version: 66.08
glider: 503
mission: 7
dive: 864
start: 1 25 111 15 16 23
data:
$ID,503
$MISSION,7
$DIVE,864
$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,-20625.584
$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,30
$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
$GPS1,250111,150944,-7643.450,17627.312,20,2.0,21,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.9
$GPS2,250111,151556,-7643.435,17627.201,9,1.4,9,124.0
$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,206.1,81088,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-170.3,0.0,0.0,0,104,0.00,0.00,-82.97,0.000,2,0.000,0.000,182,2780,3583,0,0,0,0,0,0
$GC,108,-0.71,-170.3,4.3,-9.0,14,130,9.15,1.65,-1.40,0.000,4,0.204,0.057,2558,3777,3659,0,0,0,0,0,0
$GC,303,-0.71,-170.3,44.8,-14.5,48,311,0.00,1.58,0.00,0.000,6,0.000,0.028,2557,2775,3661,0,0,0,0,0,0
$GC,447,-0.71,-170.3,65.3,-14.7,73,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2776,3662,0,0,0,0,0,0
$GC,590,-0.71,-170.3,86.1,-14.2,98,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2776,3662,0,0,0,0,0,0
$GC,736,-0.71,-170.3,106.2,-14.0,120,739,0.00,1.62,0.00,0.000,4,0.000,0.047,2549,3784,3662,0,0,0,0,0,0
$GC,782,-0.71,-170.3,113.0,-14.5,124,786,0.00,1.58,0.00,0.000,6,0.000,0.028,2550,2784,3661,0,0,0,0,0,0
$GC,923,-0.71,-170.3,133.4,-14.7,137,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2784,3662,0,0,0,0,0,0
$GC,1051,-0.71,-170.3,151.7,-14.0,149,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2784,3662,0,0,0,0,0,0
$GC,1177,-0.71,-170.3,169.7,-14.0,161,1181,0.00,1.60,0.00,0.000,4,0.000,0.047,2541,3750,3662,0,0,0,0,0,0
$GC,1224,-0.71,-170.3,176.7,-14.6,165,1228,0.00,1.52,0.00,0.000,6,0.000,0.028,2542,2781,3661,0,0,0,0,0,0
$GC,1366,-0.71,-170.3,197.4,-14.5,178,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2781,3661,0,0,0,0,0,0
$GC,1492,-0.71,-170.3,215.9,-14.4,190,1496,0.00,1.62,0.00,0.000,4,0.000,0.047,2534,3792,3661,0,0,0,0,0,0
$GC,1531,-0.71,-170.3,222.0,-15.7,193,1538,0.10,1.58,0.00,0.000,6,0.127,0.028,2568,2787,3662,0,0,0,0,0,0
$GC,1667,-0.71,-170.3,238.2,-11.4,206,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2787,3662,0,0,0,0,0,0
$GC,1793,-0.71,-170.3,253.2,-11.9,218,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2787,3662,0,0,0,0,0,0
$GC,1984,-0.71,-170.3,275.9,-12.2,236,1988,0.00,1.60,0.00,0.000,4,0.000,0.048,2563,3753,3662,0,0,0,0,0,0
$GC,2043,-0.71,-170.3,283.1,-12.2,241,2047,0.00,1.50,0.00,0.000,6,0.000,0.029,2562,2800,3662,0,0,0,0,0,0
$GC,2249,-0.71,-170.3,308.4,-12.3,260,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2800,3662,0,0,0,0,0,0
$STATE,2307,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2307,begin apogee
$GC,2315,-0.16,0.0,316.1,12.4,266,2461,0.52,0.00,138.52,0.942,4,0.113,0.000,2741,2687,2960,0,0,0,0,0,0
$STATE,2462,end apogee,CONTROL_FINISHED_OK
$STATE,2462,begin climb
$GC,2465,0.71,170.3,322.9,0.0,279,2627,0.85,2.35,150.05,0.891,4,0.073,0.032,3028,1304,2266,0,0,0,0,0,0
$GC,2634,0.78,227.6,317.3,7.7,293,2696,0.00,2.47,55.80,0.856,6,0.000,0.040,3028,2694,2031,0,0,1,0,0,0
$GC,2887,0.78,227.6,291.9,10.2,317,2891,0.00,1.83,0.00,0.000,4,0.000,0.048,3029,3769,2029,0,0,0,0,0,0
$GC,2948,0.78,227.6,284.4,11.8,322,2955,0.00,1.75,0.00,0.000,6,0.000,0.029,3037,2710,2028,0,0,1,0,0,0
$GC,3148,0.78,227.6,263.3,10.4,341,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2710,2026,0,0,0,0,0,0
$GC,3337,0.78,227.6,243.0,10.8,359,3341,0.00,1.75,0.00,0.000,4,0.000,0.047,3037,3757,2026,0,0,0,0,0,0
$GC,3372,0.78,227.6,239.0,12.2,362,3376,0.00,1.67,0.00,0.000,6,0.000,0.030,3043,2704,2025,0,0,1,0,0,0
$GC,3513,0.78,227.6,223.3,10.9,375,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2704,2025,0,0,0,0,0,0
$GC,3639,0.78,227.6,209.1,11.3,387,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2704,2024,0,0,0,0,0,0
$GC,3766,0.78,227.6,195.0,10.9,399,3770,0.00,1.75,0.00,0.000,4,0.000,0.048,3043,3758,2024,0,0,0,0,0,0
$GC,3805,0.78,227.6,190.1,12.2,402,3812,0.00,1.67,0.00,0.000,6,0.000,0.030,3051,2712,2024,0,0,0,0,0,0
$GC,3940,0.78,227.6,174.8,11.2,415,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2713,2024,0,0,0,0,0,0
$GC,4067,0.78,227.6,160.6,11.1,427,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2713,2023,0,0,0,0,0,0
$GC,4196,0.78,227.6,146.7,10.7,439,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2713,2023,0,0,0,0,0,0
$GC,4322,0.78,227.6,133.1,10.8,451,4326,0.00,1.70,0.00,0.000,4,0.000,0.047,3051,3766,2023,0,0,0,0,0,0
$GC,4361,0.78,227.6,128.4,12.4,454,4367,0.00,1.67,0.00,0.000,6,0.000,0.030,3058,2714,2023,0,0,0,0,0,0
$GC,4495,0.78,227.6,114.4,10.4,467,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2715,2023,0,0,0,0,0,0
$GC,4623,0.78,227.6,101.3,10.1,479,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2714,2023,0,0,0,0,0,0
$GC,4755,0.78,227.6,87.4,10.1,501,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2714,2023,0,0,0,0,0,0
$GC,4897,0.78,227.6,72.1,11.0,526,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2714,2022,0,0,0,0,0,0
$GC,5039,0.78,227.6,56.7,10.4,551,5047,0.00,1.73,0.00,0.000,4,0.000,0.049,3058,3756,2022,0,0,0,0,0,0
$GC,5072,0.78,227.6,53.1,11.6,556,5080,0.00,1.65,0.00,0.000,6,0.000,0.031,3065,2719,2022,0,0,0,0,0,0
$GC,5219,0.78,227.6,36.8,11.1,581,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2718,2022,0,0,0,0,0,0
$GC,5360,0.78,227.6,20.2,11.4,606,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2718,2022,0,0,0,0,0,0
$FREEZE,8.46,0.045,-1.896,2,1,0
$FREEZE,7.89,0.039,-1.896,2,1,0
$FREEZE,7.27,0.064,-1.896,2,1,0
$FREEZE,6.81,0.069,-1.895,2,1,0
$FREEZE,6.15,0.072,-1.895,2,1,0
$FREEZE,5.50,0.064,-1.894,2,1,0
$FREEZE,4.99,0.003,-1.895,2,1,0
$FREEZE,3.84,-0.019,-1.894,2,1,0
$FREEZE,3.28,0.009,-1.893,2,1,0
$GC,5505,0.78,227.6,3.3,12.6,631,5512,0.00,1.73,0.00,0.000,4,0.000,0.049,3065,3757,2022,0,0,0,0,0,0
$FREEZE,1.46,0.081,-1.891,2,1,0
$STATE,5518,end climb,SURFACE_DEPTH_REACHED
$STATE,5518,begin surface coast
$FREEZE,0.63,0.074,-1.891,2,1,0
$FREEZE,-0.12,0.072,-1.890,2,1,0
$FREEZE,0.01,0.017,-1.604,2,1,0
$FREEZE,-0.16,0.057,-1.829,2,1,0
$FINISH,-0.2,1.026790
$STATE,5541,end surface coast,CONTROL_FINISHED_OK
$STATE,5541,begin surface
$SM_CCo,5562,8.90,0.103,0,0,1940,250.20
$SM_GC,2.18,0.00,0.00,8.90,0.000,0.000,0.103,184,2775,1940,-8.18,-0.14,250.20
$IRIDIUM_FIX,-7603.11,17633.04,250111,131334
$TT8_MAMPS,0.026964
$HUMID,52.52
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.5
$ALTIM_BOTTOM_PING,300.6,29.4
$24V_AH,21.7,91.144
$10V_AH,9.7,37.170
$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,18.200,41.275,344.375,8.900,0.000,24.210,37.503,164.833,1.250,0.000,11.765,1577.775,2364.177,432.593,1288.860,284.265,0.000,1051.521,0.000,1018.952,0.000,11.743,0.000
$DEVICE_MAMPS,204.255,68.085,941.715,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.889,865.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,40440,637
$CAP_FILE_SIZE,83024,0
$CFSIZE,260165632,212279296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.064,313.2,1
$GPS,250111,165036,-7642.531,17624.863,38,1.3,39,124.0