version: 66.08
glider: 503
mission: 7
dive: 849
start: 1 24 111 14 10 4
data:
$ID,503
$MISSION,7
$DIVE,849
$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,-20604.469
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,240111,140325,-7652.093,17647.279,44,1.5,44,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-75.2
$GPS2,240111,140937,-7652.086,17647.346,10,1.5,10,124.1
$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,188.7,99452,-16.1,-10.000
$D_GRID,397
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.71,-170.3,0.0,0.0,0,98,0.00,0.00,-76.57,0.000,2,0.000,0.000,182,2774,3535,0,0,0,0,0,0
$GC,103,-0.71,-170.3,3.9,-7.8,13,124,9.15,2.25,-2.45,0.000,4,0.203,0.043,2568,1357,3659,0,0,0,0,0,0
$GC,375,-0.71,-170.3,48.7,-12.1,61,382,0.00,2.30,0.00,0.000,6,0.000,0.043,2558,2780,3662,0,0,0,0,0,0
$GC,517,-0.71,-170.3,67.4,-13.5,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2779,3663,0,0,0,0,0,0
$GC,659,-0.71,-170.3,86.5,-13.2,111,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2780,3663,0,0,0,0,0,0
$GC,806,-0.71,-170.3,106.1,-13.6,133,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2780,3663,0,0,0,0,0,0
$GC,932,-0.71,-170.3,123.3,-13.3,145,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2779,3663,0,0,0,0,0,0
$GC,1061,-0.71,-170.3,140.8,-14.1,157,1065,0.00,2.20,0.00,0.000,4,0.000,0.031,2558,1373,3663,0,0,0,0,0,0
$GC,1095,-0.71,-170.3,145.9,-13.6,159,1103,0.00,2.28,0.00,0.000,6,0.000,0.042,2548,2781,3663,0,0,0,0,0,0
$GC,1230,-0.71,-170.3,165.1,-15.3,172,1234,0.00,1.60,0.00,0.000,4,0.000,0.050,2543,3753,3663,0,0,0,0,0,0
$GC,1268,-0.71,-170.3,171.3,-15.8,175,1276,0.00,1.55,0.00,0.000,6,0.000,0.029,2543,2776,3663,0,0,0,0,0,0
$GC,1405,-0.71,-170.3,191.0,-15.0,188,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2776,3662,0,0,0,0,0,0
$GC,1531,-0.71,-170.3,209.2,-14.4,200,1534,0.00,1.62,0.00,0.000,4,0.000,0.048,2535,3787,3663,0,0,0,0,0,0
$GC,1558,-0.71,-170.3,213.6,-14.3,202,1566,0.08,1.58,0.00,0.000,6,0.132,0.029,2563,2787,3663,0,0,0,0,0,0
$GC,1694,-0.71,-170.3,230.3,-12.4,215,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3663,0,0,0,0,0,0
$GC,1820,-0.71,-170.3,246.5,-12.5,227,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3662,0,0,0,0,0,0
$GC,1947,-0.71,-170.3,262.3,-12.4,239,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3663,0,0,0,0,0,0
$GC,2138,-0.71,-170.3,286.0,-12.2,257,2142,0.00,1.62,0.00,0.000,4,0.000,0.049,2556,3791,3663,0,0,0,0,0,0
$GC,2174,-0.71,-170.3,290.6,-13.1,260,2177,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2789,3662,0,0,0,0,0,0
$STATE,2280,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2280,begin apogee
$GC,2287,-0.16,0.0,304.6,13.4,270,2435,0.55,0.00,138.70,0.929,4,0.115,0.000,2741,2690,2959,0,0,0,0,0,0
$STATE,2436,end apogee,CONTROL_FINISHED_OK
$STATE,2436,begin climb
$GC,2439,0.71,170.3,311.6,0.0,283,2600,0.85,2.33,150.18,0.885,4,0.073,0.032,3028,1306,2264,0,0,0,0,0,0
$GC,2805,0.76,210.5,290.2,8.4,315,2850,0.00,2.38,36.72,0.863,6,0.000,0.041,3029,2707,2101,0,0,0,0,0,0
$GC,3041,0.78,229.0,267.2,9.3,337,3065,0.00,2.38,17.75,0.846,4,0.000,0.034,3039,1305,2026,0,0,1,0,0,0
$GC,3216,0.81,250.2,250.5,9.2,352,3245,0.00,2.30,19.88,0.850,6,0.000,0.041,3039,2702,1942,0,0,0,0,0,0
$GC,3373,0.81,250.2,234.3,10.7,367,3376,0.00,1.73,0.00,0.000,4,0.000,0.050,3039,3765,1942,0,0,0,0,0,0
$GC,3412,0.81,250.2,229.4,12.3,370,3419,0.00,1.67,0.00,0.000,6,0.000,0.029,3046,2724,1942,0,0,0,0,0,0
$GC,3547,0.81,250.2,214.1,11.4,383,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2724,1942,0,0,0,0,0,0
$GC,3674,0.81,250.2,199.0,11.8,395,3678,0.00,2.28,0.00,0.000,4,0.000,0.034,3056,1297,1942,0,0,0,0,0,0
$GC,3709,0.81,250.2,194.9,11.5,398,3713,0.00,2.30,0.00,0.000,6,0.000,0.042,3057,2708,1942,0,0,0,0,0,0
$GC,3850,0.81,250.2,177.9,12.1,411,3853,0.00,1.73,0.00,0.000,4,0.000,0.049,3057,3757,1942,0,0,0,0,0,0
$GC,3900,0.81,250.2,170.8,13.7,415,3907,0.00,1.65,0.00,0.000,6,0.000,0.030,3063,2721,1942,0,0,0,0,0,0
$GC,4036,0.81,250.2,154.1,12.2,428,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2721,1941,0,0,0,0,0,0
$GC,4162,0.81,250.2,139.0,12.2,440,4165,0.00,1.67,0.00,0.000,4,0.000,0.049,3063,3763,1941,0,0,0,0,0,0
$GC,4210,0.81,250.2,132.9,13.3,444,4214,0.00,1.65,0.00,0.000,6,0.000,0.030,3071,2695,1941,0,0,0,0,0,0
$GC,4352,0.81,250.2,115.9,11.9,457,4356,0.00,2.17,0.00,0.000,4,0.000,0.034,3081,1303,1941,0,0,0,0,0,0
$GC,4383,0.81,250.2,112.2,11.5,459,4387,0.00,2.28,0.00,0.000,6,0.000,0.041,3081,2718,1941,0,0,0,0,0,0
$GC,4519,0.81,250.2,94.5,12.9,474,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2718,1941,0,0,0,0,0,0
$GC,4662,0.81,250.2,76.2,12.9,499,4669,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3757,1941,0,0,0,0,0,0
$GC,4699,0.81,250.2,70.8,14.4,505,4706,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2717,1940,0,0,0,0,0,0
$GC,4841,0.81,250.2,51.3,13.4,530,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2717,1941,0,0,0,0,0,0
$GC,4982,0.81,250.2,32.5,13.4,555,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2717,1940,0,0,0,0,0,0
$GC,5124,0.81,250.2,13.8,13.2,580,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2717,1940,0,0,0,0,0,0
$FREEZE,8.74,-0.284,-1.899,2,1,0
$FREEZE,8.01,-0.283,-1.898,2,1,0
$FREEZE,7.31,-0.285,-1.898,2,1,0
$FREEZE,6.50,-0.285,-1.897,2,1,0
$FREEZE,5.64,-0.286,-1.897,2,1,0
$FREEZE,5.13,-0.288,-1.896,2,1,0
$FREEZE,4.47,-0.288,-1.896,2,1,0
$FREEZE,3.74,-0.288,-1.895,2,1,0
$FREEZE,3.15,-0.287,-1.895,2,1,0
$FREEZE,2.40,-0.287,-1.894,2,1,0
$STATE,5205,end climb,SURFACE_DEPTH_REACHED
$STATE,5205,begin surface coast
$FREEZE,1.56,-0.283,-1.894,2,1,0
$FREEZE,0.53,-0.293,-1.893,2,1,0
$FREEZE,0.08,-0.293,-1.893,2,1,0
$FREEZE,-0.10,-0.511,-1.055,2,1,0
$FINISH,-0.1,1.015603
$STATE,5230,end surface coast,CONTROL_FINISHED_OK
$STATE,5230,begin surface
$SM_CCo,5309,0.00,0.000,0,0,1937,250.69
$SM_GC,1.02,7.62,0.00,0.00,0.043,0.000,0.000,187,2803,1937,-8.07,0.65,250.69
$IRIDIUM_FIX,-7612.11,17640.80,240111,121216
$TT8_MAMPS,0.026964
$HUMID,53.30
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.4
$ALTIM_BOTTOM_PING,300.4,19.1
$24V_AH,21.9,89.597
$10V_AH,9.8,36.407
$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,18.250,50.625,363.225,0.000,0.000,31.221,37.947,159.368,1.000,0.000,12.919,1494.215,2200.691,436.686,1283.369,267.390,0.000,1053.108,0.000,1012.338,0.000,8.802,0.000
$DEVICE_MAMPS,203.490,90.270,928.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.879,817.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37110,599
$CAP_FILE_SIZE,81413,0
$CFSIZE,260165632,212959232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.083,102.9,1
$GPS,240111,153920,-7651.649,17646.055,6,1.4,7,124.1