version: 66.08
glider: 503
mission: 7
dive: 856
start: 1 25 111 1 49 53
data:
$ID,503
$MISSION,7
$DIVE,856
$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,-20613.377
$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,50
$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
$GPS1,250111,014301,-7648.095,17636.912,22,1.7,27,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-75.9
$GPS2,250111,014926,-7648.079,17636.994,11,1.9,11,124.1
$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,208.0,90728,-16.1,-10.000
$D_GRID,455
$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,-75.32,0.000,2,0.000,0.000,187,2808,3443,0,0,0,0,0,0
$GC,101,-0.71,-170.3,3.3,-5.8,13,122,9.18,2.33,-4.47,0.000,4,0.207,0.042,2568,1367,3659,0,0,1,0,0,0
$GC,252,-0.71,-170.3,32.3,-13.7,39,260,0.00,2.25,0.00,0.000,6,0.000,0.041,2563,2760,3662,0,0,0,0,0,0
$GC,397,-0.71,-170.3,52.6,-14.4,64,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2759,3662,0,0,0,0,0,0
$GC,540,-0.71,-170.3,72.4,-13.3,89,547,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3749,3662,0,0,0,0,0,0
$GC,588,-0.71,-170.3,79.0,-13.8,97,595,0.00,1.52,0.00,0.000,6,0.000,0.028,2562,2777,3662,0,0,0,0,0,0
$GC,733,-0.71,-170.3,97.6,-14.8,122,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3662,0,0,0,0,0,0
$GC,868,-0.71,-170.3,115.4,-12.6,136,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3662,0,0,0,0,0,0
$GC,996,-0.71,-170.3,131.2,-12.3,148,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3663,0,0,0,0,0,0
$GC,1124,-0.71,-170.3,146.9,-12.1,160,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3663,0,0,0,0,0,0
$GC,1250,-0.71,-170.3,162.7,-12.5,172,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3663,0,0,0,0,0,0
$GC,1378,-0.71,-170.3,177.7,-11.7,184,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2777,3663,0,0,0,0,0,0
$GC,1505,-0.71,-170.3,193.1,-12.1,196,1509,0.00,1.62,0.00,0.000,4,0.000,0.048,2556,3787,3663,0,0,0,0,0,0
$GC,1555,-0.71,-170.3,199.9,-13.2,200,1562,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2785,3663,0,0,0,0,0,0
$GC,1690,-0.71,-170.3,216.9,-12.8,213,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3662,0,0,0,0,0,0
$GC,1818,-0.71,-170.3,233.0,-12.6,225,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3663,0,0,0,0,0,0
$GC,1945,-0.71,-170.3,249.1,-12.5,237,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3663,0,0,0,0,0,0
$GC,2072,-0.71,-170.3,265.0,-12.4,249,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3662,0,0,0,0,0,0
$GC,2264,-0.71,-170.3,288.1,-11.7,267,2268,0.00,1.62,0.00,0.000,4,0.000,0.047,2548,3790,3663,0,0,0,0,0,0
$GC,2299,-0.71,-170.3,292.8,-13.1,270,2303,0.00,1.58,0.00,0.000,6,0.000,0.028,2548,2788,3662,0,0,0,0,0,0
$STATE,2437,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2437,begin apogee
$GC,2445,-0.16,0.0,311.1,13.4,283,2592,0.57,0.00,138.57,0.936,4,0.118,0.000,2740,2694,2959,0,0,0,0,0,0
$STATE,2593,end apogee,CONTROL_FINISHED_OK
$STATE,2593,begin climb
$GC,2596,0.71,170.3,318.2,0.0,296,2757,0.85,2.35,150.10,0.887,4,0.073,0.032,3027,1304,2264,0,0,0,0,0,0
$GC,2929,0.75,197.8,298.7,8.9,325,2964,0.00,2.38,25.35,0.856,6,0.000,0.040,3027,2697,2153,0,0,0,0,0,0
$GC,3154,0.75,197.8,275.5,10.2,346,3158,0.00,2.28,0.00,0.000,4,0.000,0.033,3038,1309,2152,0,0,0,0,0,0
$GC,3320,0.76,210.1,258.7,9.5,360,3338,0.00,2.30,11.98,0.831,6,0.000,0.041,3037,2713,2103,0,0,0,0,0,0
$GC,3532,0.76,210.1,236.9,10.6,380,3535,0.00,1.70,0.00,0.000,4,0.000,0.049,3037,3768,2103,0,0,0,0,0,0
$GC,3568,0.76,210.1,232.5,12.6,383,3571,0.00,1.65,0.00,0.000,6,0.000,0.031,3044,2711,2102,0,0,0,0,0,0
$GC,3708,0.76,210.1,217.0,10.6,396,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2711,2102,0,0,0,0,0,0
$GC,3836,0.76,210.1,203.6,10.4,408,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2711,2102,0,0,0,0,0,0
$GC,3964,0.76,210.1,190.5,10.2,420,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2711,2102,0,0,0,0,0,0
$GC,4090,0.77,214.4,177.8,9.8,432,4099,0.00,0.00,5.28,0.713,6,0.000,0.000,3044,2711,2084,0,0,0,0,0,0
$GC,4227,0.77,214.4,163.6,10.3,445,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2711,2085,0,0,0,0,0,0
$GC,4357,0.77,214.4,150.6,10.2,457,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2711,2085,0,0,0,0,0,0
$GC,4492,0.77,220.1,137.2,9.8,470,4505,0.00,1.77,6.72,0.752,4,0.000,0.047,3044,3762,2062,0,0,0,0,0,0
$GC,4551,0.77,220.1,130.8,11.8,475,4555,0.00,1.65,0.00,0.000,6,0.000,0.030,3053,2693,2062,0,0,0,0,0,0
$GC,4693,0.77,220.1,115.9,10.3,488,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2692,2062,0,0,0,0,0,0
$GC,4819,0.77,220.1,102.8,10.3,500,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2692,2062,0,0,0,0,0,0
$GC,4950,0.77,220.1,89.4,10.2,521,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2692,2062,0,0,0,0,0,0
$GC,5092,0.77,220.1,75.2,10.1,546,5099,0.00,1.75,0.00,0.000,4,0.000,0.048,3053,3771,2062,0,0,0,0,0,0
$GC,5134,0.77,220.1,70.7,10.9,553,5141,0.00,1.67,0.00,0.000,6,0.000,0.030,3060,2713,2062,0,0,0,0,0,0
$GC,5279,0.81,250.2,56.8,8.8,578,5311,0.00,0.00,27.65,0.789,6,0.000,0.000,3060,2714,1940,0,0,0,0,0,0
$GC,5448,0.81,250.2,39.3,10.4,607,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2714,1940,0,0,0,0,0,0
$GC,5591,0.81,250.2,23.9,10.7,632,5598,0.00,1.73,0.00,0.000,4,0.000,0.048,3060,3754,1940,0,0,0,0,0,0
$GC,5633,0.81,250.2,18.7,13.1,639,5641,0.00,1.62,0.00,0.000,6,0.000,0.029,3067,2731,1940,0,0,0,0,0,0
$FREEZE,8.72,-0.063,-1.896,2,1,0
$FREEZE,8.18,-0.060,-1.895,2,1,0
$FREEZE,7.58,-0.049,-1.895,2,1,0
$FREEZE,6.99,-0.024,-1.894,2,1,0
$FREEZE,6.28,0.005,-1.894,2,1,0
$FREEZE,5.64,0.063,-1.892,2,1,0
$FREEZE,5.04,0.071,-1.892,2,1,0
$FREEZE,4.54,0.079,-1.892,2,1,0
$FREEZE,3.60,0.094,-1.891,2,1,0
$FREEZE,2.91,0.121,-1.890,2,1,0
$STATE,5762,end climb,SURFACE_DEPTH_REACHED
$STATE,5762,begin surface coast
$FREEZE,2.30,0.144,-1.890,2,1,0
$FREEZE,1.64,0.175,-1.888,2,1,0
$FREEZE,0.97,0.192,-1.889,2,1,0
$FREEZE,0.46,0.198,-1.888,2,1,0
$FREEZE,-0.12,0.219,-1.888,2,1,0
$FINISH,-0.1,1.027611
$STATE,5790,end surface coast,CONTROL_FINISHED_OK
$STATE,5790,begin surface
$SM_CCo,5870,0.00,0.000,0,0,1938,250.69
$SM_GC,1.14,7.60,0.00,0.00,0.042,0.000,0.000,174,2796,1938,-8.09,0.45,250.69
$IRIDIUM_FIX,-7603.11,17632.48,250111,000012
$TT8_MAMPS,0.026964
$HUMID,52.71
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.6
$ALTIM_BOTTOM_PING,301.3,24.8
$24V_AH,21.9,90.311
$10V_AH,9.7,36.765
$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,18.200,37.125,365.650,0.000,0.000,30.643,45.318,164.351,1.000,0.000,14.396,1645.772,2525.513,431.409,1366.107,287.518,0.000,1068.764,0.000,1075.296,0.000,8.815,0.000
$DEVICE_MAMPS,206.550,107.865,936.360,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.915,916.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43753,667
$CAP_FILE_SIZE,84210,0
$CFSIZE,260165632,212635648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.069,136.6,1
$GPS,250111,032907,-7647.546,17636.053,43,0.8,44,124.1