2710,2036,0,0,0,0,0,0
$GC,3448,0.78,226.5,237.3,10.4,372,3452,0.00,1.70,0.00,0.000,4,0.000,0.049,3042,3762,2036,0,0,0,0,0,0
$GC,3487,0.78,226.5,232.2,12.0,375,3495,0.00,1.67,0.00,0.000,6,0.000,0.030,3050,2720,2036,0,0,0,0,0,0
$GC,3623,0.78,226.5,216.9,11.5,388,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2720,2036,0,0,0,0,0,0
$GC,3750,0.78,226.5,202.1,11.7,400,3754,0.00,1.67,0.00,0.000,4,0.000,0.049,3050,3762,2036,0,0,0,0,0,0
$GC,3785,0.78,226.5,197.3,13.2,403,3789,0.00,1.65,0.00,0.000,6,0.000,0.030,3058,2702,2035,0,0,0,0,0,0
$GC,3927,0.78,226.5,179.8,12.0,416,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2703,2035,0,0,0,0,0,0
$GC,4053,0.78,226.5,164.7,12.0,428,4057,0.00,1.70,0.00,0.000,4,0.000,0.049,3058,3761,2034,0,0,0,0,0,0
$GC,4102,0.78,226.5,158.6,13.6,432,4105,0.00,1.65,0.00,0.000,6,0.000,0.030,3066,2697,2034,0,0,0,0,0,0
$GC,4243,0.78,226.5,140.8,12.0,445,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2696,2035,0,0,0,0,0,0
$GC,4370,0.78,226.5,125.1,12.5,457,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2696,2034,0,0,0,0,0,0
$GC,4497,0.78,226.5,109.3,12.6,469,4501,0.00,1.75,0.00,0.000,4,0.000,0.049,3066,3754,2034,0,0,0,0,0,0
$GC,4535,0.78,226.5,103.8,15.0,472,4542,0.00,1.62,0.00,0.000,6,0.000,0.030,3074,2732,2034,0,0,0,0,0,0
$GC,4674,0.78,226.5,86.0,12.6,494,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2732,2034,0,0,0,0,0,0
$GC,4817,0.78,226.5,67.4,13.2,519,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2732,2034,0,0,0,0,0,0
$GC,4960,0.78,226.5,49.5,12.1,544,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2732,2033,0,0,0,0,0,0
$GC,5101,0.78,226.5,32.6,12.0,569,5108,0.00,1.70,0.00,0.000,4,0.000,0.047,3074,3763,2034,0,0,0,0,0,0
$GC,5132,0.78,226.5,28.5,13.7,574,5139,0.00,1.62,0.00,0.000,6,0.000,0.030,3082,2737,2033,0,0,0,0,0,0
$GC,5275,0.78,226.5,10.4,12.5,599,5283,0.10,0.00,0.00,0.000,6,0.174,0.000,3052,2736,2033,0,0,0,0,0,0
$FREEZE,8.13,-0.277,-1.897,2,1,0
$FREEZE,7.59,-0.252,-1.896,2,1,0
$FREEZE,7.22,-0.254,-1.896,2,1,0
$FREEZE,6.69,-0.252,-1.896,2,1,0
$FREEZE,6.02,-0.255,-1.895,2,1,0
$FREEZE,5.49,-0.252,-1.895,2,1,0
$FREEZE,4.95,-0.259,-1.895,2,1,0
$FREEZE,4.41,-0.253,-1.894,2,1,0
$FREEZE,3.87,-0.248,-1.894,2,1,0
$FREEZE,3.26,-0.245,-1.893,2,1,0
$FREEZE,2.70,-0.251,-1.893,2,1,0
$STATE,5340,end climb,SURFACE_DEPTH_REACHED
$STATE,5343,begin surface coast
$FREEZE,1.73,-0.262,-1.892,2,1,0
$FREEZE,1.11,-0.260,-1.892,2,1,0
$FREEZE,0.61,-0.253,-1.891,2,1,0
$FREEZE,-0.02,-0.252,-1.891,2,1,0
$FREEZE,-0.01,-0.257,-1.890,2,1,0
$FINISH,-0.0,1.027670
$STATE,5371,end surface coast,CONTROL_FINISHED_OK
$STATE,5371,begin surface
$SM_CCo,5390,10.05,0.102,0,0,1940,250.20
$SM_GC,1.88,0.00,0.00,10.05,0.000,0.000,0.102,183,2787,1940,-8.18,0.20,250.20
$IRIDIUM_FIX,-7612.11,17631.33,230111,212121
$TT8_MAMPS,0.026964
$HUMID,53.34
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,301.1,24.7
$24V_AH,21.9,88.675
$10V_AH,9.7,35.949
$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,18.450,35.625,342.575,10.050,0.000,27.597,39.277,157.978,1.000,0.000,34.521,1538.925,2261.574,415.637,1309.099,270.568,0.000,1023.711,0.000,1017.716,0.000,8.817,0.000
$DEVICE_MAMPS,210.375,113.220,937.890,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.403,839.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40277,616
$CAP_FILE_SIZE,80729,0
$CFSIZE,260165632,213364736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.073,307.0,1
$GPS,240111,002622,-7654.955,17646.145,12,2.3,31,124.3