version: 66.08
glider: 503
mission: 7
dive: 853
start: 1 24 111 20 48 23
data:
$ID,503
$MISSION,7
$DIVE,853
$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,-20609.596
$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,49
$R_STBD_OVSHOOT,40
$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
$GPS1,240111,204136,-7649.925,17641.342,19,0.9,29,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-75.1
$GPS2,240111,204756,-7649.922,17641.344,11,1.1,11,124.1
$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,205.1,94652,-16.1,-10.000
$D_GRID,426
$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,19,-0.71,-170.3,0.0,0.0,0,97,0.00,0.00,-76.18,0.000,2,0.000,0.000,179,2793,3519,0,0,0,0,0,0
$GC,101,-0.71,-170.3,3.9,-10.1,13,123,9.25,2.28,-2.80,0.000,4,0.207,0.040,2563,1369,3659,0,0,0,0,0,0
$GC,371,-0.71,-170.3,48.6,-12.1,60,378,0.00,2.28,0.00,0.000,6,0.000,0.042,2560,2770,3662,0,0,0,0,0,0
$GC,515,-0.71,-170.3,67.2,-12.9,85,522,0.00,1.62,0.00,0.000,4,0.000,0.049,2553,3755,3662,0,0,0,0,0,0
$GC,553,-0.71,-170.3,72.6,-14.3,91,560,0.00,1.55,0.00,0.000,6,0.000,0.028,2552,2778,3662,0,0,0,0,0,0
$GC,696,-0.71,-170.3,91.8,-13.6,116,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2778,3662,0,0,0,0,0,0
$GC,834,-0.71,-170.3,111.2,-14.1,134,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2778,3663,0,0,0,0,0,0
$GC,962,-0.71,-170.3,129.6,-14.2,146,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2778,3663,0,0,0,0,0,0
$GC,1090,-0.71,-170.3,147.6,-13.9,158,1094,0.00,1.62,0.00,0.000,4,0.000,0.049,2544,3787,3663,0,0,0,0,0,0
$GC,1125,-0.71,-170.3,152.8,-14.5,161,1128,0.00,1.58,0.00,0.000,6,0.000,0.030,2545,2787,3662,0,0,0,0,0,0
$GC,1265,-0.71,-170.3,173.2,-14.7,174,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2788,3663,0,0,0,0,0,0
$GC,1393,-0.71,-170.3,192.1,-15.5,186,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2788,3663,0,0,0,0,0,0
$GC,1519,-0.71,-170.3,210.6,-14.6,198,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2788,3663,0,0,0,0,0,0
$GC,1648,-0.71,-170.3,229.1,-14.1,210,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2788,3663,0,0,0,0,0,0
$GC,1774,-0.71,-170.3,247.3,-14.4,222,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2787,3663,0,0,0,0,0,0
$GC,1902,-0.71,-170.3,265.6,-14.6,234,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2787,3663,0,0,0,0,0,0
$GC,2092,-0.71,-170.3,292.4,-14.0,252,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2788,3662,0,0,0,0,0,0
$STATE,2206,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2206,begin apogee
$GC,2214,-0.16,0.0,308.4,13.6,263,2361,0.60,0.00,139.00,0.931,4,0.118,0.000,2744,2688,2959,0,0,0,0,0,0
$STATE,2362,end apogee,CONTROL_FINISHED_OK
$STATE,2362,begin climb
$GC,2365,0.71,170.3,315.3,0.0,276,2526,0.85,2.33,150.12,0.886,4,0.073,0.031,3032,1307,2265,0,0,0,0,0,0
$GC,2713,0.76,210.9,294.7,8.4,306,2757,0.00,2.38,37.28,0.862,6,0.000,0.039,3032,2701,2100,0,0,0,0,0,0
$GC,2956,0.76,212.4,271.2,9.9,329,2960,0.00,2.28,0.00,0.000,4,0.000,0.033,3040,1312,2099,0,0,0,0,0,0
$GC,3124,0.77,219.8,254.6,9.7,343,3143,0.00,2.28,9.32,0.806,6,0.000,0.041,3041,2706,2063,0,0,0,0,0,0
$GC,3336,0.77,219.8,232.7,10.2,363,3339,0.00,1.70,0.00,0.000,4,0.000,0.049,3040,3761,2063,0,0,0,0,0,0
$GC,3384,0.77,219.8,227.1,11.8,367,3388,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2706,2063,0,0,0,0,0,0
$GC,3525,0.77,219.8,211.5,10.5,380,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2706,2063,0,0,0,0,0,0
$GC,3653,0.77,219.8,197.8,10.8,392,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2706,2062,0,0,0,0,0,0
$GC,3781,0.77,219.8,183.7,11.1,404,3785,0.00,1.75,0.00,0.000,4,0.000,0.047,3047,3759,2062,0,0,0,0,0,0
$GC,3827,0.77,219.8,177.9,12.9,408,3831,0.00,1.65,0.00,0.000,6,0.000,0.031,3055,2696,2061,0,0,0,0,0,0
$GC,3967,0.77,219.8,161.2,11.5,421,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2696,2061,0,0,0,0,0,0
$GC,4095,0.77,219.8,146.6,11.1,433,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2696,2061,0,0,0,0,0,0
$GC,4222,0.77,219.8,132.5,10.9,445,4226,0.00,1.73,0.00,0.000,4,0.000,0.049,3055,3763,2061,0,0,0,0,0,0
$GC,4272,0.77,219.8,125.9,12.9,449,4279,0.00,1.65,0.00,0.000,6,0.000,0.030,3062,2723,2061,0,0,0,0,0,0
$GC,4408,0.77,219.8,110.5,11.0,462,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2724,2060,0,0,0,0,0,0
$GC,4536,0.77,219.8,95.7,12.3,477,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2723,2061,0,0,0,0,0,0
$GC,4677,0.77,219.8,79.2,11.3,502,4683,0.00,1.73,0.00,0.000,4,0.000,0.049,3062,3765,2060,0,0,0,0,0,0
$GC,4730,0.77,219.8,72.0,13.5,511,4738,0.00,1.65,0.00,0.000,6,0.000,0.029,3070,2725,2060,0,0,0,0,0,0
$GC,4876,0.77,219.8,54.2,11.7,536,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2725,2060,0,0,0,0,0,0
$GC,5018,0.77,219.8,37.3,12.7,561,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2725,2060,0,0,0,0,0,0
$GC,5159,0.77,219.8,20.7,11.5,586,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2725,2060,0,0,0,0,0,0
$FREEZE,8.31,-0.034,-1.897,2,1,0
$FREEZE,7.74,-0.029,-1.897,2,1,0
$FREEZE,7.17,-0.034,-1.897,2,1,0
$FREEZE,6.46,-0.027,-1.896,2,1,0
$FREEZE,5.90,-0.024,-1.895,2,1,0
$FREEZE,5.26,-0.023,-1.895,2,1,0
$FREEZE,4.33,-0.030,-1.894,2,1,0
$FREEZE,3.72,-0.026,-1.894,2,1,0
$GC,5301,0.77,219.8,3.7,12.0,611,5309,0.00,1.70,0.00,0.000,4,0.000,0.049,3070,3753,2060,0,0,0,0,0,0
$FREEZE,1.65,-0.009,-1.892,2,1,0
$STATE,5315,end climb,SURFACE_DEPTH_REACHED
$STATE,5315,begin surface coast
$FREEZE,1.00,-0.006,-1.892,2,1,0
$FREEZE,0.14,0.000,-1.891,2,1,0
$FREEZE,-0.09,0.010,-1.891,2,1,0
$FINISH,-0.1,1.027662
$STATE,5333,end surface coast,CONTROL_FINISHED_OK
$STATE,5333,begin surface
$SM_CCo,5353,13.45,0.102,0,0,1940,250.20
$SM_GC,1.56,0.00,0.00,13.45,0.000,0.000,0.102,187,2779,1940,-8.17,-0.03,250.20
$IRIDIUM_FIX,-7603.11,17641.89,240111,191941
$TT8_MAMPS,0.027713
$HUMID,53.34
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,301.1,22.1
$24V_AH,21.9,90.001
$10V_AH,9.6,36.610
$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,18.300,37.025,335.725,13.450,0.000,29.392,38.993,164.091,1.000,0.000,14.217,1526.879,2253.702,414.216,1282.776,275.538,0.000,1013.476,0.000,1009.091,0.000,8.804,0.000
$DEVICE_MAMPS,206.550,81.090,931.005,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.394,842.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40414,616
$CAP_FILE_SIZE,78301,0
$CFSIZE,260165632,212779008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,150.3,1
$GPS,240111,221850,-7649.416,17639.953,17,1.1,17,124.1