version: 66.08
glider: 503
mission: 7
dive: 843
start: 1 24 111 3 51 13
data:
$ID,503
$MISSION,7
$DIVE,843
$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,-20594.912
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,240111,034426,-7655.193,17652.850,10,1.6,11,124.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-72.5
$GPS2,240111,035044,-7655.180,17652.863,13,1.6,13,124.2
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$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,209.8,105659,-16.1,-10.000
$D_GRID,376
$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,-74.68,0.000,2,0.000,0.000,190,2793,3459,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.4,-8.1,13,119,9.27,2.28,-4.12,0.000,4,0.210,0.041,2565,1373,3658,0,0,0,0,0,0
$GC,363,-0.71,-170.3,47.5,-12.8,59,370,0.00,2.28,0.00,0.000,6,0.000,0.041,2562,2776,3661,0,0,0,0,0,0
$GC,507,-0.71,-170.3,66.5,-13.1,84,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2776,3661,0,0,0,0,0,0
$GC,649,-0.71,-170.3,86.1,-13.6,109,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2776,3662,0,0,0,0,0,0
$GC,790,-0.71,-170.3,104.9,-13.3,131,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2776,3662,0,0,0,0,0,0
$GC,916,-0.71,-170.3,121.8,-13.0,143,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2776,3662,0,0,0,0,0,0
$GC,1043,-0.71,-170.3,138.5,-13.1,155,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1172,-0.71,-170.3,155.4,-13.2,167,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1298,-0.71,-170.3,172.8,-14.0,179,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1426,-0.71,-170.3,189.8,-13.0,191,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2776,3662,0,0,0,0,0,0
$GC,1554,-0.71,-170.3,205.6,-12.3,203,1558,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3786,3662,0,0,0,0,0,0
$GC,1600,-0.71,-170.3,211.6,-12.4,207,1604,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2784,3661,0,0,0,0,0,0
$GC,1741,-0.71,-170.3,228.9,-12.5,220,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3662,0,0,0,0,0,0
$GC,1869,-0.71,-170.3,244.9,-12.3,232,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3662,0,0,0,0,0,0
$GC,1997,-0.71,-170.3,260.8,-12.6,244,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3661,0,0,0,0,0,0
$GC,2195,-0.71,-170.3,285.7,-12.2,263,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3661,0,0,0,0,0,0
$GC,2387,-0.71,-170.3,309.0,-12.2,281,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3661,0,0,0,0,0,0
$STATE,2427,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2427,begin apogee
$GC,2434,-0.16,0.0,314.1,11.9,285,2581,0.55,0.00,138.77,0.936,4,0.116,0.000,2748,2679,2959,0,0,0,0,0,0
$STATE,2582,end apogee,CONTROL_FINISHED_OK
$STATE,2582,begin climb
$GC,2584,0.71,170.3,320.6,0.0,298,2747,0.82,2.28,150.43,0.888,4,0.073,0.031,3027,1311,2265,0,0,0,0,0,0
$GC,2952,0.75,202.4,297.3,8.7,330,2988,0.00,2.35,29.40,0.861,6,0.000,0.041,3027,2698,2134,0,0,0,0,0,0
$GC,3180,0.76,210.8,275.5,9.7,351,3194,0.00,2.33,8.98,0.796,4,0.000,0.032,3035,1316,2100,0,0,1,0,0,0
$GC,3342,0.79,233.4,259.8,9.1,365,3369,0.00,2.28,21.62,0.858,6,0.000,0.041,3035,2713,2008,0,0,0,0,0,0
$GC,3562,0.79,233.4,236.6,10.9,385,3566,0.00,1.70,0.00,0.000,4,0.000,0.050,3035,3763,2008,0,0,0,0,0,0
$GC,3609,0.79,233.4,231.0,12.5,389,3612,0.00,1.65,0.00,0.000,6,0.000,0.030,3042,2710,2008,0,0,0,0,0,0
$GC,3749,0.79,233.4,215.4,10.6,402,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2710,2007,0,0,0,0,0,0
$GC,3876,0.79,233.4,202.2,10.3,414,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2710,2008,0,0,0,0,0,0
$GC,4004,0.79,233.4,189.0,10.3,426,4007,0.00,1.70,0.00,0.000,4,0.000,0.049,3042,3763,2007,0,0,0,0,0,0
$GC,4055,0.79,233.4,183.1,11.6,430,4062,0.00,1.65,0.00,0.000,6,0.000,0.029,3049,2722,2007,0,0,0,0,0,0
$GC,4190,0.79,233.4,168.7,10.9,443,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2722,2007,0,0,0,0,0,0
$GC,4317,0.79,233.4,154.8,11.0,455,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2722,2007,0,0,0,0,0,0
$GC,4445,0.79,233.4,140.6,11.2,467,4449,0.00,1.73,0.00,0.000,4,0.000,0.050,3049,3757,2007,0,0,0,0,0,0
$GC,4491,0.79,233.4,134.9,12.3,471,4495,0.00,1.62,0.00,0.000,6,0.000,0.030,3057,2737,2006,0,0,0,0,0,0
$GC,4632,0.79,233.4,118.8,11.7,484,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2006,0,0,0,0,0,0
$GC,4759,0.79,233.4,104.9,10.8,496,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2006,0,0,0,0,0,0
$GC,4890,0.79,233.4,91.0,10.5,515,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2006,0,0,0,0,0,0
$GC,5033,0.79,233.4,75.5,11.0,540,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2006,0,0,0,0,0,0
$GC,5174,0.79,233.4,60.1,11.1,565,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2005,0,0,0,0,0,0
$GC,5316,0.79,233.4,44.7,10.7,590,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2005,0,0,0,0,0,0
$GC,5458,0.79,233.4,29.6,10.6,615,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2005,0,0,0,0,0,0
$GC,5599,0.79,233.4,14.1,11.8,640,5606,0.00,1.70,0.00,0.000,4,0.000,0.050,3057,3760,2005,0,0,0,0,0,0
$FREEZE,8.84,-0.221,-1.898,2,1,0
$FREEZE,8.11,-0.220,-1.897,2,1,0
$GC,5649,0.79,233.4,8.1,12.7,648,5656,0.00,1.62,0.00,0.000,6,0.000,0.030,3064,2737,2005,0,0,0,0,0,0
$FREEZE,5.78,-0.217,-1.896,2,1,0
$FREEZE,5.15,-0.213,-1.895,2,1,0
$FREEZE,4.58,-0.213,-1.895,2,1,0
$FREEZE,3.92,-0.213,-1.894,2,1,0
$FREEZE,3.25,-0.214,-1.894,2,1,0
$FREEZE,2.50,-0.212,-1.893,2,1,0
$STATE,5690,end climb,SURFACE_DEPTH_REACHED
$STATE,5690,begin surface coast
$FREEZE,1.90,-0.211,-1.892,2,1,0
$FREEZE,1.18,-0.210,-1.892,2,1,0
$FREEZE,0.44,-0.206,-1.891,2,1,0
$FREEZE,-0.01,-0.206,-1.891,2,1,0
$FINISH,-0.0,1.027670
$STATE,5715,end surface coast,CONTROL_FINISHED_OK
$STATE,5715,begin surface
$SM_CCo,5734,6.65,0.103,0,0,1940,250.20
$SM_GC,2.06,0.00,0.00,6.65,0.000,0.000,0.103,179,2792,1940,-8.20,0.34,250.20
$IRIDIUM_FIX,-7612.11,17659.73,240111,020227
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.5
$ALTIM_BOTTOM_PING,301.2,27.8
$24V_AH,21.9,88.981
$10V_AH,9.8,36.101
$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,18.225,30.525,349.200,6.650,0.000,28.228,35.497,166.925,1.000,0.000,15.771,1631.232,2455.558,412.356,1347.738,279.078,0.000,1041.389,0.000,1069.670,0.000,8.826,0.000
$DEVICE_MAMPS,209.610,113.985,936.360,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.161,898.013,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258124
$DATA_FILE_SIZE,43574,659
$CAP_FILE_SIZE,81776,0
$CFSIZE,260165632,213225472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.078,116.9,1
$GPS,240111,052825,-7654.574,17652.297,47,1.0,48,124.1