version: 66.08
glider: 503
mission: 7
dive: 861
start: 1 25 111 10 12 1
data:
$ID,503
$MISSION,7
$DIVE,861
$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,-20621.814
$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,51
$R_STBD_OVSHOOT,39
$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
$GPS1,250111,100243,-7645.662,17632.326,8,2.0,13,124.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-76.1
$GPS2,250111,101132,-7645.657,17632.334,13,1.5,13,124.0
$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,195.6,85797,-16.1,-10.000
$D_GRID,469
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,94,0.00,0.00,-74.97,0.000,2,0.000,0.000,172,2795,3485,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.6,-9.4,13,119,9.32,1.55,-3.53,0.000,4,0.208,0.058,2555,3759,3659,0,0,0,0,0,0
$GC,374,-0.71,-170.3,53.6,-14.5,61,380,0.00,1.55,0.00,0.000,6,0.000,0.028,2554,2775,3662,0,0,0,0,0,0
$GC,517,-0.71,-170.3,74.3,-14.0,86,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2775,3662,0,0,0,0,0,0
$GC,657,-0.71,-170.3,94.8,-14.6,111,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2775,3662,0,0,0,0,0,0
$GC,801,-0.71,-170.3,116.0,-14.8,127,805,0.00,1.60,0.00,0.000,4,0.000,0.048,2546,3743,3662,0,0,0,0,0,0
$GC,840,-0.71,-170.3,122.3,-15.2,130,847,0.00,1.48,0.00,0.000,6,0.000,0.028,2547,2786,3662,0,0,1,0,0,0
$GC,975,-0.71,-170.3,142.3,-14.9,143,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2786,3662,0,0,0,0,0,0
$GC,1103,-0.71,-170.3,161.1,-14.5,155,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2786,3662,0,0,0,0,0,0
$GC,1229,-0.71,-170.3,179.5,-14.5,167,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2786,3662,0,0,0,0,0,0
$GC,1356,-0.71,-170.3,197.6,-14.7,179,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2786,3662,0,0,0,0,0,0
$GC,1485,-0.71,-170.3,215.3,-14.2,191,1488,0.00,1.60,0.00,0.000,4,0.000,0.048,2539,3752,3662,0,0,0,0,0,0
$GC,1523,-0.71,-170.3,221.7,-16.1,194,1531,0.08,1.50,0.00,0.000,6,0.133,0.028,2566,2792,3661,0,0,0,0,0,0
$GC,1658,-0.71,-170.3,239.1,-13.2,207,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2792,3662,0,0,0,0,0,0
$GC,1787,-0.71,-170.3,255.1,-12.5,219,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2792,3662,0,0,0,0,0,0
$GC,1977,-0.71,-170.3,278.3,-12.0,237,1980,0.00,1.60,0.00,0.000,4,0.000,0.049,2559,3749,3662,0,0,0,0,0,0
$GC,2026,-0.71,-170.3,284.7,-12.2,241,2033,0.00,1.52,0.00,0.000,6,0.000,0.028,2559,2784,3662,0,0,0,0,0,0
$GC,2226,-0.71,-170.3,309.2,-12.5,260,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2784,3661,0,0,0,0,0,0
$STATE,2232,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2232,begin apogee
$GC,2239,-0.16,0.0,310.4,12.4,261,2386,0.55,0.00,138.68,0.933,4,0.114,0.000,2745,2690,2959,0,0,0,0,0,0
$STATE,2387,end apogee,CONTROL_FINISHED_OK
$STATE,2387,begin climb
$GC,2390,0.71,170.3,317.5,0.0,274,2551,0.85,2.30,150.38,0.887,4,0.072,0.031,3034,1310,2265,0,0,0,0,0,0
$GC,2712,0.75,200.2,297.9,8.8,302,2747,0.00,2.35,27.58,0.857,6,0.000,0.040,3033,2687,2144,0,0,0,0,0,0
$GC,2938,0.75,200.2,275.4,10.1,323,2942,0.00,2.25,0.00,0.000,4,0.000,0.034,3044,1316,2142,0,0,0,0,0,0
$GC,3085,0.76,207.6,260.9,9.7,335,3098,0.00,2.30,7.75,0.783,6,0.000,0.041,3044,2723,2113,0,0,0,0,0,0
$GC,3294,0.76,207.6,239.1,10.6,354,3297,0.00,1.67,0.00,0.000,4,0.000,0.049,3044,3765,2113,0,0,0,0,0,0
$GC,3363,0.76,207.6,230.5,12.6,360,3367,0.00,1.65,0.00,0.000,6,0.000,0.029,3052,2707,2113,0,0,0,0,0,0
$GC,3504,0.76,207.6,214.3,11.3,373,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2707,2113,0,0,0,0,0,0
$GC,3631,0.76,207.6,200.1,11.1,385,3635,0.00,1.75,0.00,0.000,4,0.000,0.048,3052,3758,2112,0,0,0,0,0,0
$GC,3688,0.76,207.6,192.8,13.0,390,3692,0.00,1.65,0.00,0.000,6,0.000,0.031,3060,2697,2112,0,0,0,0,0,0
$GC,3829,0.76,207.6,176.5,11.5,403,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2697,2112,0,0,0,0,0,0
$GC,3955,0.76,207.6,162.1,11.6,415,3959,0.00,1.77,0.00,0.000,4,0.000,0.049,3060,3762,2112,0,0,0,0,0,0
$GC,4015,0.76,207.6,154.1,13.6,420,4022,0.00,1.62,0.00,0.000,6,0.000,0.029,3068,2741,2111,0,0,0,0,0,0
$GC,4151,0.76,207.6,138.5,11.3,433,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2741,2111,0,0,0,0,0,0
$GC,4277,0.76,207.6,124.2,11.1,445,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2741,2111,0,0,0,0,0,0
$GC,4405,0.76,207.6,110.3,10.6,457,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2741,2111,0,0,0,0,0,0
$GC,4535,0.76,207.6,96.1,11.1,472,4542,0.00,1.70,0.00,0.000,4,0.000,0.049,3068,3763,2111,0,0,0,0,0,0
$GC,4594,0.76,207.6,88.7,13.2,482,4601,0.08,1.62,0.00,0.000,6,0.145,0.029,3049,2746,2110,0,0,0,0,0,0
$GC,4739,0.78,223.1,74.6,9.4,507,4758,0.00,0.00,14.68,0.796,6,0.000,0.000,3049,2746,2049,0,0,0,0,0,0
$GC,4896,0.79,233.0,59.5,9.6,534,4910,0.00,0.00,10.57,0.761,6,0.000,0.000,3049,2746,2009,0,0,0,0,0,0
$GC,5047,0.79,233.0,44.4,10.2,560,5054,0.00,1.70,0.00,0.000,4,0.000,0.050,3049,3762,2009,0,0,0,0,0,0
$GC,5100,0.79,233.0,37.9,12.0,569,5107,0.00,1.62,0.00,0.000,6,0.000,0.031,3055,2745,2009,0,0,0,0,0,0
$GC,5245,0.79,233.0,22.5,10.5,594,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2745,2009,0,0,0,0,0,0
$FREEZE,8.61,-0.033,-1.896,2,1,0
$FREEZE,8.05,-0.024,-1.895,2,1,0
$FREEZE,7.45,-0.008,-1.895,2,1,0
$FREEZE,6.92,0.020,-1.894,2,1,0
$FREEZE,6.33,0.095,-1.893,2,1,0
$GC,5390,0.79,233.0,6.3,10.9,619,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2745,2010,0,0,0,0,0,0
$FREEZE,4.15,0.130,-1.892,2,1,0
$FREEZE,3.55,0.136,-1.892,2,1,0
$FREEZE,3.20,0.135,-1.891,2,1,0
$FREEZE,2.45,0.151,-1.891,2,1,0
$STATE,5419,end climb,SURFACE_DEPTH_REACHED
$STATE,5419,begin surface coast
$FREEZE,1.79,0.150,-1.890,2,1,0
$FREEZE,1.22,0.157,-1.890,2,1,0
$FREEZE,0.69,0.160,-1.890,2,1,0
$FREEZE,0.08,0.140,-1.890,2,1,0
$FREEZE,0.03,0.124,-1.889,2,1,0
$FINISH,0.0,1.027637
$STATE,5446,end surface coast,CONTROL_FINISHED_OK
$STATE,5446,begin surface
$SM_CCo,5464,7.70,0.104,0,0,1940,250.20
$SM_GC,2.26,0.00,0.00,7.70,0.000,0.000,0.104,184,2745,1940,-8.18,-0.99,250.20
$IRIDIUM_FIX,-7717.98,-16024.30,250111,101003
$TT8_MAMPS,0.027713
$HUMID,53.46
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.5
$ALTIM_BOTTOM_PING,301.0,23.6
$24V_AH,21.8,90.825
$10V_AH,9.7,37.017
$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,18.450,38.450,349.625,7.700,0.000,62.663,85.245,174.783,1.250,0.000,18.101,1561.028,2336.526,420.320,1408.835,283.978,0.000,1035.768,0.000,1035.125,0.000,11.726,0.000
$DEVICE_MAMPS,208.080,100.215,933.300,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.239,859.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258152
$DATA_FILE_SIZE,40247,629
$CAP_FILE_SIZE,82849,0
$CFSIZE,260165632,212414464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.063, 87.3,1
$GPS,250111,114436,-7645.063,17631.295,39,0.8,39,124.0