version: 66.08
glider: 503
mission: 7
dive: 842
start: 1 24 111 2 12 30
data:
$ID,503
$MISSION,7
$DIVE,842
$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,-20593.654
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,240111,020514,-7655.070,17649.469,17,1.9,17,124.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.6
$GPS2,240111,021201,-7655.053,17649.434,40,1.7,40,124.2
$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,328.6,4431,-16.1,-10.000
$D_GRID,375
$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,-170.3,0.0,0.0,0,94,0.00,0.00,-75.50,0.000,2,0.000,0.000,176,2793,3493,0,0,0,0,0,0
$GC,99,-0.71,-170.3,3.7,-9.1,12,120,9.38,1.55,-3.30,0.000,4,0.210,0.059,2559,3755,3659,0,0,0,0,0,0
$GC,218,-0.71,-170.3,31.1,-15.5,32,225,0.00,1.55,0.00,0.000,6,0.000,0.028,2559,2777,3661,0,0,0,0,0,0
$GC,362,-0.71,-170.3,51.5,-14.5,57,369,0.00,2.20,0.00,0.000,4,0.000,0.031,2559,1373,3661,0,0,0,0,0,0
$GC,388,-0.71,-170.3,55.4,-14.1,61,395,0.00,2.28,0.00,0.000,6,0.000,0.041,2548,2776,3662,0,0,0,0,0,0
$GC,529,-0.71,-170.3,76.2,-15.0,86,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2776,3662,0,0,0,0,0,0
$GC,673,-0.71,-170.3,96.5,-14.2,111,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2775,3662,0,0,0,0,0,0
$GC,815,-0.71,-170.3,116.4,-13.6,126,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2775,3662,0,0,0,0,0,0
$GC,942,-0.71,-170.3,133.6,-13.6,138,946,0.00,1.60,0.00,0.000,4,0.000,0.049,2541,3756,3662,0,0,0,0,0,0
$GC,989,-0.71,-170.3,140.2,-14.3,142,993,0.00,1.52,0.00,0.000,6,0.000,0.029,2541,2785,3662,0,0,0,0,0,0
$GC,1130,-0.71,-170.3,160.4,-14.1,155,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2784,3662,0,0,0,0,0,0
$GC,1257,-0.71,-170.3,178.4,-14.5,167,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2784,3661,0,0,0,0,0,0
$GC,1386,-0.71,-170.3,196.5,-14.2,179,1390,0.10,1.62,0.00,0.000,4,0.173,0.050,2561,3765,3662,0,0,1,0,0,0
$GC,1424,-0.71,-170.3,202.3,-13.9,182,1432,0.00,1.52,0.00,0.000,6,0.000,0.029,2561,2799,3661,0,0,0,0,0,0
$GC,1560,-0.71,-170.3,219.9,-13.4,195,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2799,3662,0,0,0,0,0,0
$GC,1688,-0.71,-170.3,236.7,-13.1,207,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2799,3662,0,0,0,0,0,0
$GC,1814,-0.71,-170.3,253.5,-13.2,219,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2799,3662,0,0,0,0,0,0
$GC,2005,-0.71,-170.3,277.8,-12.4,237,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2799,3662,0,0,0,0,0,0
$GC,2197,-0.71,-170.3,301.6,-12.4,255,2201,0.00,1.58,0.00,0.000,4,0.000,0.049,2554,3752,3661,0,0,0,0,0,0
$GC,2244,-0.71,-170.3,307.8,-13.8,259,2247,0.00,1.52,0.00,0.000,6,0.000,0.028,2554,2782,3661,0,0,0,0,0,0
$STATE,2275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2275,begin apogee
$GC,2283,-0.16,0.0,312.4,13.5,262,2430,0.57,0.00,138.93,0.935,4,0.116,0.000,2746,2695,2959,0,0,0,0,0,0
$STATE,2431,end apogee,CONTROL_FINISHED_OK
$STATE,2431,begin climb
$GC,2434,0.71,170.3,319.1,0.0,275,2595,0.82,2.33,150.27,0.886,4,0.073,0.033,3025,1308,2265,0,0,0,0,0,0
$GC,2793,0.75,198.7,297.2,8.9,306,2825,0.00,2.38,26.15,0.856,6,0.000,0.040,3025,2702,2149,0,0,0,0,0,0
$GC,3025,0.77,217.8,275.9,9.2,328,3048,0.00,2.35,18.15,0.851,4,0.000,0.034,3036,1305,2072,0,0,1,0,0,0
$GC,3186,0.79,234.2,261.3,9.3,342,3211,0.00,2.30,16.45,0.848,6,0.000,0.041,3036,2712,2004,0,0,0,0,0,0
$GC,3403,0.79,234.2,239.3,10.4,362,3407,0.00,1.70,0.00,0.000,4,0.000,0.050,3036,3766,2004,0,0,0,0,0,0
$GC,3442,0.79,234.2,234.4,12.7,365,3449,0.00,1.67,0.00,0.000,6,0.000,0.030,3043,2718,2005,0,0,0,0,0,0
$GC,3577,0.79,234.2,219.3,11.3,378,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2718,2004,0,0,0,0,0,0
$GC,3704,0.79,234.2,205.0,11.0,390,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2718,2004,0,0,0,0,0,0
$GC,3834,0.79,234.2,191.1,10.9,402,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2718,2005,0,0,0,0,0,0
$GC,3970,0.79,234.2,176.1,10.9,415,3973,0.00,1.73,0.00,0.000,4,0.000,0.050,3044,3759,2004,0,0,0,0,0,0
$GC,3997,0.79,234.2,172.5,12.3,417,4004,0.00,1.65,0.00,0.000,6,0.000,0.031,3051,2719,2004,0,0,0,0,0,0
$GC,4132,0.79,234.2,157.3,11.4,430,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2719,2003,0,0,0,0,0,0
$GC,4260,0.79,234.2,143.3,10.9,442,4264,0.00,2.22,0.00,0.000,4,0.000,0.034,3062,1302,2003,0,0,0,0,0,0
$GC,4286,0.79,234.2,140.1,10.6,444,4293,0.00,2.30,0.00,0.000,6,0.000,0.041,3062,2723,2003,0,0,0,0,0,0
$GC,4421,0.79,234.2,125.0,11.3,457,4425,0.00,1.67,0.00,0.000,4,0.000,0.049,3062,3770,2003,0,0,0,0,0,0
$GC,4471,0.79,234.2,118.3,13.2,461,4478,0.00,1.65,0.00,0.000,6,0.000,0.029,3071,2733,2003,0,0,0,0,0,0
$GC,4606,0.79,234.2,101.7,12.4,474,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2733,2003,0,0,0,0,0,0
$GC,4740,0.79,234.2,85.0,12.5,496,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2733,2002,0,0,0,0,0,0
$GC,4881,0.79,234.2,67.3,12.7,521,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2733,2002,0,0,0,0,0,0
$GC,5022,0.79,234.2,50.3,12.5,546,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2733,2003,0,0,0,0,0,0
$GC,5166,0.79,234.2,32.8,12.8,571,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2733,2002,0,0,0,0,0,0
$GC,5309,0.79,234.2,15.0,13.4,596,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2733,2003,0,0,0,0,0,0
$FREEZE,8.58,-0.223,-1.897,2,1,0
$FREEZE,7.89,-0.223,-1.897,2,1,0
$FREEZE,7.28,-0.216,-1.896,2,1,0
$FREEZE,6.73,-0.220,-1.896,2,1,0
$FREEZE,6.10,-0.221,-1.896,2,1,0
$FREEZE,5.51,-0.219,-1.895,2,1,0
$FREEZE,4.87,-0.223,-1.895,2,1,0
$FREEZE,4.20,-0.210,-1.894,2,1,0
$FREEZE,3.61,-0.209,-1.894,2,1,0
$FREEZE,3.01,-0.209,-1.893,2,1,0
$FREEZE,2.36,-0.209,-1.893,2,1,0
$STATE,5413,end climb,SURFACE_DEPTH_REACHED
$STATE,5414,begin surface coast
$FREEZE,1.24,-0.217,-1.892,2,1,0
$FREEZE,0.58,-0.217,-1.891,2,1,0
$FREEZE,-0.15,-0.222,-1.891,2,1,0
$FREEZE,-0.12,-0.751,-1.598,2,1,0
$FINISH,-0.1,1.023521
$STATE,5436,end surface coast,CONTROL_FINISHED_OK
$STATE,5436,begin surface
$SM_CCo,5455,6.25,0.103,0,0,1939,250.20
$SM_GC,2.05,0.00,0.00,6.25,0.000,0.000,0.103,191,2792,1939,-8.16,0.31,250.20
$IRIDIUM_FIX,-7612.11,17630.76,240111,000037
$TT8_MAMPS,0.026215
$HUMID,52.91
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.4
$ALTIM_BOTTOM_PING,300.3,25.9
$24V_AH,21.9,88.879
$10V_AH,9.7,36.049
$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,18.375,41.050,349.950,6.250,0.000,30.632,40.444,162.876,1.250,0.000,43.191,1540.742,2292.685,433.082,1333.016,276.325,0.000,1050.070,0.000,1024.792,0.000,11.738,0.000
$DEVICE_MAMPS,210.375,116.280,934.830,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.191,839.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40491,619
$CAP_FILE_SIZE,81879,0
$CFSIZE,260165632,213274624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.016,199.2,1
$GPS,240111,034426,-7655.193,17652.850,10,1.6,11,124.2