version: 66.08
glider: 503
mission: 7
dive: 845
start: 1 24 111 7 17 36
data:
$ID,503
$MISSION,7
$DIVE,845
$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,-20597.424
$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,50
$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
$GPS1,240111,071038,-7654.080,17651.527,15,1.5,16,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.7
$GPS2,240111,071706,-7654.072,17651.631,26,1.3,26,124.1
$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,192.3,103594,-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,-170.3,0.0,0.0,0,98,0.00,0.00,-79.85,0.000,2,0.000,0.000,171,2801,3551,0,0,0,0,0,0
$GC,102,-0.71,-170.3,4.0,-10.3,14,124,9.27,2.28,-2.12,0.000,4,0.208,0.043,2563,1359,3660,0,0,1,0,0,0
$GC,377,-0.71,-170.3,50.5,-13.0,62,384,0.00,2.28,0.00,0.000,6,0.000,0.042,2554,2762,3662,0,0,0,0,0,0
$GC,521,-0.71,-170.3,70.7,-14.6,87,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2762,3663,0,0,0,0,0,0
$GC,663,-0.71,-170.3,91.1,-14.5,112,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2762,3663,0,0,0,0,0,0
$GC,803,-0.71,-170.3,110.8,-14.2,130,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2762,3663,0,0,0,0,0,0
$GC,930,-0.71,-170.3,128.6,-14.0,142,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2762,3663,0,0,0,0,0,0
$GC,1058,-0.71,-170.3,147.0,-14.4,154,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2762,3663,0,0,0,0,0,0
$GC,1186,-0.71,-170.3,165.6,-14.4,166,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2762,3664,0,0,0,0,0,0
$GC,1312,-0.71,-170.3,183.4,-13.7,178,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2762,3664,0,0,0,0,0,0
$GC,1439,-0.71,-170.3,201.5,-14.1,190,1443,0.00,1.62,0.00,0.000,4,0.000,0.048,2546,3756,3664,0,0,0,0,0,0
$GC,1478,-0.71,-170.3,207.4,-15.0,193,1485,0.00,1.52,0.00,0.000,6,0.000,0.029,2546,2783,3663,0,0,0,0,0,0
$GC,1615,-0.71,-170.3,226.7,-14.3,206,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2782,3663,0,0,0,0,0,0
$GC,1750,-0.71,-170.3,245.9,-13.5,219,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2783,3663,0,0,0,0,0,0
$GC,1878,-0.71,-170.3,263.5,-14.0,231,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2782,3664,0,0,0,0,0,0
$GC,2069,-0.71,-170.3,289.8,-13.6,249,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2783,3664,0,0,0,0,0,0
$STATE,2227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2227,begin apogee
$GC,2234,-0.16,0.0,311.5,13.6,264,2382,0.60,0.00,138.95,0.936,4,0.117,0.000,2746,2688,2959,0,0,0,0,0,0
$STATE,2383,end apogee,CONTROL_FINISHED_OK
$STATE,2383,begin climb
$GC,2386,0.71,170.3,318.9,0.0,277,2547,0.85,2.30,149.77,0.887,4,0.073,0.031,3034,1302,2266,0,0,0,0,0,0
$GC,2560,0.76,213.0,313.1,8.3,292,2609,0.00,2.50,42.10,0.851,6,0.000,0.039,3033,2701,2089,0,0,0,0,0,0
$GC,2808,0.76,213.0,288.2,10.1,315,2812,0.00,1.77,0.00,0.000,4,0.000,0.048,3033,3763,2087,0,0,0,0,0,0
$GC,2842,0.76,213.0,284.3,11.2,318,2846,0.00,1.70,0.00,0.000,6,0.000,0.030,3042,2711,2086,0,0,0,0,0,0
$GC,3047,0.76,213.0,262.7,10.3,337,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2711,2085,0,0,0,0,0,0
$GC,3238,0.76,213.0,243.4,10.2,355,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2711,2084,0,0,0,0,0,0
$GC,3365,0.77,219.2,230.7,9.8,367,3378,0.00,1.75,5.22,0.711,4,0.000,0.046,3042,3773,2067,0,0,0,0,0,0
$GC,3425,0.77,219.2,223.9,12.0,372,3429,0.00,1.67,0.00,0.000,6,0.000,0.029,3050,2692,2068,0,0,0,0,0,0
$GC,3566,0.77,219.2,208.3,10.9,385,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2692,2068,0,0,0,0,0,0
$GC,3692,0.77,219.2,195.2,10.1,397,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2692,2067,0,0,0,0,0,0
$GC,3821,0.77,219.2,182.2,10.1,409,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2693,2066,0,0,0,0,0,0
$GC,3948,0.78,227.1,169.3,9.7,421,3961,0.00,1.83,8.65,0.799,4,0.000,0.049,3050,3769,2034,0,0,0,0,0,0
$GC,4000,0.78,227.1,163.2,11.5,425,4007,0.00,1.70,0.00,0.000,6,0.000,0.029,3057,2697,2034,0,0,0,0,0,0
$GC,4135,0.78,227.1,148.9,10.8,438,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2697,2034,0,0,0,0,0,0
$GC,4262,0.78,227.1,135.1,11.0,450,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2697,2034,0,0,0,0,0,0
$GC,4389,0.78,227.1,121.2,11.0,462,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2697,2034,0,0,0,0,0,0
$GC,4518,0.78,227.1,106.9,11.0,474,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2697,2034,0,0,0,0,0,0
$GC,4646,0.78,227.1,92.6,10.9,492,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2697,2033,0,0,0,0,0,0
$GC,4790,0.78,227.1,76.6,11.3,517,4797,0.00,1.75,0.00,0.000,4,0.000,0.049,3057,3775,2034,0,0,0,0,0,0
$GC,4834,0.78,227.1,71.3,13.0,524,4842,0.00,1.67,0.00,0.000,6,0.000,0.030,3064,2714,2034,0,0,0,0,0,0
$GC,4981,0.78,227.1,54.2,11.6,549,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2714,2034,0,0,0,0,0,0
$GC,5124,0.78,227.1,37.2,11.1,574,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2714,2033,0,0,0,0,0,0
$GC,5264,0.78,227.1,20.6,11.9,599,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2714,2033,0,0,0,0,0,0
$FREEZE,8.65,-0.236,-1.899,2,1,0
$FREEZE,8.02,-0.231,-1.898,2,1,0
$FREEZE,7.37,-0.222,-1.898,2,1,0
$FREEZE,6.73,-0.220,-1.897,2,1,0
$FREEZE,6.20,-0.219,-1.897,2,1,0
$FREEZE,5.49,-0.219,-1.896,2,1,0
$FREEZE,4.68,-0.218,-1.896,2,1,0
$FREEZE,4.02,-0.221,-1.895,2,1,0
$FREEZE,3.48,-0.225,-1.895,2,1,0
$GC,5410,0.78,227.1,3.5,11.7,624,5418,0.00,1.73,0.00,0.000,4,0.000,0.048,3065,3760,2033,0,0,0,0,0,0
$FREEZE,1.35,-0.219,-1.893,2,1,0
$STATE,5424,end climb,SURFACE_DEPTH_REACHED
$STATE,5424,begin surface coast
$FREEZE,0.75,-0.223,-1.892,2,1,0
$FREEZE,-0.07,-0.226,-1.892,2,1,0
$FINISH,-0.1,1.027693
$STATE,5436,end surface coast,CONTROL_FINISHED_OK
$STATE,5436,begin surface
$SM_CCo,5456,10.38,0.103,0,0,1940,250.20
$SM_GC,2.06,0.00,0.00,10.38,0.000,0.000,0.103,181,2773,1940,-8.19,-0.20,250.20
$IRIDIUM_FIX,-7603.11,17728.57,240111,050540
$TT8_MAMPS,0.027713
$HUMID,53.50
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,301.3,24.3
$24V_AH,21.8,89.188
$10V_AH,9.7,36.202
$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,18.300,29.725,344.700,10.375,0.000,29.198,36.871,163.196,1.250,0.000,28.984,1541.026,2364.150,424.423,1270.340,262.669,0.000,1012.992,0.000,979.698,0.000,11.728,0.000
$DEVICE_MAMPS,208.080,100.215,935.595,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.831,860.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,40468,628
$CAP_FILE_SIZE,77552,0
$CFSIZE,260165632,213143552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.132,104.5,1
$GPS,240111,085006,-7653.612,17650.520,40,0.9,41,124.1