version: 66.08
glider: 503
mission: 7
dive: 844
start: 1 24 111 5 35 17
data:
$ID,503
$MISSION,7
$DIVE,844
$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,-20596.168
$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
$GPS1,240111,052825,-7654.574,17652.297,47,1.0,48,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-75.4
$GPS2,240111,053450,-7654.568,17652.354,16,1.2,16,124.1
$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,198.2,104554,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.71,-170.3,0.0,0.0,0,96,0.00,0.00,-75.30,0.000,2,0.000,0.000,176,2794,3480,0,0,0,0,0,0
$GC,101,-0.71,-170.3,3.4,-7.6,13,122,9.30,2.28,-3.67,0.000,4,0.208,0.040,2566,1365,3658,0,0,0,0,0,0
$GC,375,-0.71,-170.3,48.5,-12.6,61,382,0.00,2.28,0.00,0.000,6,0.000,0.041,2556,2772,3661,0,0,0,0,0,0
$GC,520,-0.71,-170.3,68.7,-14.4,86,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2773,3661,0,0,0,0,0,0
$GC,661,-0.71,-170.3,88.6,-13.7,111,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2772,3662,0,0,0,0,0,0
$GC,808,-0.71,-170.3,109.3,-14.4,131,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2772,3662,0,0,0,0,0,0
$GC,934,-0.71,-170.3,127.8,-14.6,143,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2772,3662,0,0,0,0,0,0
$GC,1062,-0.71,-170.3,145.8,-14.2,155,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2772,3662,0,0,0,0,0,0
$GC,1190,-0.71,-170.3,163.4,-13.8,167,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2772,3662,0,0,0,0,0,0
$GC,1316,-0.71,-170.3,180.2,-13.0,179,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2772,3662,0,0,0,0,0,0
$GC,1443,-0.71,-170.3,197.2,-13.4,191,1447,0.00,1.60,0.00,0.000,4,0.000,0.047,2548,3758,3662,0,0,0,0,0,0
$GC,1483,-0.71,-170.3,202.8,-14.6,194,1489,0.00,1.55,0.00,0.000,6,0.000,0.028,2548,2770,3662,0,0,0,0,0,0
$GC,1617,-0.71,-170.3,221.5,-14.2,207,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2770,3661,0,0,0,0,0,0
$GC,1745,-0.71,-170.3,239.4,-13.9,219,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2770,3662,0,0,0,0,0,0
$GC,1873,-0.71,-170.3,257.5,-14.0,231,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2770,3662,0,0,0,0,0,0
$GC,2063,-0.71,-170.3,284.2,-14.1,249,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2770,3662,0,0,0,0,0,0
$GC,2254,-0.71,-170.3,310.5,-13.5,267,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2770,3661,0,0,0,0,0,0
$STATE,2294,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2294,begin apogee
$GC,2302,-0.16,0.0,316.4,13.6,271,2449,0.57,0.00,138.82,0.936,4,0.119,0.000,2741,2693,2959,0,0,0,0,0,0
$STATE,2450,end apogee,CONTROL_FINISHED_OK
$STATE,2450,begin climb
$GC,2453,0.71,170.3,323.3,0.0,284,2614,0.85,2.35,150.52,0.889,4,0.076,0.031,3025,1307,2265,0,0,0,0,0,0
$GC,2801,0.77,219.5,302.7,8.1,314,2852,0.00,2.38,45.08,0.869,6,0.000,0.040,3025,2699,2065,0,0,0,0,0,0
$GC,3045,0.78,225.7,280.3,9.8,337,3058,0.00,2.35,7.35,0.762,4,0.000,0.032,3035,1305,2039,0,0,1,0,0,0
$GC,3198,0.79,235.9,265.6,9.6,350,3218,0.00,2.33,10.60,0.819,6,0.000,0.041,3035,2715,1997,0,0,0,0,0,0
$GC,3411,0.81,251.4,245.2,9.4,370,3429,0.00,0.00,15.20,0.848,6,0.000,0.000,3035,2714,1935,0,0,0,0,0,0
$GC,3556,0.82,257.9,230.8,9.7,384,3569,0.00,1.77,7.75,0.778,4,0.000,0.049,3035,3759,1908,0,0,0,0,0,0
$GC,3605,0.82,257.9,225.4,11.5,388,3609,0.00,1.67,0.00,0.000,6,0.000,0.030,3042,2719,1907,0,0,0,0,0,0
$GC,3747,0.82,257.9,209.9,11.2,401,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2719,1908,0,0,0,0,0,0
$GC,3873,0.82,257.9,195.2,11.5,413,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2719,1907,0,0,0,0,0,0
$GC,4000,0.82,257.9,180.7,11.4,425,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2720,1908,0,0,0,0,0,0
$GC,4129,0.82,257.9,166.9,10.8,437,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2720,1907,0,0,0,0,0,0
$GC,4255,0.82,257.9,153.3,10.6,449,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2719,1907,0,0,0,0,0,0
$GC,4383,0.82,257.9,140.1,10.3,461,4386,0.00,1.70,0.00,0.000,4,0.000,0.049,3042,3765,1907,0,0,0,0,0,0
$GC,4418,0.82,257.9,136.2,11.2,464,4422,0.00,1.65,0.00,0.000,6,0.000,0.030,3049,2704,1907,0,0,0,0,0,0
$GC,4560,0.82,257.9,121.4,10.6,477,4564,0.00,2.20,0.00,0.000,4,0.000,0.034,3060,1301,1907,0,0,0,0,0,0
$GC,4589,0.82,257.9,118.3,10.3,479,4593,0.00,2.25,0.00,0.000,6,0.000,0.041,3060,2703,1907,0,0,0,0,0,0
$GC,4725,0.82,257.9,103.5,11.7,491,4729,0.00,1.73,0.00,0.000,4,0.000,0.050,3060,3753,1907,0,0,0,0,0,0
$GC,4782,0.82,257.9,96.2,13.0,498,4788,0.00,1.65,0.00,0.000,6,0.000,0.029,3067,2715,1906,0,0,0,0,0,0
$GC,4923,0.82,257.9,79.7,11.4,523,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2716,1906,0,0,0,0,0,0
$GC,5068,0.82,257.9,62.8,11.8,548,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2716,1907,0,0,0,0,0,0
$GC,5208,0.82,257.9,45.9,12.3,573,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2715,1906,0,0,0,0,0,0
$GC,5350,0.82,257.9,28.9,12.5,598,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2715,1906,0,0,0,0,0,0
$GC,5491,0.82,257.9,12.5,11.5,623,5498,0.00,1.73,0.00,0.000,4,0.000,0.048,3067,3756,1906,0,0,0,0,0,0
$FREEZE,8.96,-0.193,-1.897,2,1,0
$FREEZE,8.30,-0.195,-1.897,2,1,0
$FREEZE,7.59,-0.191,-1.896,2,1,0
$FREEZE,6.85,-0.190,-1.896,2,1,0
$FREEZE,6.31,-0.189,-1.895,2,1,0
$FREEZE,5.59,-0.188,-1.895,2,1,0
$GC,5545,0.82,257.9,5.6,13.4,632,5552,0.00,1.65,0.00,0.000,6,0.000,0.030,3075,2714,1905,0,0,0,0,0,0
$FREEZE,3.28,-0.193,-1.893,2,1,0
$FREEZE,2.59,-0.190,-1.892,2,1,0
$STATE,5563,end climb,SURFACE_DEPTH_REACHED
$STATE,5563,begin surface coast
$FREEZE,1.81,-0.187,-1.892,2,1,0
$FREEZE,1.21,-0.186,-1.891,2,1,0
$FREEZE,0.56,-0.185,-1.890,2,1,0
$FREEZE,-0.09,-0.183,-1.890,2,1,0
$FINISH,-0.1,1.027658
$STATE,5587,end surface coast,CONTROL_FINISHED_OK
$STATE,5587,begin surface
$SM_CCo,5666,0.00,0.000,0,0,1902,259.28
$SM_GC,0.98,7.60,0.00,0.00,0.042,0.000,0.000,173,2801,1902,-8.09,0.59,259.28
$IRIDIUM_FIX,-7603.11,17659.73,240111,030336
$TT8_MAMPS,0.026964
$HUMID,52.63
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.4
$ALTIM_BOTTOM_PING,300.4,29.7
$24V_AH,21.9,89.088
$10V_AH,9.7,36.152
$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,18.325,35.250,375.325,0.000,0.000,27.470,44.677,163.032,1.250,0.000,19.210,1578.237,2449.326,430.946,1324.490,269.485,0.000,1049.375,0.000,1039.178,0.000,11.756,0.000
$DEVICE_MAMPS,208.080,139.230,936.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.466,865.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40451,639
$CAP_FILE_SIZE,81256,0
$CFSIZE,260165632,213184512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.105,108.3,1
$GPS,240111,071038,-7654.080,17651.527,15,1.5,16,124.1