version: 66.08
glider: 503
mission: 7
dive: 866
start: 1 25 111 18 36 35
data:
$ID,503
$MISSION,7
$DIVE,866
$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,-20628.098
$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,37
$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
$GPS1,250111,182956,-7641.608,17622.475,16,1.3,16,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.1
$GPS2,250111,183608,-7641.601,17622.338,10,1.8,10,124.0
$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,221.1,77071,-16.1,-10.000
$D_GRID,458
$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,19,-0.71,-170.3,0.0,0.0,0,97,0.00,0.00,-75.95,0.000,2,0.000,0.000,181,2794,3508,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.7,-6.8,13,123,9.27,1.55,-2.95,0.000,4,0.207,0.058,2561,3762,3658,0,0,0,0,0,0
$GC,347,-0.71,-170.3,49.3,-13.6,56,354,0.00,1.55,0.00,0.000,6,0.000,0.028,2561,2776,3661,0,0,0,0,0,0
$GC,489,-0.71,-170.3,68.3,-14.1,81,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2775,3661,0,0,0,0,0,0
$GC,630,-0.71,-170.3,87.1,-13.8,106,637,0.00,1.62,0.00,0.000,4,0.000,0.048,2553,3756,3661,0,0,0,0,0,0
$GC,673,-0.71,-170.3,92.7,-14.1,113,679,0.00,1.52,0.00,0.000,6,0.000,0.028,2553,2784,3661,0,0,0,0,0,0
$GC,811,-0.71,-170.3,111.3,-13.2,130,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2784,3662,0,0,0,0,0,0
$GC,938,-0.71,-170.3,128.9,-14.0,142,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2784,3661,0,0,0,0,0,0
$GC,1066,-0.71,-170.3,145.8,-13.4,154,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2784,3662,0,0,0,0,0,0
$GC,1193,-0.71,-170.3,163.3,-14.2,166,1197,0.00,1.60,0.00,0.000,4,0.000,0.048,2546,3750,3661,0,0,0,0,0,0
$GC,1239,-0.71,-170.3,169.8,-14.9,170,1243,0.00,1.50,0.00,0.000,6,0.000,0.028,2546,2791,3661,0,0,0,0,0,0
$GC,1380,-0.71,-170.3,189.6,-14.1,183,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2791,3661,0,0,0,0,0,0
$GC,1506,-0.71,-170.3,207.9,-14.5,195,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2792,3662,0,0,0,0,0,0
$GC,1634,-0.71,-170.3,226.2,-14.1,207,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2791,3661,0,0,0,0,0,0
$GC,1761,-0.71,-170.3,244.2,-14.1,219,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2792,3661,0,0,0,0,0,0
$GC,1889,-0.71,-170.3,262.2,-14.1,231,1893,0.00,1.60,0.00,0.000,4,0.000,0.048,2538,3751,3661,0,0,0,0,0,0
$GC,1935,-0.71,-170.3,269.2,-15.4,235,1939,0.08,1.50,0.00,0.000,6,0.132,0.028,2565,2798,3661,0,0,0,0,0,0
$GC,2142,-0.71,-170.3,294.8,-12.1,254,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2797,3661,0,0,0,0,0,0
$STATE,2329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2329,begin apogee
$GC,2336,-0.16,0.0,318.1,12.1,272,2483,0.52,0.00,139.07,0.940,4,0.115,0.000,2744,2691,2959,0,0,0,0,0,0
$STATE,2484,end apogee,CONTROL_FINISHED_OK
$STATE,2484,begin climb
$GC,2487,0.71,170.3,325.2,0.0,285,2647,0.85,2.35,150.88,0.892,4,0.073,0.032,3030,1308,2265,0,0,0,0,0,0
$GC,2654,0.79,232.8,320.6,7.5,299,2720,0.00,2.47,60.75,0.858,6,0.000,0.040,3030,2687,2010,0,0,0,0,0,0
$GC,2921,0.79,232.8,293.6,10.4,324,2925,0.00,1.83,0.00,0.000,4,0.000,0.049,3030,3764,2008,0,0,0,0,0,0
$GC,3001,0.79,232.8,284.1,11.7,331,3005,0.00,1.65,0.00,0.000,6,0.000,0.029,3038,2724,2007,0,0,1,0,0,0
$GC,3207,0.79,232.8,261.9,10.9,350,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2722,2006,0,0,0,0,0,0
$GC,3398,0.79,232.8,241.9,10.3,368,3401,0.00,1.70,0.00,0.000,4,0.000,0.049,3038,3766,2005,0,0,0,0,0,0
$GC,3460,0.79,232.8,234.4,11.9,373,3466,0.00,1.70,0.00,0.000,6,0.000,0.029,3045,2710,2004,0,0,0,0,0,0
$GC,3594,0.79,232.8,220.1,10.6,386,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2710,2004,0,0,0,0,0,0
$GC,3723,0.79,232.8,206.9,10.3,398,3726,0.00,1.70,0.00,0.000,4,0.000,0.047,3046,3766,2004,0,0,0,0,0,0
$GC,3761,0.79,232.8,202.1,11.7,401,3767,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2730,2003,0,0,0,0,0,0
$GC,3896,0.79,232.8,187.8,11.0,414,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2731,2003,0,0,0,0,0,0
$GC,4024,0.79,232.8,174.1,10.7,426,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2731,2003,0,0,0,0,0,0
$GC,4150,0.79,232.8,160.5,10.7,438,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2731,2003,0,0,0,0,0,0
$GC,4277,0.79,232.8,146.8,10.8,450,4281,0.00,1.73,0.00,0.000,4,0.000,0.048,3051,3770,2002,0,0,0,0,0,0
$GC,4317,0.79,232.8,142.1,12.4,453,4324,0.00,1.65,0.00,0.000,6,0.000,0.030,3057,2735,2003,0,0,0,0,0,0
$GC,4452,0.79,232.8,127.2,10.8,466,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,2002,0,0,0,0,0,0
$GC,4579,0.79,232.8,113.6,10.6,478,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2735,2002,0,0,0,0,0,0
$GC,4708,0.79,232.8,99.6,10.9,490,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,2002,0,0,0,0,0,0
$GC,4849,0.79,232.8,84.2,11.0,515,4857,0.00,1.70,0.00,0.000,4,0.000,0.047,3057,3762,2002,0,0,0,0,0,0
$GC,4898,0.79,232.8,78.3,12.7,523,4906,0.00,1.62,0.00,0.000,6,0.000,0.030,3064,2738,2002,0,0,0,0,0,0
$GC,5044,0.79,232.8,60.9,11.8,548,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2739,2002,0,0,0,0,0,0
$GC,5186,0.79,232.8,43.7,11.7,573,5193,0.00,1.70,0.00,0.000,4,0.000,0.049,3064,3766,2002,0,0,0,0,0,0
$GC,5239,0.79,232.8,36.6,13.9,582,5246,0.00,1.62,0.00,0.000,6,0.000,0.029,3070,2739,2002,0,0,0,0,0,0
$GC,5386,0.79,232.8,18.6,12.2,607,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2739,2001,0,0,0,0,0,0
$FREEZE,8.92,0.007,-1.898,2,1,0
$FREEZE,8.32,-0.000,-1.898,2,1,0
$FREEZE,7.58,-0.002,-1.898,2,1,0
$FREEZE,6.98,-0.003,-1.897,2,1,0
$FREEZE,6.35,-0.001,-1.897,2,1,0
$FREEZE,5.64,0.005,-1.896,2,1,0
$FREEZE,4.94,0.005,-1.896,2,1,0
$FREEZE,4.35,0.005,-1.895,2,1,0
$FREEZE,3.79,0.005,-1.895,2,1,0
$FREEZE,3.04,0.007,-1.894,2,1,0
$FREEZE,1.94,0.003,-1.893,2,1,0
$STATE,5514,end climb,SURFACE_DEPTH_REACHED
$STATE,5515,begin surface coast
$FREEZE,1.26,0.007,-1.893,2,1,0
$FREEZE,0.73,0.009,-1.892,2,1,0
$FREEZE,-0.06,0.007,-1.892,2,1,0
$FREEZE,-0.13,-0.073,-1.127,2,1,0
$FINISH,-0.1,1.016663
$STATE,5538,end surface coast,CONTROL_FINISHED_OK
$STATE,5538,begin surface
$SM_CCo,5558,6.38,0.103,0,0,1940,250.20
$SM_GC,2.18,0.00,0.00,6.38,0.000,0.000,0.103,180,2794,1940,-8.19,0.40,250.20
$IRIDIUM_FIX,-7554.21,17625.42,250111,161650
$TT8_MAMPS,0.027713
$HUMID,53.74
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.7
$ALTIM_BOTTOM_PING,301.2,31.3
$24V_AH,21.6,91.350
$10V_AH,9.8,37.270
$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,18.350,37.700,350.700,6.375,0.000,24.743,38.555,165.386,1.000,0.000,12.596,1570.095,2394.023,419.927,1278.979,278.293,0.000,1025.679,0.000,1007.524,0.000,8.833,0.000
$DEVICE_MAMPS,206.550,112.455,940.185,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.885,859.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,40481,634
$CAP_FILE_SIZE,81310,0
$CFSIZE,260165632,212193280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.101,268.5,1
$GPS,250111,201054,-7640.751,17620.188,35,1.7,52,124.0