version: 66.08
glider: 503
mission: 7
dive: 863
start: 1 25 111 13 34 32
data:
$ID,503
$MISSION,7
$DIVE,863
$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,-20624.33
$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,40
$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
$GPS1,250111,132719,-7644.356,17629.500,18,1.4,30,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.8
$GPS2,250111,133404,-7644.341,17629.457,12,3.4,31,124.0
$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,201.7,83043,-16.1,-10.000
$D_GRID,467
$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,-75.38,0.000,2,0.000,0.000,168,2796,3501,0,0,0,0,0,0
$GC,99,-0.71,-170.3,3.7,-7.1,13,120,9.27,1.55,-3.15,0.000,4,0.205,0.057,2557,3761,3658,0,0,0,0,0,0
$GC,323,-0.71,-170.3,46.3,-14.0,52,330,0.00,1.55,0.00,0.000,6,0.000,0.028,2556,2773,3661,0,0,0,0,0,0
$GC,466,-0.71,-170.3,66.1,-13.8,77,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2772,3662,0,0,0,0,0,0
$GC,609,-0.71,-170.3,86.4,-13.8,102,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2772,3662,0,0,0,0,0,0
$GC,750,-0.71,-170.3,105.9,-13.9,123,754,0.00,1.62,0.00,0.000,4,0.000,0.048,2549,3751,3662,0,0,0,0,0,0
$GC,796,-0.71,-170.3,112.7,-14.4,127,800,0.00,1.52,0.00,0.000,6,0.000,0.028,2549,2776,3663,0,0,0,0,0,0
$GC,937,-0.71,-170.3,132.4,-14.2,140,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2777,3662,0,0,0,0,0,0
$GC,1064,-0.71,-170.3,150.1,-14.0,152,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2777,3662,0,0,0,0,0,0
$GC,1191,-0.71,-170.3,167.7,-13.8,164,1194,0.00,1.60,0.00,0.000,4,0.000,0.048,2541,3744,3662,0,0,0,0,0,0
$GC,1238,-0.71,-170.3,174.6,-14.3,168,1241,0.00,1.48,0.00,0.000,6,0.000,0.028,2541,2788,3662,0,0,1,0,0,0
$GC,1379,-0.71,-170.3,195.5,-14.7,181,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2788,3662,0,0,0,0,0,0
$GC,1505,-0.71,-170.3,213.6,-14.0,193,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2788,3662,0,0,0,0,0,0
$GC,1632,-0.71,-170.3,231.7,-14.3,205,1636,0.00,1.60,0.00,0.000,4,0.000,0.048,2533,3753,3662,0,0,0,0,0,0
$GC,1679,-0.71,-170.3,238.8,-15.3,209,1683,0.10,1.50,0.00,0.000,6,0.127,0.029,2568,2800,3662,0,0,0,0,0,0
$GC,1819,-0.71,-170.3,256.2,-11.9,222,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2800,3662,0,0,0,0,0,0
$GC,2009,-0.71,-170.3,278.5,-11.6,240,2013,0.00,1.58,0.00,0.000,4,0.000,0.049,2562,3752,3662,0,0,0,0,0,0
$GC,2049,-0.71,-170.3,283.9,-13.1,243,2056,0.00,1.50,0.00,0.000,6,0.000,0.029,2562,2799,3661,0,0,0,0,0,0
$GC,2247,-0.71,-170.3,309.3,-13.0,262,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2799,3661,0,0,0,0,0,0
$STATE,2266,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2267,begin apogee
$GC,2274,-0.16,0.0,312.1,13.1,264,2420,0.52,0.00,138.95,0.935,4,0.114,0.000,2740,2682,2959,0,0,0,0,0,0
$STATE,2421,end apogee,CONTROL_FINISHED_OK
$STATE,2421,begin climb
$GC,2424,0.71,170.3,319.0,0.0,277,2585,0.85,2.30,150.52,0.889,4,0.072,0.033,3028,1305,2264,0,0,0,0,0,0
$GC,2609,0.79,236.6,312.6,7.4,293,2680,0.00,2.45,63.62,0.859,6,0.000,0.040,3028,2684,1996,0,0,0,0,0,0
$GC,2879,0.79,236.6,285.1,10.6,318,2883,0.00,1.83,0.00,0.000,4,0.000,0.048,3028,3766,1994,0,0,0,0,0,0
$GC,2948,0.79,236.6,277.0,12.7,324,2952,0.00,1.67,0.00,0.000,6,0.000,0.029,3035,2711,1993,0,0,1,0,0,0
$GC,3153,0.79,236.6,255.0,10.5,343,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2711,1992,0,0,0,0,0,0
$GC,3343,0.79,236.6,235.2,10.1,361,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2711,1991,0,0,0,0,0,0
$GC,3470,0.79,237.4,222.4,10.0,373,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2711,1991,0,0,0,0,0,0
$GC,3598,0.79,237.4,209.5,10.2,385,3602,0.00,1.70,0.00,0.000,4,0.000,0.047,3035,3766,1990,0,0,0,0,0,0
$GC,3645,0.79,237.4,204.3,11.2,389,3649,0.00,1.67,0.00,0.000,6,0.000,0.030,3042,2712,1990,0,0,0,0,0,0
$GC,3785,0.80,238.2,190.0,10.0,402,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2711,1990,0,0,0,0,0,0
$GC,3914,0.81,248.6,177.5,9.6,414,3932,0.00,0.00,11.25,0.824,6,0.000,0.000,3042,2712,1946,0,0,0,0,0,0
$GC,4060,0.81,248.6,162.8,10.3,428,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2712,1946,0,0,0,0,0,0
$GC,4188,0.81,248.6,150.0,10.0,440,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2711,1946,0,0,0,0,0,0
$GC,4316,0.82,261.5,137.6,9.5,452,4334,0.00,0.00,12.35,0.813,6,0.000,0.000,3042,2711,1895,0,0,0,0,0,0
$GC,4462,0.83,269.0,123.0,9.7,466,4475,0.00,1.80,8.80,0.773,4,0.000,0.048,3042,3771,1863,0,0,0,0,0,0
$GC,4511,0.83,269.0,117.7,10.9,470,4515,0.00,1.70,0.00,0.000,6,0.000,0.031,3049,2705,1863,0,0,0,0,0,0
$GC,4652,0.83,269.0,103.2,10.4,483,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2705,1863,0,0,0,0,0,0
$GC,4782,0.83,269.0,89.8,10.2,504,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2704,1863,0,0,0,0,0,0
$GC,4925,0.83,269.0,75.4,10.2,529,4932,0.00,1.75,0.00,0.000,4,0.000,0.048,3049,3785,1863,0,0,0,0,0,0
$GC,4962,0.83,269.0,71.2,11.7,535,4969,0.00,1.70,0.00,0.000,6,0.000,0.030,3055,2711,1863,0,0,0,0,0,0
$GC,5105,0.83,269.0,55.1,11.9,560,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2711,1863,0,0,0,0,0,0
$GC,5247,0.83,269.0,38.8,11.5,585,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2711,1863,0,0,0,0,0,0
$GC,5389,0.83,269.0,22.0,11.3,610,5396,0.00,2.22,0.00,0.000,4,0.000,0.034,3066,1297,1863,0,0,0,0,0,0
$GC,5420,0.83,269.0,18.6,11.4,615,5428,0.00,2.33,0.00,0.000,6,0.000,0.042,3066,2735,1863,0,0,0,0,0,0
$FREEZE,8.64,0.011,-1.896,2,1,0
$FREEZE,7.90,0.011,-1.896,2,1,0
$FREEZE,7.40,0.020,-1.895,2,1,0
$FREEZE,6.93,0.027,-1.895,2,1,0
$FREEZE,6.00,0.026,-1.894,2,1,0
$FREEZE,5.46,0.030,-1.894,2,1,0
$FREEZE,4.79,0.026,-1.893,2,1,0
$FREEZE,3.88,0.019,-1.893,2,1,0
$FREEZE,3.27,0.014,-1.892,2,1,0
$FREEZE,2.72,0.012,-1.892,2,1,0
$STATE,5548,end climb,SURFACE_DEPTH_REACHED
$STATE,5548,begin surface coast
$FREEZE,2.10,0.009,-1.891,2,1,0
$FREEZE,1.46,0.025,-1.891,2,1,0
$FREEZE,0.78,0.025,-1.890,2,1,0
$FREEZE,0.11,0.001,-1.890,2,1,0
$FINISH,0.1,1.027651
$STATE,5571,end surface coast,CONTROL_FINISHED_OK
$STATE,5571,begin surface
$SM_CCo,5651,0.00,0.000,0,0,1860,269.58
$SM_GC,0.79,7.60,0.00,0.00,0.042,0.000,0.000,183,2780,1860,-8.09,0.00,269.58
$IRIDIUM_FIX,-7554.21,17633.61,250111,111123
$TT8_MAMPS,0.026964
$HUMID,52.95
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.9
$ALTIM_BOTTOM_PING,301.1,25.1
$24V_AH,21.7,91.044
$10V_AH,9.8,37.120
$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,18.350,38.800,385.500,0.000,0.000,30.550,43.870,165.015,1.000,0.000,35.328,1585.157,2430.351,437.428,1333.643,272.249,0.000,1060.017,0.000,1027.133,0.000,8.819,0.000
$DEVICE_MAMPS,205.020,147.645,934.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.467,878.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40369,642
$CAP_FILE_SIZE,83048,0
$CFSIZE,260165632,212324352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.043,339.4,1
$GPS,250111,150944,-7643.450,17627.312,20,2.0,21,124.0