version: 66.08
glider: 503
mission: 7
dive: 850
start: 1 24 111 15 45 59
data:
$ID,503
$MISSION,7
$DIVE,850
$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,-20605.727
$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,49
$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
$GPS1,240111,153920,-7651.649,17646.055,6,1.4,7,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-74.3
$GPS2,240111,154532,-7651.659,17646.115,12,1.8,12,124.1
$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,194.4,98495,-16.1,-10.000
$D_GRID,399
$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,-170.3,0.0,0.0,0,98,0.00,0.00,-77.00,0.000,2,0.000,0.000,186,2803,3525,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.8,-10.2,13,123,9.23,2.28,-2.67,0.000,4,0.207,0.044,2563,1369,3660,0,0,1,0,0,0
$GC,375,-0.71,-170.3,50.8,-13.0,61,382,0.00,2.28,0.00,0.000,6,0.000,0.041,2554,2770,3663,0,0,0,0,0,0
$GC,516,-0.71,-170.3,70.6,-14.3,86,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3664,0,0,0,0,0,0
$GC,658,-0.71,-170.3,91.0,-14.8,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3663,0,0,0,0,0,0
$GC,797,-0.71,-170.3,110.9,-14.4,129,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3664,0,0,0,0,0,0
$GC,923,-0.71,-170.3,129.3,-14.8,141,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3664,0,0,0,0,0,0
$GC,1051,-0.71,-170.3,147.3,-14.2,153,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3663,0,0,0,0,0,0
$GC,1179,-0.71,-170.3,165.2,-13.9,165,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3664,0,0,0,0,0,0
$GC,1305,-0.71,-170.3,182.8,-13.6,177,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3664,0,0,0,0,0,0
$GC,1433,-0.71,-170.3,200.3,-13.7,189,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3664,0,0,0,0,0,0
$GC,1560,-0.71,-170.3,218.5,-14.5,201,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3664,0,0,0,0,0,0
$GC,1688,-0.71,-170.3,236.9,-14.1,213,1692,0.00,1.60,0.00,0.000,4,0.000,0.049,2546,3753,3664,0,0,0,0,0,0
$GC,1724,-0.71,-170.3,242.3,-14.8,216,1728,0.00,1.52,0.00,0.000,6,0.000,0.029,2546,2781,3664,0,0,0,0,0,0
$GC,1864,-0.71,-170.3,262.7,-14.6,229,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3663,0,0,0,0,0,0
$GC,2056,-0.71,-170.3,289.9,-13.9,247,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2781,3663,0,0,0,0,0,0
$STATE,2170,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2170,begin apogee
$GC,2177,-0.16,0.0,305.9,13.6,258,2325,0.60,0.00,139.00,0.930,4,0.117,0.000,2745,2689,2959,0,0,0,0,0,0
$STATE,2325,end apogee,CONTROL_FINISHED_OK
$STATE,2326,begin climb
$GC,2328,0.71,170.3,312.3,0.0,271,2491,0.85,2.30,149.90,0.884,4,0.073,0.031,3034,1309,2265,0,0,0,0,0,0
$GC,2686,0.76,210.1,290.0,8.4,302,2730,0.00,2.38,36.53,0.858,6,0.000,0.041,3034,2700,2102,0,0,0,0,0,0
$GC,2929,0.77,215.3,266.5,9.8,325,2942,0.00,2.30,6.28,0.731,4,0.000,0.032,3044,1307,2081,0,0,0,0,0,0
$GC,3078,0.77,215.3,251.9,10.1,338,3082,0.00,2.30,0.00,0.000,6,0.000,0.041,3044,2714,2081,0,0,0,0,0,0
$GC,3276,0.77,215.3,231.2,10.2,356,3280,0.00,1.70,0.00,0.000,4,0.000,0.049,3044,3769,2080,0,0,0,0,0,0
$GC,3315,0.77,215.3,226.4,11.8,359,3321,0.00,1.67,0.00,0.000,6,0.000,0.030,3052,2722,2080,0,0,0,0,0,0
$GC,3450,0.77,215.3,211.7,10.6,372,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2722,2079,0,0,0,0,0,0
$GC,3576,0.77,215.3,198.0,10.8,384,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2722,2079,0,0,0,0,0,0
$GC,3703,0.77,215.3,184.4,10.6,396,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2722,2079,0,0,0,0,0,0
$GC,3832,0.77,215.3,170.4,10.8,408,3836,0.00,1.73,0.00,0.000,4,0.000,0.049,3053,3759,2079,0,0,0,0,0,0
$GC,3882,0.77,215.3,163.7,12.9,412,3890,0.00,1.67,0.00,0.000,6,0.000,0.030,3061,2710,2078,0,0,0,0,0,0
$GC,4017,0.77,215.3,147.8,11.8,425,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2710,2078,0,0,0,0,0,0
$GC,4145,0.77,215.3,133.1,11.1,437,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2710,2078,0,0,0,0,0,0
$GC,4271,0.77,215.3,118.7,11.2,449,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2710,2078,0,0,0,0,0,0
$GC,4399,0.77,215.3,104.7,10.8,461,4403,0.00,1.75,0.00,0.000,4,0.000,0.047,3061,3765,2078,0,0,0,0,0,0
$GC,4451,0.77,215.3,98.4,12.7,466,4458,0.00,1.67,0.00,0.000,6,0.000,0.029,3069,2711,2077,0,0,0,0,0,0
$GC,4595,0.77,215.3,82.0,11.3,491,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2712,2077,0,0,0,0,0,0
$GC,4736,0.77,215.3,66.3,10.5,516,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2711,2077,0,0,0,0,0,0
$GC,4878,0.77,215.3,50.8,11.4,541,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2711,2077,0,0,0,0,0,0
$GC,5018,0.77,215.3,34.8,11.4,566,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2711,2077,0,0,0,0,0,0
$GC,5161,0.77,215.3,18.2,12.1,591,5168,0.00,1.73,0.00,0.000,4,0.000,0.047,3069,3751,2076,0,0,0,0,0,0
$GC,5224,0.77,215.3,9.3,13.8,602,5231,0.08,1.65,0.00,0.000,6,0.151,0.028,3050,2716,2076,0,0,0,0,0,0
$FREEZE,7.41,-0.291,-1.898,2,1,0
$FREEZE,6.88,-0.291,-1.898,2,1,0
$FREEZE,6.28,-0.292,-1.897,2,1,0
$FREEZE,5.62,-0.292,-1.897,2,1,0
$FREEZE,5.10,-0.291,-1.896,2,1,0
$FREEZE,4.55,-0.291,-1.896,2,1,0
$FREEZE,3.90,-0.291,-1.895,2,1,0
$FREEZE,3.22,-0.291,-1.895,2,1,0
$FREEZE,2.64,-0.290,-1.894,2,1,0
$STATE,5279,end climb,SURFACE_DEPTH_REACHED
$STATE,5279,begin surface coast
$FREEZE,1.78,-0.289,-1.894,2,1,0
$FREEZE,1.12,-0.295,-1.893,2,1,0
$FREEZE,0.65,-0.289,-1.893,2,1,0
$FREEZE,0.08,-0.292,-1.892,2,1,0
$FREEZE,-0.16,-0.382,-1.897,2,1,0
$FINISH,-0.2,1.027772
$STATE,5312,end surface coast,CONTROL_FINISHED_OK
$STATE,5312,begin surface
$SM_CCo,5331,15.98,0.103,0,0,1939,250.20
$SM_GC,1.55,0.00,0.00,15.98,0.000,0.000,0.103,184,2798,1939,-8.18,0.51,250.20
$IRIDIUM_FIX,-7603.11,17650.79,240111,141439
$TT8_MAMPS,0.026964
$HUMID,53.38
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.8
$ALTIM_BOTTOM_PING,300.1,20.4
$24V_AH,21.9,89.693
$10V_AH,9.6,36.456
$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,18.325,30.700,331.700,15.975,0.000,30.358,39.840,158.256,1.000,0.000,14.583,1527.963,2244.617,411.408,1275.010,265.849,0.000,1004.132,0.000,1003.165,0.000,8.804,0.000
$DEVICE_MAMPS,207.315,97.155,930.240,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.408,848.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40358,617
$CAP_FILE_SIZE,77245,0
$CFSIZE,260165632,212918272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.066, 95.1,1
$GPS,240111,171636,-7651.171,17644.779,45,0.9,46,124.1