version: 66.08
glider: 503
mission: 7
dive: 848
start: 1 24 111 12 27 53
data:
$ID,503
$MISSION,7
$DIVE,848
$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,-20603.213
$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,58
$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
$GPS1,240111,122106,-7652.547,17648.375,32,1.6,32,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-74.2
$GPS2,240111,122726,-7652.532,17648.480,14,1.6,14,124.1
$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,179.4,100419,-16.1,-10.000
$D_GRID,387
$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,18,-0.71,-170.3,0.0,0.0,0,97,0.00,0.00,-76.47,0.000,2,0.000,0.000,187,2820,3522,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.8,-9.1,13,123,9.25,2.30,-2.72,0.000,4,0.210,0.039,2563,1368,3659,0,0,0,0,0,0
$GC,308,-0.71,-170.3,41.3,-13.1,49,315,0.00,2.25,0.00,0.000,6,0.000,0.041,2553,2757,3662,0,0,0,0,0,0
$GC,449,-0.71,-170.3,61.0,-14.3,74,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2757,3662,0,0,0,0,0,0
$GC,593,-0.71,-170.3,81.2,-13.6,99,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2757,3662,0,0,0,0,0,0
$GC,741,-0.71,-170.3,101.7,-14.0,124,745,0.00,1.62,0.00,0.000,4,0.000,0.049,2545,3749,3663,0,0,0,0,0,0
$GC,791,-0.71,-170.3,109.2,-14.3,128,798,0.00,1.52,0.00,0.000,6,0.000,0.028,2545,2779,3663,0,0,0,0,0,0
$GC,926,-0.71,-170.3,128.0,-14.0,141,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2778,3663,0,0,0,0,0,0
$GC,1054,-0.71,-170.3,145.8,-13.9,153,1058,0.00,2.17,0.00,0.000,4,0.000,0.031,2545,1371,3663,0,0,0,0,0,0
$GC,1104,-0.71,-170.3,153.1,-13.2,157,1111,0.12,2.28,0.00,0.000,6,0.149,0.042,2570,2777,3663,0,0,0,0,0,0
$GC,1238,-0.71,-170.3,169.0,-12.0,170,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2777,3663,0,0,0,0,0,0
$GC,1366,-0.71,-170.3,184.5,-12.1,182,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2777,3663,0,0,0,0,0,0
$GC,1493,-0.71,-170.3,199.6,-11.7,194,1497,0.00,1.60,0.00,0.000,4,0.000,0.050,2564,3756,3663,0,0,0,0,0,0
$GC,1531,-0.71,-170.3,204.5,-12.5,197,1538,0.00,1.52,0.00,0.000,6,0.000,0.030,2563,2782,3663,0,0,0,0,0,0
$GC,1667,-0.71,-170.3,220.3,-11.7,210,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2782,3662,0,0,0,0,0,0
$GC,1793,-0.71,-170.3,235.5,-11.9,222,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2782,3662,0,0,0,0,0,0
$GC,1923,-0.71,-170.3,251.2,-12.3,234,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2783,3662,0,0,0,0,0,0
$GC,2123,-0.71,-170.3,275.3,-12.1,253,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2782,3662,0,0,0,0,0,0
$GC,2313,-0.71,-170.3,298.4,-12.3,271,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2783,3662,0,0,0,0,0,0
$STATE,2385,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2385,begin apogee
$GC,2392,-0.16,0.0,307.7,12.7,278,2540,0.52,0.00,138.75,0.935,4,0.118,0.000,2741,2672,2958,0,0,0,0,0,0
$STATE,2540,end apogee,CONTROL_FINISHED_OK
$STATE,2540,begin climb
$GC,2543,0.71,170.3,315.0,0.0,291,2705,0.85,2.28,150.18,0.887,4,0.073,0.032,3027,1313,2265,0,0,0,0,0,0
$GC,2898,0.75,202.6,294.1,8.7,322,2933,0.00,2.35,29.62,0.860,6,0.000,0.041,3027,2702,2133,0,0,0,0,0,0
$GC,3124,0.75,202.6,271.9,10.2,343,3128,0.00,2.22,0.00,0.000,4,0.000,0.034,3037,1323,2133,0,0,0,0,0,0
$GC,3310,0.76,210.4,254.0,9.7,359,3323,0.00,2.25,8.00,0.790,6,0.000,0.041,3037,2707,2102,0,0,0,0,0,0
$GC,3515,0.76,210.4,233.0,10.7,378,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2707,2102,0,0,0,0,0,0
$GC,3650,0.76,210.4,218.5,10.7,391,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2707,2101,0,0,0,0,0,0
$GC,3780,0.76,210.4,205.1,10.4,403,3783,0.00,1.67,0.00,0.000,4,0.000,0.050,3037,3760,2101,0,0,0,0,0,0
$GC,3838,0.76,210.4,198.1,11.7,408,3842,0.00,1.65,0.00,0.000,6,0.000,0.030,3043,2693,2101,0,0,0,0,0,0
$GC,3978,0.76,210.4,182.4,11.0,421,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2693,2101,0,0,0,0,0,0
$GC,4106,0.76,210.4,168.4,10.9,433,4110,0.00,1.73,0.00,0.000,4,0.000,0.050,3043,3762,2101,0,0,0,0,0,0
$GC,4153,0.76,210.4,162.6,12.8,437,4156,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2694,2101,0,0,0,0,0,0
$GC,4293,0.76,210.4,146.0,11.2,450,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2692,2100,0,0,0,0,0,0
$GC,4421,0.76,210.4,131.2,11.5,462,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2692,2100,0,0,0,0,0,0
$GC,4548,0.76,210.4,117.0,11.3,474,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2693,2100,0,0,0,0,0,0
$GC,4675,0.76,210.4,103.1,10.8,486,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2692,2100,0,0,0,0,0,0
$GC,4807,0.76,210.4,89.2,10.1,507,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2692,2100,0,0,0,0,0,0
$GC,4951,0.76,210.4,73.8,11.2,532,4958,0.00,1.75,0.00,0.000,4,0.000,0.049,3052,3763,2099,0,0,0,0,0,0
$GC,5011,0.76,210.4,66.7,12.3,542,5017,0.00,1.67,0.00,0.000,6,0.000,0.031,3059,2712,2099,0,0,0,0,0,0
$GC,5153,0.76,210.4,50.6,11.6,567,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2712,2099,0,0,0,0,0,0
$GC,5298,0.76,210.4,34.5,10.9,592,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2712,2099,0,0,0,0,0,0
$GC,5441,0.76,210.4,18.5,11.7,617,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2712,2099,0,0,0,0,0,0
$FREEZE,8.28,-0.283,-1.899,2,1,0
$FREEZE,8.03,-0.289,-1.899,2,1,0
$FREEZE,7.22,-0.289,-1.898,2,1,0
$FREEZE,6.84,-0.284,-1.898,2,1,0
$FREEZE,6.33,-0.287,-1.897,2,1,0
$FREEZE,5.70,-0.287,-1.897,2,1,0
$FREEZE,5.48,-0.287,-1.897,2,1,0
$FREEZE,4.64,-0.284,-1.896,2,1,0
$FREEZE,4.11,-0.291,-1.896,2,1,0
$FREEZE,3.29,-0.288,-1.895,2,1,0
$GC,5581,0.76,210.4,3.3,10.9,642,5587,0.00,1.75,0.00,0.000,4,0.000,0.050,3059,3783,2099,0,0,0,0,0,0
$FREEZE,1.36,-0.307,-1.894,2,1,0
$STATE,5595,end climb,SURFACE_DEPTH_REACHED
$STATE,5595,begin surface coast
$FREEZE,0.71,-0.301,-1.893,2,1,0
$FREEZE,0.06,-0.294,-1.893,2,1,0
$FINISH,0.1,1.027702
$STATE,5606,end surface coast,CONTROL_FINISHED_OK
$STATE,5606,begin surface
$SM_CCo,5626,18.58,0.102,0,0,1940,250.20
$SM_GC,0.78,0.00,0.00,18.58,0.000,0.000,0.102,184,2775,1940,-8.18,-0.17,250.20
$IRIDIUM_FIX,-7612.11,17640.80,240111,101013
$TT8_MAMPS,0.026964
$HUMID,53.18
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,301.0,21.3
$24V_AH,21.9,89.493
$10V_AH,9.8,36.358
$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,18.300,38.000,326.550,18.575,0.000,27.938,38.042,167.246,1.500,0.000,17.196,1603.707,2386.126,421.221,1346.939,272.407,0.000,1044.666,0.000,1058.175,0.000,11.716,0.000
$DEVICE_MAMPS,209.610,81.855,934.830,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.804,885.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40337,646
$CAP_FILE_SIZE,81411,0
$CFSIZE,260165632,213004288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109, 97.0,1
$GPS,240111,140325,-7652.093,17647.279,44,1.5,44,124.1