version: 66.08
glider: 503
mission: 7
dive: 855
start: 1 25 111 0 6 41
data:
$ID,503
$MISSION,7
$DIVE,855
$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,-20612.119
$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,45
$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
$GPS1,250111,000007,-7648.742,17638.344,58,0.8,58,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-76.1
$GPS2,250111,000614,-7648.727,17638.430,12,1.2,12,124.1
$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,206.8,92088,-16.1,-10.000
$D_GRID,442
$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,-75.68,0.000,2,0.000,0.000,185,2804,3514,0,0,0,0,0,0
$GC,101,-0.71,-170.3,4.0,-8.0,13,122,9.20,2.28,-2.88,0.000,4,0.207,0.041,2562,1368,3660,0,0,0,0,0,0
$GC,291,-0.71,-170.3,38.6,-12.3,46,298,0.00,2.25,0.00,0.000,6,0.000,0.041,2553,2766,3662,0,0,0,0,0,0
$GC,433,-0.71,-170.3,57.2,-12.8,71,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2766,3663,0,0,0,0,0,0
$GC,577,-0.71,-170.3,76.5,-13.6,96,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2766,3663,0,0,0,0,0,0
$GC,720,-0.71,-170.3,96.0,-13.8,121,727,0.00,1.62,0.00,0.000,4,0.000,0.048,2545,3761,3663,0,0,0,0,0,0
$GC,760,-0.71,-170.3,102.2,-14.5,127,768,0.00,1.52,0.00,0.000,6,0.000,0.028,2545,2785,3663,0,0,0,0,0,0
$GC,896,-0.71,-170.3,121.2,-14.5,140,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2784,3663,0,0,0,0,0,0
$GC,1024,-0.71,-170.3,139.2,-14.0,152,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2784,3663,0,0,0,0,0,0
$GC,1150,-0.71,-170.3,157.6,-14.2,164,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2784,3663,0,0,0,0,0,0
$GC,1277,-0.71,-170.3,175.6,-13.8,176,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2784,3664,0,0,0,0,0,0
$GC,1405,-0.71,-170.3,193.3,-13.5,188,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2784,3664,0,0,0,0,0,0
$GC,1533,-0.71,-170.3,210.7,-13.4,200,1537,0.00,1.62,0.00,0.000,4,0.000,0.047,2537,3789,3664,0,0,0,0,0,0
$GC,1572,-0.71,-170.3,216.8,-14.9,203,1581,0.08,1.58,0.00,0.000,6,0.132,0.028,2565,2789,3664,0,0,0,0,0,0
$GC,1707,-0.71,-170.3,233.0,-12.3,216,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2789,3664,0,0,0,0,0,0
$GC,1835,-0.71,-170.3,248.7,-12.2,228,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2789,3664,0,0,0,0,0,0
$GC,1961,-0.71,-170.3,264.4,-12.1,240,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2789,3664,0,0,0,0,0,0
$GC,2151,-0.71,-170.3,288.0,-12.2,258,2155,0.00,1.62,0.00,0.000,4,0.000,0.049,2558,3792,3664,0,0,0,0,0,0
$GC,2202,-0.71,-170.3,294.8,-12.7,262,2208,0.00,1.58,0.00,0.000,6,0.000,0.029,2558,2794,3663,0,0,0,0,0,0
$STATE,2334,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2334,begin apogee
$GC,2341,-0.16,0.0,311.4,12.4,275,2489,0.55,0.00,139.07,0.935,4,0.115,0.000,2743,2692,2958,0,0,0,0,0,0
$STATE,2490,end apogee,CONTROL_FINISHED_OK
$STATE,2490,begin climb
$GC,2493,0.71,170.3,318.3,0.0,288,2654,0.85,2.35,150.20,0.887,4,0.073,0.031,3030,1302,2264,0,0,0,0,0,0
$GC,2668,0.78,222.3,312.4,7.9,303,2726,0.00,2.47,50.22,0.852,6,0.000,0.039,3030,2694,2053,0,0,0,0,0,0
$GC,2917,0.78,222.3,287.3,10.5,326,2920,0.00,1.80,0.00,0.000,4,0.000,0.048,3030,3763,2052,0,0,0,0,0,0
$GC,2974,0.78,222.3,280.3,12.4,331,2978,0.00,1.67,0.00,0.000,6,0.000,0.029,3038,2717,2050,0,0,1,0,0,0
$GC,3178,0.78,222.3,258.0,10.7,350,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2717,2049,0,0,0,0,0,0
$GC,3371,0.78,222.3,237.5,10.7,368,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2716,2048,0,0,0,0,0,0
$GC,3497,0.78,222.3,224.2,10.4,380,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2717,2048,0,0,0,0,0,0
$GC,3625,0.78,222.3,211.0,10.3,392,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2717,2048,0,0,0,0,0,0
$GC,3753,0.78,222.3,197.6,10.5,404,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2717,2047,0,0,0,0,0,0
$GC,3879,0.78,226.8,184.8,9.8,416,3892,0.00,1.77,4.28,0.651,4,0.000,0.048,3038,3766,2035,0,0,0,0,0,0
$GC,3928,0.78,226.8,179.5,11.2,420,3932,0.00,1.70,0.00,0.000,6,0.000,0.029,3045,2702,2035,0,0,0,0,0,0
$GC,4069,0.78,226.8,164.9,10.2,433,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2701,2035,0,0,0,0,0,0
$GC,4195,0.78,226.8,151.6,10.7,445,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2701,2035,0,0,0,0,0,0
$GC,4324,0.78,226.8,138.1,10.3,457,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2701,2035,0,0,0,0,0,0
$GC,4450,0.78,226.8,125.1,10.3,469,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2701,2035,0,0,0,0,0,0
$GC,4576,0.78,226.8,112.2,10.0,481,4580,0.00,1.73,0.00,0.000,4,0.000,0.048,3045,3772,2035,0,0,0,0,0,0
$GC,4626,0.78,226.8,106.2,11.7,485,4633,0.00,1.67,0.00,0.000,6,0.000,0.030,3053,2717,2034,0,0,0,0,0,0
$GC,4764,0.78,226.8,91.7,10.1,505,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2717,2034,0,0,0,0,0,0
$GC,4905,0.78,227.4,77.0,10.0,530,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2717,2034,0,0,0,0,0,0
$GC,5051,0.79,234.5,62.8,9.7,555,5065,0.00,0.00,8.18,0.759,6,0.000,0.000,3053,2717,2004,0,0,0,0,0,0
$GC,5201,0.82,256.4,48.0,9.1,581,5228,0.00,1.80,20.73,0.779,4,0.000,0.048,3053,3772,1914,0,0,0,0,0,0
$GC,5264,0.82,256.4,40.9,11.6,591,5272,0.00,1.67,0.00,0.000,6,0.000,0.029,3060,2723,1914,0,0,0,0,0,0
$GC,5408,0.82,256.4,25.0,11.1,616,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2723,1914,0,0,0,0,0,0
$GC,5549,0.82,256.4,9.1,12.1,641,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2722,1914,0,0,0,0,0,0
$FREEZE,7.62,-0.075,-1.895,2,1,0
$FREEZE,6.86,-0.071,-1.894,2,1,0
$FREEZE,6.27,-0.068,-1.894,2,1,0
$FREEZE,5.61,-0.062,-1.893,2,1,0
$FREEZE,5.01,-0.059,-1.893,2,1,0
$FREEZE,4.48,-0.054,-1.892,2,1,0
$FREEZE,3.82,-0.043,-1.892,2,1,0
$FREEZE,3.21,-0.036,-1.891,2,1,0
$FREEZE,2.70,-0.009,-1.891,2,1,0
$STATE,5603,end climb,SURFACE_DEPTH_REACHED
$STATE,5603,begin surface coast
$FREEZE,1.99,0.074,-1.890,2,1,0
$FREEZE,1.58,0.103,-1.889,2,1,0
$FREEZE,0.82,0.110,-1.889,2,1,0
$FREEZE,0.23,0.170,-1.888,2,1,0
$FREEZE,-0.10,0.000,-1.197,2,1,0
$FINISH,-0.1,1.017689
$STATE,5633,end surface coast,CONTROL_FINISHED_OK
$STATE,5634,begin surface
$SM_CCo,5713,0.00,0.000,0,0,1912,257.07
$SM_GC,1.01,7.55,0.00,0.00,0.041,0.000,0.000,187,2807,1912,-8.08,0.76,257.07
$IRIDIUM_FIX,-7603.11,17642.43,240111,222200
$TT8_MAMPS,0.026964
$HUMID,52.48
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.2
$ALTIM_BOTTOM_PING,251.3,74.9
$24V_AH,21.8,90.206
$10V_AH,9.7,36.712
$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,18.225,32.925,372.675,0.000,0.000,22.787,36.947,160.237,0.750,0.000,14.749,1607.541,2470.427,435.803,1299.752,269.022,0.000,1055.726,0.000,1029.698,0.000,7.235,0.000
$DEVICE_MAMPS,206.550,91.800,934.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.088,901.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,40489,656
$CAP_FILE_SIZE,82094,0
$CFSIZE,260165632,212684800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.053,154.5,1
$GPS,250111,014301,-7648.095,17636.912,22,1.7,27,124.1