version: 66.08
glider: 503
mission: 7
dive: 860
start: 1 25 111 8 38 5
data:
$ID,503
$MISSION,7
$DIVE,860
$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,-20618.412
$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,41
$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
$GPS1,250111,083125,-7646.209,17633.502,37,1.4,38,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-76.0
$GPS2,250111,083738,-7646.208,17633.535,11,1.2,11,124.0
$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,194.4,86949,-16.1,-10.000
$D_GRID,468
$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,-170.3,0.0,0.0,0,97,0.00,0.00,-76.53,0.000,2,0.000,0.000,166,2796,3519,0,0,0,0,0,0
$GC,101,-0.71,-170.3,4.0,-10.8,13,123,9.25,1.58,-2.78,0.000,4,0.207,0.060,2556,3749,3659,0,0,0,0,0,0
$GC,376,-0.71,-170.3,55.4,-14.2,61,383,0.00,1.52,0.00,0.000,6,0.000,0.026,2555,2772,3662,0,0,0,0,0,0
$GC,519,-0.71,-170.3,75.3,-13.8,86,525,0.00,1.62,0.00,0.000,4,0.000,0.047,2548,3749,3663,0,0,0,0,0,0
$GC,567,-0.71,-170.3,82.4,-14.9,94,573,0.00,1.50,0.00,0.000,6,0.000,0.028,2547,2793,3663,0,0,0,0,0,0
$GC,714,-0.71,-170.3,103.5,-14.8,118,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2793,3663,0,0,0,0,0,0
$GC,840,-0.71,-170.3,121.8,-14.3,130,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,968,-0.71,-170.3,139.9,-14.1,142,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,1096,-0.71,-170.3,158.0,-14.3,154,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,1222,-0.71,-170.3,176.1,-14.1,166,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,1350,-0.71,-170.3,194.7,-14.6,178,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,1477,-0.71,-170.3,212.9,-14.2,190,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,1606,-0.71,-170.3,230.7,-13.7,202,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2793,3663,0,0,0,0,0,0
$GC,1732,-0.71,-170.3,248.0,-13.7,214,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,1859,-0.71,-170.3,265.0,-13.1,226,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2793,3663,0,0,0,0,0,0
$GC,2052,-0.71,-170.3,290.8,-13.4,244,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2793,3663,0,0,0,0,0,0
$STATE,2230,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2230,begin apogee
$GC,2237,-0.16,0.0,315.4,13.5,261,2384,0.60,0.00,138.68,0.939,4,0.118,0.000,2746,2690,2959,0,0,0,0,0,0
$STATE,2384,end apogee,CONTROL_FINISHED_OK
$STATE,2385,begin climb
$GC,2387,0.71,170.3,321.9,0.0,274,2551,0.82,2.33,150.25,0.890,4,0.072,0.031,3025,1308,2264,0,0,0,0,0,0
$GC,2557,0.81,247.6,316.4,6.9,288,2643,0.10,2.47,74.43,0.858,6,0.094,0.039,3078,2683,1950,0,0,0,0,0,0
$GC,2835,0.81,247.6,280.8,13.3,314,2839,0.00,1.85,0.00,0.000,4,0.000,0.047,3077,3772,1949,0,0,0,0,0,0
$GC,2897,0.81,247.6,270.8,15.5,319,2904,0.00,1.70,0.00,0.000,6,0.000,0.028,3086,2719,1948,0,0,0,0,0,0
$GC,3096,0.81,247.6,243.0,14.2,338,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2719,1947,0,0,0,0,0,0
$GC,3223,0.81,247.6,225.3,14.0,350,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2719,1946,0,0,0,0,0,0
$GC,3349,0.81,247.6,207.9,13.8,362,3352,0.00,1.70,0.00,0.000,4,0.000,0.047,3086,3766,1946,0,0,0,0,0,0
$GC,3407,0.81,247.6,199.4,15.3,367,3412,0.12,1.65,0.00,0.000,6,0.161,0.029,3059,2713,1945,0,0,0,0,0,0
$GC,3549,0.81,247.6,182.2,11.9,380,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2713,1945,0,0,0,0,0,0
$GC,3675,0.81,247.6,166.5,12.5,392,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2713,1945,0,0,0,0,0,0
$GC,3804,0.81,247.6,150.6,12.4,404,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2713,1944,0,0,0,0,0,0
$GC,3939,0.81,247.6,133.4,12.3,417,3943,0.00,1.75,0.00,0.000,4,0.000,0.047,3059,3770,1944,0,0,0,0,0,0
$GC,3977,0.81,247.6,128.1,13.8,420,3984,0.00,1.67,0.00,0.000,6,0.000,0.028,3066,2715,1944,0,0,0,0,0,0
$GC,4113,0.81,247.6,111.3,12.3,433,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2715,1944,0,0,0,0,0,0
$GC,4241,0.81,247.6,95.4,12.1,448,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2715,1944,0,0,0,0,0,0
$GC,4384,0.81,247.6,78.3,11.5,473,4390,0.00,1.73,0.00,0.000,4,0.000,0.048,3066,3759,1944,0,0,0,0,0,0
$GC,4427,0.81,247.6,72.8,13.3,480,4434,0.00,1.65,0.00,0.000,6,0.000,0.031,3074,2725,1944,0,0,0,0,0,0
$GC,4571,0.81,247.6,54.8,12.1,505,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2725,1943,0,0,0,0,0,0
$GC,4714,0.81,247.6,36.9,12.3,530,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2725,1943,0,0,0,0,0,0
$GC,4856,0.81,247.6,19.5,12.3,555,4863,0.00,1.73,0.00,0.000,4,0.000,0.048,3074,3767,1944,0,0,0,0,0,0
$GC,4910,0.81,247.6,11.9,13.9,564,4917,0.00,1.65,0.00,0.000,6,0.000,0.029,3082,2724,1943,0,0,0,0,0,0
$FREEZE,8.92,-0.047,-1.896,2,1,0
$FREEZE,8.12,-0.036,-1.895,2,1,0
$FREEZE,7.58,-0.022,-1.895,2,1,0
$FREEZE,7.05,-0.011,-1.894,2,1,0
$FREEZE,6.23,0.028,-1.893,2,1,0
$FREEZE,5.59,0.121,-1.892,2,1,0
$FREEZE,4.82,0.152,-1.892,2,1,0
$FREEZE,4.24,0.244,-1.891,2,1,0
$FREEZE,3.68,0.258,-1.891,2,1,0
$FREEZE,2.74,0.252,-1.890,2,1,0
$STATE,4976,end climb,SURFACE_DEPTH_REACHED
$STATE,4976,begin surface coast
$FREEZE,1.74,0.252,-1.890,2,1,0
$FREEZE,0.99,0.260,-1.889,2,1,0
$FREEZE,0.30,0.256,-1.889,2,1,0
$FREEZE,-0.09,0.250,-1.889,2,1,0
$FINISH,-0.1,1.027620
$STATE,5001,end surface coast,CONTROL_FINISHED_OK
$STATE,5001,begin surface
$SM_CCo,5020,-0.15,0.000,0,0,1941,250.20
$SM_GC,1.93,0.00,0.00,-0.15,0.000,0.000,0.000,172,2795,1941,-8.21,0.42,250.20
$IRIDIUM_FIX,-7603.11,17633.61,250111,060635
$TT8_MAMPS,0.027713
$HUMID,53.42
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.1
$ALTIM_BOTTOM_PING,250.8,79.4
$24V_AH,21.6,90.721
$10V_AH,9.7,36.965
$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,18.575,28.300,363.350,0.000,0.000,29.579,40.338,157.612,0.750,0.000,14.543,1423.522,2124.204,418.962,1173.279,258.969,0.000,975.115,0.000,910.983,0.000,7.247,0.000
$DEVICE_MAMPS,206.550,98.685,938.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.416,792.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258204
$DATA_FILE_SIZE,37037,580
$CAP_FILE_SIZE,73500,0
$CFSIZE,260165632,212467712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,109.4,1
$GPS,250111,100243,-7645.662,17632.326,8,2.0,13,124.0