version: 66.08
glider: 503
mission: 7
dive: 867
start: 1 25 111 20 17 40
data:
$ID,503
$MISSION,7
$DIVE,867
$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,-20629.354
$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,38
$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
$GPS1,250111,201054,-7640.751,17620.188,35,1.7,52,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.2
$GPS2,250111,201713,-7640.753,17620.033,9,1.5,14,124.0
$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,226.7,75201,-16.1,-10.000
$D_GRID,449
$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,16,begin dive
$GC,19,-0.71,-170.3,0.0,0.0,0,96,0.00,0.00,-74.68,0.000,2,0.000,0.000,179,2794,3471,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.5,-6.3,13,122,9.25,1.55,-3.88,0.000,4,0.206,0.059,2557,3759,3658,0,0,0,0,0,0
$GC,261,-0.71,-170.3,36.4,-15.4,41,268,0.00,1.52,0.00,0.000,6,0.000,0.028,2557,2785,3662,0,0,0,0,0,0
$GC,406,-0.71,-170.3,56.6,-13.8,66,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2785,3661,0,0,0,0,0,0
$GC,547,-0.71,-170.3,76.3,-14.1,91,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2785,3662,0,0,0,0,0,0
$GC,692,-0.71,-170.3,95.7,-13.3,116,699,0.00,1.60,0.00,0.000,4,0.000,0.047,2549,3750,3662,0,0,0,0,0,0
$GC,740,-0.71,-170.3,102.7,-14.0,123,744,0.00,1.50,0.00,0.000,6,0.000,0.028,2549,2785,3662,0,0,0,0,0,0
$GC,881,-0.71,-170.3,122.6,-14.1,136,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2785,3662,0,0,0,0,0,0
$GC,1009,-0.71,-170.3,140.5,-14.0,148,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2785,3662,0,0,0,0,0,0
$GC,1135,-0.71,-170.3,158.7,-14.3,160,1139,0.00,1.60,0.00,0.000,4,0.000,0.047,2541,3753,3662,0,0,0,0,0,0
$GC,1170,-0.71,-170.3,164.2,-15.6,163,1174,0.00,1.50,0.00,0.000,6,0.000,0.028,2541,2795,3662,0,0,0,0,0,0
$GC,1311,-0.71,-170.3,185.7,-15.4,176,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2795,3662,0,0,0,0,0,0
$GC,1440,-0.71,-170.3,205.2,-14.9,188,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2795,3662,0,0,0,0,0,0
$GC,1566,-0.71,-170.3,223.9,-14.8,200,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2795,3662,0,0,0,0,0,0
$GC,1693,-0.71,-170.3,242.3,-14.2,212,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2795,3662,0,0,0,0,0,0
$GC,1823,-0.71,-170.3,260.5,-14.1,224,1826,0.00,1.58,0.00,0.000,4,0.000,0.048,2534,3749,3662,0,0,0,0,0,0
$GC,1870,-0.71,-170.3,267.8,-14.9,228,1874,0.10,1.50,0.00,0.000,6,0.125,0.028,2568,2785,3662,0,0,0,0,0,0
$GC,2075,-0.71,-170.3,293.0,-12.5,247,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2785,3662,0,0,0,0,0,0
$GC,2275,-0.71,-170.3,316.8,-11.8,266,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2786,3662,0,0,0,0,0,0
$STATE,2292,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2293,begin apogee
$GC,2300,-0.16,0.0,319.4,12.3,268,2446,0.52,0.00,139.23,0.940,4,0.115,0.000,2746,2692,2959,0,0,0,0,0,0
$STATE,2447,end apogee,CONTROL_FINISHED_OK
$STATE,2447,begin climb
$GC,2450,0.71,170.3,326.2,0.0,281,2612,0.82,2.30,150.62,0.893,4,0.070,0.032,3027,1316,2265,0,0,0,0,0,0
$GC,2647,0.76,209.5,318.2,8.4,298,2694,0.00,2.42,38.28,0.856,6,0.000,0.040,3027,2687,2105,0,0,0,0,0,0
$GC,2888,0.78,222.2,295.7,9.5,320,2904,0.00,1.83,12.20,0.819,4,0.000,0.047,3027,3763,2053,0,0,0,0,0,0
$GC,2988,0.78,222.2,284.0,11.1,328,2996,0.00,1.67,0.00,0.000,6,0.000,0.030,3034,2733,2054,0,0,1,0,0,0
$GC,3188,0.78,222.2,263.0,10.8,347,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2733,2053,0,0,0,0,0,0
$GC,3378,0.78,222.2,242.8,10.9,365,3382,0.00,1.67,0.00,0.000,4,0.000,0.048,3034,3767,2052,0,0,0,0,0,0
$GC,3428,0.78,222.2,236.8,12.2,369,3435,0.00,1.70,0.00,0.000,6,0.000,0.029,3041,2704,2052,0,0,0,0,0,0
$GC,3563,0.78,222.2,222.8,10.2,382,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2704,2052,0,0,0,0,0,0
$GC,3690,0.78,222.2,209.7,10.3,394,3693,0.00,1.73,0.00,0.000,4,0.000,0.048,3041,3773,2051,0,0,0,0,0,0
$GC,3739,0.78,222.2,203.8,11.5,398,3747,0.00,1.65,0.00,0.000,6,0.000,0.029,3047,2730,2051,0,0,0,0,0,0
$GC,3875,0.78,222.2,189.8,10.5,411,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2730,2051,0,0,0,0,0,0
$GC,4001,0.78,222.2,176.6,10.2,423,4004,0.00,1.67,0.00,0.000,4,0.000,0.048,3047,3770,2050,0,0,0,0,0,0
$GC,4062,0.78,222.2,169.1,12.2,428,4069,0.00,1.65,0.00,0.000,6,0.000,0.029,3055,2732,2050,0,0,0,0,0,0
$GC,4198,0.78,222.2,154.9,10.5,441,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2732,2050,0,0,0,0,0,0
$GC,4324,0.78,222.2,141.3,10.6,453,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2731,2050,0,0,0,0,0,0
$GC,4451,0.78,222.2,127.6,11.0,465,4455,0.00,1.70,0.00,0.000,4,0.000,0.049,3055,3759,2050,0,0,0,0,0,0
$GC,4514,0.78,222.2,119.7,12.7,470,4520,0.00,1.62,0.00,0.000,6,0.000,0.030,3063,2739,2050,0,0,0,0,0,0
$GC,4648,0.78,222.2,103.5,12.2,483,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2740,2050,0,0,0,0,0,0
$GC,4780,0.78,222.2,87.1,12.3,504,4787,0.00,1.70,0.00,0.000,4,0.000,0.049,3064,3763,2050,0,0,0,0,0,0
$GC,4823,0.78,222.2,81.2,14.0,511,4831,0.00,1.62,0.00,0.000,6,0.000,0.030,3070,2740,2050,0,0,0,0,0,0
$GC,4968,0.78,222.2,63.6,11.6,536,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2740,2049,0,0,0,0,0,0
$GC,5109,0.78,222.2,46.0,12.3,561,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2740,2049,0,0,0,0,0,0
$GC,5253,0.78,222.2,28.3,12.1,586,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2740,2049,0,0,0,0,0,0
$GC,5396,0.78,222.2,11.2,12.2,611,5403,0.00,1.70,0.00,0.000,4,0.000,0.048,3071,3766,2049,0,0,0,0,0,0
$FREEZE,8.28,0.025,-1.897,2,1,0
$FREEZE,7.56,0.026,-1.897,2,1,0
$FREEZE,6.73,0.027,-1.896,2,1,0
$FREEZE,6.01,0.027,-1.896,2,1,0
$FREEZE,5.26,0.023,-1.895,2,1,0
$FREEZE,4.60,0.022,-1.895,2,1,0
$FREEZE,3.76,0.024,-1.894,2,1,0
$FREEZE,3.02,0.022,-1.894,2,1,0
$FREEZE,2.35,0.024,-1.893,2,1,0
$STATE,5456,end climb,SURFACE_DEPTH_REACHED
$STATE,5456,begin surface coast
$FREEZE,1.48,0.020,-1.892,2,1,0
$FREEZE,0.50,0.017,-1.892,2,1,0
$FREEZE,-0.19,0.016,-1.891,2,1,0
$FINISH,-0.2,1.027668
$STATE,5476,end surface coast,CONTROL_FINISHED_OK
$STATE,5476,begin surface
$SM_CCo,5496,12.18,0.101,0,0,1940,250.20
$SM_GC,1.73,0.00,0.00,12.18,0.000,0.000,0.101,189,2770,1940,-8.16,-0.28,250.20
$IRIDIUM_FIX,-7554.21,17625.42,250111,181804
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.4
$ALTIM_BOTTOM_PING,300.8,32.6
$24V_AH,21.8,91.449
$10V_AH,9.6,37.321
$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,18.350,40.650,340.325,12.175,0.000,31.272,38.403,161.298,1.000,0.000,17.257,1555.458,2347.138,425.322,1286.833,278.629,0.000,1037.461,0.000,1011.098,0.000,8.834,0.000
$DEVICE_MAMPS,205.785,100.980,940.185,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.524,843.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,40338,625
$CAP_FILE_SIZE,82325,0
$CFSIZE,260165632,212144128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.127,255.6,1
$GPS,250111,215054,-7639.969,17617.971,24,1.1,41,124.0