version: 66.08
glider: 503
mission: 7
dive: 847
start: 1 24 111 10 46 7
data:
$ID,503
$MISSION,7
$DIVE,847
$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,-20601.955
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,240111,103720,-7653.067,17649.365,18,1.8,18,124.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-75.3
$GPS2,240111,104538,-7653.051,17649.584,14,1.2,14,124.1
$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,183.2,101498,-16.1,-10.000
$D_GRID,385
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,95,0.00,0.00,-76.70,0.000,2,0.000,0.000,175,2806,3523,0,0,0,0,0,0
$GC,99,-0.71,-170.3,3.6,-8.7,13,120,9.32,2.30,-2.75,0.000,4,0.209,0.040,2564,1365,3659,0,0,0,0,0,0
$GC,373,-0.71,-170.3,49.2,-12.5,61,380,0.00,2.28,0.00,0.000,6,0.000,0.042,2554,2766,3662,0,0,0,0,0,0
$GC,515,-0.71,-170.3,68.4,-14.3,86,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2766,3663,0,0,0,0,0,0
$GC,658,-0.71,-170.3,87.4,-13.5,111,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2766,3663,0,0,0,0,0,0
$GC,799,-0.71,-170.3,106.3,-14.0,132,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2766,3663,0,0,0,0,0,0
$GC,925,-0.71,-170.3,123.7,-13.6,144,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2766,3663,0,0,0,0,0,0
$GC,1054,-0.71,-170.3,141.2,-13.8,156,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2766,3663,0,0,0,0,0,0
$GC,1189,-0.71,-170.3,160.1,-14.2,169,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2766,3663,0,0,0,0,0,0
$GC,1316,-0.71,-170.3,177.5,-13.2,181,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2766,3663,0,0,0,0,0,0
$GC,1443,-0.71,-170.3,194.7,-13.5,193,1447,0.00,1.62,0.00,0.000,4,0.000,0.048,2546,3759,3663,0,0,0,0,0,0
$GC,1483,-0.71,-170.3,200.4,-13.6,196,1490,0.00,1.55,0.00,0.000,6,0.000,0.029,2546,2775,3662,0,0,0,0,0,0
$GC,1620,-0.71,-170.3,219.3,-14.0,209,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2775,3662,0,0,0,0,0,0
$GC,1745,-0.71,-170.3,237.0,-13.9,221,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2775,3663,0,0,0,0,0,0
$GC,1873,-0.71,-170.3,255.1,-14.1,233,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2775,3663,0,0,0,0,0,0
$GC,2064,-0.71,-170.3,281.8,-14.0,251,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2775,3663,0,0,0,0,0,0
$GC,2257,-0.71,-170.3,308.4,-13.9,269,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2775,3663,0,0,0,0,0,0
$STATE,2284,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2284,begin apogee
$GC,2291,-0.16,0.0,312.6,13.7,272,2437,0.60,0.00,138.85,0.936,4,0.119,0.000,2745,2690,2959,0,0,0,0,0,0
$STATE,2438,end apogee,CONTROL_FINISHED_OK
$STATE,2438,begin climb
$GC,2441,0.71,170.3,319.4,0.0,285,2601,0.80,0.00,150.15,0.890,6,0.073,0.000,3027,2690,2266,0,0,0,0,0,0
$GC,2796,0.73,183.5,296.4,9.5,317,2813,0.00,0.00,12.35,0.821,6,0.000,0.000,3028,2691,2211,0,0,0,0,0,0
$GC,3006,0.74,194.5,276.0,9.6,337,3022,0.00,1.80,11.55,0.825,4,0.000,0.047,3027,3763,2165,0,0,0,0,0,0
$GC,3062,0.74,194.5,269.6,11.4,341,3068,0.00,1.65,0.00,0.000,6,0.000,0.031,3035,2712,2165,0,0,1,0,0,0
$GC,3261,0.75,197.5,249.8,9.9,360,3270,0.00,0.00,4.38,0.649,6,0.000,0.000,3035,2712,2154,0,0,0,0,0,0
$GC,3398,0.76,206.0,236.3,9.7,373,3409,0.00,0.00,9.00,0.809,6,0.000,0.000,3035,2712,2120,0,0,0,0,0,0
$GC,3536,0.76,206.0,222.7,10.1,386,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2712,2120,0,0,0,0,0,0
$GC,3663,0.76,206.9,209.6,10.0,398,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2712,2120,0,0,0,0,0,0
$GC,3790,0.76,206.9,196.7,10.0,410,3793,0.00,1.70,0.00,0.000,4,0.000,0.049,3035,3765,2120,0,0,0,0,0,0
$GC,3850,0.76,206.9,190.1,11.8,415,3853,0.00,1.65,0.00,0.000,6,0.000,0.030,3042,2697,2119,0,0,0,0,0,0
$GC,3990,0.76,206.9,175.1,10.5,428,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2696,2119,0,0,0,0,0,0
$GC,4118,0.76,206.9,161.7,10.4,440,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2696,2119,0,0,0,0,0,0
$GC,4245,0.76,206.9,148.7,10.3,452,4249,0.00,1.75,0.00,0.000,4,0.000,0.049,3042,3756,2119,0,0,0,0,0,0
$GC,4285,0.76,206.9,144.2,11.3,455,4292,0.00,1.65,0.00,0.000,6,0.000,0.031,3050,2715,2119,0,0,0,0,0,0
$GC,4420,0.76,206.9,129.7,10.9,468,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2715,2119,0,0,0,0,0,0
$GC,4547,0.76,206.9,115.8,10.8,480,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2714,2119,0,0,0,0,0,0
$GC,4673,0.76,206.9,102.1,10.5,492,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2715,2118,0,0,0,0,0,0
$GC,4806,0.76,206.9,87.8,10.3,514,4813,0.00,1.73,0.00,0.000,4,0.000,0.049,3050,3760,2118,0,0,0,0,0,0
$GC,4870,0.76,206.9,80.3,11.9,525,4877,0.00,1.67,0.00,0.000,6,0.000,0.030,3057,2702,2118,0,0,0,0,0,0
$GC,5015,0.76,206.9,64.2,11.2,550,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2703,2118,0,0,0,0,0,0
$GC,5157,0.76,206.9,48.1,11.5,575,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2703,2118,0,0,0,0,0,0
$GC,5300,0.76,206.9,32.4,10.6,600,5307,0.00,1.75,0.00,0.000,4,0.000,0.049,3057,3787,2118,0,0,0,0,0,0
$GC,5341,0.76,206.9,27.2,12.8,607,5349,0.00,1.70,0.00,0.000,6,0.000,0.031,3066,2709,2118,0,0,0,0,0,0
$GC,5489,0.76,206.9,10.3,10.1,632,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2709,2117,0,0,0,0,0,0
$FREEZE,8.41,-0.318,-1.899,2,1,0
$FREEZE,7.86,-0.318,-1.898,2,1,0
$FREEZE,7.33,-0.316,-1.898,2,1,0
$FREEZE,6.73,-0.318,-1.897,2,1,0
$FREEZE,6.13,-0.314,-1.897,2,1,0
$FREEZE,5.53,-0.313,-1.896,2,1,0
$FREEZE,5.09,-0.314,-1.896,2,1,0
$FREEZE,4.39,-0.316,-1.896,2,1,0
$FREEZE,3.91,-0.324,-1.895,2,1,0
$FREEZE,3.40,-0.322,-1.895,2,1,0
$FREEZE,2.77,-0.318,-1.894,2,1,0
$STATE,5554,end climb,SURFACE_DEPTH_REACHED
$STATE,5554,begin surface coast
$FREEZE,2.05,-0.319,-1.894,2,1,0
$FREEZE,1.50,-0.322,-1.893,2,1,0
$FREEZE,0.74,-0.320,-1.893,2,1,0
$FREEZE,0.12,-0.321,-1.892,2,1,0
$FREEZE,-0.15,-0.510,-0.884,2,1,0
$FINISH,-0.2,1.013067
$STATE,5583,end surface coast,CONTROL_FINISHED_OK
$STATE,5583,begin surface
$SM_CCo,5603,20.65,0.101,0,0,1940,250.20
$SM_GC,0.55,0.00,0.00,20.65,0.000,0.000,0.101,189,2819,1940,-8.16,1.10,250.20
$IRIDIUM_FIX,-7603.11,17641.34,240111,080852
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.0
$ALTIM_BOTTOM_PING,250.7,75.9
$24V_AH,21.9,89.396
$10V_AH,9.7,36.306
$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,18.350,25.000,326.275,20.650,0.000,58.188,47.776,183.761,0.750,0.000,18.903,1603.231,2493.882,421.008,1339.906,271.290,0.000,1013.524,0.000,1001.990,0.000,7.236,0.000
$DEVICE_MAMPS,208.845,98.685,935.595,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.852,888.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258216
$DATA_FILE_SIZE,40352,649
$CAP_FILE_SIZE,80042,0
$CFSIZE,260165632,213049344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.144, 87.1,1
$GPS,240111,122106,-7652.547,17648.375,32,1.6,32,124.1