version: 66.08
glider: 503
mission: 7
dive: 854
start: 1 24 111 22 25 23
data:
$ID,503
$MISSION,7
$DIVE,854
$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,-20610.855
$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,48
$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
$GPS1,240111,221850,-7649.416,17639.953,17,1.1,17,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-75.9
$GPS2,240111,222456,-7649.414,17639.973,11,1.6,11,124.1
$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,207.3,93534,-16.1,-10.000
$D_GRID,439
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-75.50,0.000,2,0.000,0.000,186,2779,3502,0,0,0,0,0,0
$GC,101,-0.71,-170.3,3.7,-7.1,13,122,9.18,2.22,-3.12,0.000,4,0.205,0.040,2566,1370,3658,0,0,0,0,0,0
$GC,291,-0.71,-170.3,38.2,-12.7,46,298,0.00,2.30,0.00,0.000,6,0.000,0.041,2562,2786,3660,0,0,0,0,0,0
$GC,433,-0.71,-170.3,56.9,-13.2,71,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3661,0,0,0,0,0,0
$GC,577,-0.71,-170.3,75.9,-12.9,96,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3661,0,0,0,0,0,0
$GC,719,-0.71,-170.3,94.6,-13.4,121,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3662,0,0,0,0,0,0
$GC,856,-0.71,-170.3,112.8,-13.3,137,860,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3762,3661,0,0,0,0,0,0
$GC,903,-0.71,-170.3,119.1,-13.9,141,906,0.00,1.55,0.00,0.000,6,0.000,0.028,2563,2775,3661,0,0,0,0,0,0
$GC,1044,-0.71,-170.3,137.6,-13.3,154,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1170,-0.71,-170.3,153.9,-12.9,166,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1297,-0.71,-170.3,170.6,-13.4,178,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1426,-0.71,-170.3,187.6,-13.6,190,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3661,0,0,0,0,0,0
$GC,1552,-0.71,-170.3,204.8,-13.5,202,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1680,-0.71,-170.3,221.6,-13.5,214,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2775,3662,0,0,0,0,0,0
$GC,1807,-0.71,-170.3,238.8,-13.9,226,1811,0.00,1.62,0.00,0.000,4,0.000,0.048,2557,3784,3662,0,0,0,0,0,0
$GC,1847,-0.71,-170.3,244.6,-14.7,229,1854,0.00,1.58,0.00,0.000,6,0.000,0.028,2558,2785,3661,0,0,0,0,0,0
$GC,1982,-0.71,-170.3,262.5,-13.1,242,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2784,3661,0,0,0,0,0,0
$GC,2173,-0.71,-170.3,288.1,-13.1,260,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2784,3661,0,0,0,0,0,0
$STATE,2340,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2341,begin apogee
$GC,2348,-0.16,0.0,309.8,12.5,276,2495,0.55,0.00,138.60,0.934,4,0.116,0.000,2742,2678,2959,0,0,0,0,0,0
$STATE,2495,end apogee,CONTROL_FINISHED_OK
$STATE,2495,begin climb
$GC,2498,0.71,170.3,316.6,0.0,289,2659,0.85,2.30,149.98,0.887,4,0.073,0.031,3029,1311,2265,0,0,0,0,0,0
$GC,2674,0.78,222.5,310.8,7.9,304,2731,0.00,2.47,50.70,0.852,6,0.000,0.040,3029,2698,2052,0,0,0,0,0,0
$GC,2921,0.78,222.5,286.2,10.3,327,2925,0.00,1.80,0.00,0.000,4,0.000,0.047,3029,3768,2051,0,0,0,0,0,0
$GC,3001,0.78,222.5,277.3,11.7,334,3005,0.00,1.65,0.00,0.000,6,0.000,0.029,3037,2722,2048,0,0,1,0,0,0
$GC,3206,0.78,225.9,256.6,9.9,353,3216,0.00,0.00,3.90,0.598,6,0.000,0.000,3037,2722,2038,0,0,0,0,0,0
$GC,3408,0.79,230.2,236.8,9.8,372,3416,0.00,0.00,5.38,0.711,6,0.000,0.000,3037,2722,2021,0,0,0,0,0,0
$GC,3544,0.79,230.2,222.8,10.1,385,3548,0.00,1.70,0.00,0.000,4,0.000,0.049,3038,3771,2021,0,0,0,0,0,0
$GC,3572,0.79,230.2,219.5,11.6,387,3579,0.00,1.70,0.00,0.000,6,0.000,0.030,3044,2710,2021,0,0,0,0,0,0
$GC,3708,0.79,230.2,205.2,10.8,400,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2711,2020,0,0,0,0,0,0
$GC,3834,0.79,230.2,191.5,10.6,412,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2710,2021,0,0,0,0,0,0
$GC,3961,0.79,230.2,177.8,10.7,424,3965,0.00,1.70,0.00,0.000,4,0.000,0.049,3043,3766,2020,0,0,0,0,0,0
$GC,4009,0.79,230.2,172.2,12.0,428,4012,0.00,1.65,0.00,0.000,6,0.000,0.030,3052,2699,2020,0,0,0,0,0,0
$GC,4149,0.79,230.2,156.8,10.8,441,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2699,2020,0,0,0,0,0,0
$GC,4277,0.79,230.2,143.4,10.3,453,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2699,2020,0,0,0,0,0,0
$GC,4405,0.79,230.2,130.4,10.1,465,4409,0.00,1.75,0.00,0.000,4,0.000,0.050,3051,3758,2020,0,0,1,0,0,0
$GC,4451,0.79,230.2,125.1,11.9,469,4454,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2688,2019,0,0,0,0,0,0
$GC,4591,0.79,230.2,110.3,10.4,482,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2688,2019,0,0,0,0,0,0
$GC,4720,0.79,230.2,96.7,10.6,496,4727,0.00,1.75,0.00,0.000,4,0.000,0.049,3060,3769,2019,0,0,0,0,0,0
$GC,4756,0.79,230.2,92.2,12.4,502,4763,0.00,1.65,0.00,0.000,6,0.000,0.030,3067,2724,2019,0,0,0,0,0,0
$GC,4900,0.79,230.2,75.2,11.9,527,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2724,2019,0,0,0,0,0,0
$GC,5044,0.79,230.2,57.9,11.7,552,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2724,2019,0,0,0,0,0,0
$GC,5186,0.79,230.2,41.5,11.7,577,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2724,2018,0,0,0,0,0,0
$GC,5329,0.79,230.2,25.6,11.3,602,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2724,2018,0,0,0,0,0,0
$GC,5471,0.79,230.2,9.2,11.7,627,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2724,2017,0,0,0,0,0,0
$FREEZE,7.40,-0.071,-1.895,2,1,0
$FREEZE,6.86,-0.063,-1.894,2,1,0
$FREEZE,6.30,-0.057,-1.894,2,1,0
$FREEZE,5.71,-0.056,-1.894,2,1,0
$FREEZE,5.02,-0.055,-1.893,2,1,0
$FREEZE,4.45,-0.056,-1.893,2,1,0
$FREEZE,3.78,-0.046,-1.892,2,1,0
$FREEZE,3.28,-0.036,-1.891,2,1,0
$FREEZE,2.64,-0.033,-1.891,2,1,0
$STATE,5525,end climb,SURFACE_DEPTH_REACHED
$STATE,5525,begin surface coast
$FREEZE,2.04,-0.019,-1.891,2,1,0
$FREEZE,1.47,-0.011,-1.890,2,1,0
$FREEZE,0.84,-0.004,-1.889,2,1,0
$FREEZE,0.20,-0.006,-1.889,2,1,0
$FREEZE,-0.02,-0.038,-0.767,2,1,0
$FINISH,-0.0,1.011326
$STATE,5555,end surface coast,CONTROL_FINISHED_OK
$STATE,5555,begin surface
$SM_CCo,5574,8.43,0.102,0,0,1939,250.20
$SM_GC,1.98,0.00,0.00,8.43,0.000,0.000,0.102,186,2804,1939,-8.17,0.68,250.20
$IRIDIUM_FIX,-7603.11,17651.30,240111,202050
$TT8_MAMPS,0.026964
$HUMID,52.87
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.0
$ALTIM_BOTTOM_PING,300.3,24.1
$24V_AH,21.8,90.101
$10V_AH,9.8,36.660
$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,18.175,32.850,348.550,8.425,0.000,28.656,38.467,155.255,1.000,0.000,14.342,1583.277,2399.268,420.074,1279.969,271.858,0.000,1029.562,0.000,1015.330,0.000,8.816,0.000
$DEVICE_MAMPS,205.020,97.155,934.065,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.730,880.632,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40472,642
$CAP_FILE_SIZE,80692,0
$CFSIZE,260165632,212733952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.040,146.3,1
$GPS,250111,000007,-7648.742,17638.344,58,0.8,58,124.1