version: 66.08
glider: 503
mission: 7
dive: 851
start: 1 24 111 17 27 47
data:
$ID,503
$MISSION,7
$DIVE,851
$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,-20606.984
$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,52
$R_STBD_OVSHOOT,46
$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
$GPS1,240111,171636,-7651.171,17644.779,45,0.9,46,124.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.1
$GPS2,240111,172720,-7651.170,17644.797,15,1.2,15,124.1
$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,195.8,97418,-16.1,-10.000
$D_GRID,411
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.71,-170.3,0.0,0.0,0,95,0.00,0.00,-75.10,0.000,2,0.000,0.000,183,2798,3491,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.7,-8.8,13,120,9.23,2.28,-3.45,0.000,4,0.207,0.041,2563,1374,3658,0,0,0,0,0,0
$GC,372,-0.71,-170.3,48.6,-13.4,61,379,0.00,2.25,0.00,0.000,6,0.000,0.041,2554,2764,3661,0,0,0,0,0,0
$GC,515,-0.71,-170.3,68.3,-14.3,86,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2764,3662,0,0,0,0,0,0
$GC,658,-0.71,-170.3,88.4,-14.0,111,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2764,3662,0,0,0,0,0,0
$GC,803,-0.71,-170.3,109.4,-14.4,131,806,0.00,1.62,0.00,0.000,4,0.000,0.048,2546,3783,3662,0,0,0,0,0,0
$GC,841,-0.71,-170.3,115.8,-15.5,134,848,0.00,1.60,0.00,0.000,6,0.000,0.028,2546,2763,3662,0,0,0,0,0,0
$GC,976,-0.71,-170.3,135.7,-14.9,147,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2762,3662,0,0,0,0,0,0
$GC,1103,-0.71,-170.3,154.0,-14.1,159,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2763,3662,0,0,0,0,0,0
$GC,1232,-0.71,-170.3,172.3,-14.1,171,1236,0.00,1.65,0.00,0.000,4,0.000,0.048,2538,3761,3662,0,0,0,0,0,0
$GC,1271,-0.71,-170.3,178.6,-15.2,174,1278,0.08,1.52,0.00,0.000,6,0.135,0.028,2565,2791,3661,0,0,0,0,0,0
$GC,1406,-0.71,-170.3,195.9,-13.0,187,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2791,3661,0,0,0,0,0,0
$GC,1533,-0.71,-170.3,212.4,-12.9,199,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2791,3662,0,0,0,0,0,0
$GC,1660,-0.71,-170.3,228.3,-12.3,211,1664,0.00,1.60,0.00,0.000,4,0.000,0.049,2558,3759,3662,0,0,0,0,0,0
$GC,1699,-0.71,-170.3,233.5,-13.4,214,1706,0.00,1.52,0.00,0.000,6,0.000,0.028,2557,2790,3661,0,0,0,0,0,0
$GC,1839,-0.71,-170.3,250.6,-12.8,227,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2791,3661,0,0,0,0,0,0
$GC,2037,-0.71,-170.3,277.2,-13.0,246,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2790,3661,0,0,0,0,0,0
$GC,2229,-0.71,-170.3,302.0,-12.9,264,2233,0.00,1.60,0.00,0.000,4,0.000,0.049,2550,3759,3661,0,0,0,0,0,0
$STATE,2240,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2240,begin apogee
$GC,2248,-0.16,0.0,303.8,13.3,265,2395,0.57,0.00,138.40,0.931,4,0.116,0.000,2743,2690,2959,0,0,0,0,0,0
$STATE,2395,end apogee,CONTROL_FINISHED_OK
$STATE,2395,begin climb
$GC,2398,0.71,170.3,310.8,0.0,278,2558,0.85,2.35,149.73,0.883,4,0.072,0.032,3030,1285,2264,0,0,0,0,0,0
$GC,2594,0.76,211.8,303.5,8.4,295,2641,0.00,2.50,40.05,0.848,6,0.000,0.040,3030,2696,2096,0,0,0,0,0,0
$GC,2833,0.76,211.8,280.0,10.1,317,2836,0.00,1.80,0.00,0.000,4,0.000,0.048,3030,3766,2094,0,0,0,0,0,0
$GC,2883,0.76,211.8,274.2,10.9,321,2890,0.00,1.73,0.00,0.000,6,0.000,0.029,3039,2687,2093,0,0,1,0,0,0
$GC,3084,0.76,212.8,253.9,10.0,340,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2687,2092,0,0,0,0,0,0
$GC,3282,0.76,212.8,233.1,10.7,359,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2687,2091,0,0,0,0,0,0
$GC,3410,0.76,212.8,219.5,11.0,371,3414,0.00,1.75,0.00,0.000,4,0.000,0.049,3038,3766,2090,0,0,0,0,0,0
$GC,3456,0.76,212.8,214.0,12.3,375,3460,0.00,1.70,0.00,0.000,6,0.000,0.029,3047,2704,2089,0,0,0,0,0,0
$GC,3596,0.76,212.8,199.2,10.1,388,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2704,2090,0,0,0,0,0,0
$GC,3725,0.76,212.8,185.9,10.5,400,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2705,2089,0,0,0,0,0,0
$GC,3851,0.76,212.8,172.5,10.7,412,3855,0.00,1.75,0.00,0.000,4,0.000,0.048,3046,3764,2089,0,0,0,0,0,0
$GC,3898,0.76,212.8,166.9,12.0,416,3901,0.00,1.65,0.00,0.000,6,0.000,0.030,3054,2694,2089,0,0,0,0,0,0
$GC,4039,0.76,212.8,151.2,10.9,429,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2692,2089,0,0,0,0,0,0
$GC,4165,0.76,212.8,137.8,10.2,441,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2693,2089,0,0,0,0,0,0
$GC,4292,0.76,212.8,124.7,10.4,453,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2693,2089,0,0,0,0,0,0
$GC,4420,0.76,212.8,111.6,10.1,465,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2693,2088,0,0,0,0,0,0
$GC,4548,0.77,215.6,98.4,9.9,478,4555,0.00,1.75,0.00,0.000,4,0.000,0.049,3054,3765,2088,0,0,0,0,0,0
$GC,4600,0.77,215.6,92.3,11.9,487,4608,0.00,1.67,0.00,0.000,6,0.000,0.030,3061,2714,2088,0,0,0,0,0,0
$GC,4746,0.77,215.6,76.8,11.5,512,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2714,2087,0,0,0,0,0,0
$GC,4887,0.77,215.6,61.2,10.6,537,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2714,2088,0,0,0,0,0,0
$GC,5030,0.77,215.6,46.2,10.2,562,5037,0.00,1.73,0.00,0.000,4,0.000,0.049,3062,3754,2088,0,0,0,0,0,0
$GC,5077,0.77,215.6,40.3,12.5,570,5083,0.00,1.65,0.00,0.000,6,0.000,0.031,3069,2718,2087,0,0,0,0,0,0
$GC,5221,0.77,215.6,23.6,11.8,595,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2718,2088,0,0,0,0,0,0
$FREEZE,8.75,-0.270,-1.899,2,1,0
$FREEZE,8.18,-0.269,-1.899,2,1,0
$FREEZE,7.48,-0.268,-1.899,2,1,0
$FREEZE,6.97,-0.269,-1.898,2,1,0
$FREEZE,6.35,-0.268,-1.898,2,1,0
$GC,5366,0.77,215.6,6.4,12.0,620,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2718,2087,0,0,0,0,0,0
$FREEZE,4.27,-0.269,-1.896,2,1,0
$FREEZE,3.62,-0.269,-1.896,2,1,0
$FREEZE,3.13,-0.267,-1.895,2,1,0
$FREEZE,2.44,-0.268,-1.895,2,1,0
$STATE,5394,end climb,SURFACE_DEPTH_REACHED
$STATE,5394,begin surface coast
$FREEZE,1.80,-0.270,-1.894,2,1,0
$FREEZE,1.24,-0.279,-1.894,2,1,0
$FREEZE,0.77,-0.276,-1.893,2,1,0
$FREEZE,0.08,-0.268,-1.893,2,1,0
$FINISH,0.1,1.027702
$STATE,5416,end surface coast,CONTROL_FINISHED_OK
$STATE,5416,begin surface
$SM_CCo,5436,16.65,0.101,0,0,1940,250.20
$SM_GC,0.92,0.00,0.00,16.65,0.000,0.000,0.101,179,2804,1940,-8.19,0.68,250.20
$IRIDIUM_FIX,-7603.11,17651.30,240111,171700
$TT8_MAMPS,0.027713
$HUMID,52.36
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.8
$ALTIM_BOTTOM_PING,300.5,17.6
$24V_AH,21.9,89.798
$10V_AH,9.7,36.509
$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,18.325,39.475,328.175,16.650,0.000,67.247,83.073,246.760,1.250,0.000,17.612,1554.167,2372.194,422.479,1454.535,298.511,0.000,1022.718,0.000,995.451,0.000,11.702,0.000
$DEVICE_MAMPS,206.550,91.800,931.005,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.469,867.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,40372,629
$CAP_FILE_SIZE,83794,0
$CFSIZE,260165632,212865024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.030,112.6,1
$GPS,240111,185938,-7650.590,17642.869,15,1.9,16,124.1