version: 66.08
glider: 503
mission: 7
dive: 868
start: 1 25 111 21 57 41
data:
$ID,503
$MISSION,7
$DIVE,868
$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,-20630.611
$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,56
$R_STBD_OVSHOOT,25
$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
$GPS1,250111,215054,-7639.969,17617.971,24,1.1,41,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-75.1
$GPS2,250111,215714,-7639.972,17617.768,12,1.3,12,124.0
$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,234.2,73448,-16.1,-10.000
$D_GRID,448
$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,-170.3,0.0,0.0,0,98,0.00,0.00,-76.40,0.000,2,0.000,0.000,188,2770,3525,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.7,-8.8,13,123,9.25,1.65,-2.65,0.000,4,0.208,0.060,2555,3776,3658,0,0,1,0,0,0
$GC,281,-0.71,-170.3,40.2,-14.4,44,287,0.00,1.55,0.00,0.000,6,0.000,0.028,2555,2785,3661,0,0,0,0,0,0
$GC,425,-0.71,-170.3,60.3,-13.7,69,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3662,0,0,0,0,0,0
$GC,568,-0.71,-170.3,80.1,-13.5,94,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3662,0,0,0,0,0,0
$GC,709,-0.71,-170.3,99.6,-13.8,119,717,0.00,1.62,0.00,0.000,4,0.000,0.047,2547,3763,3662,0,0,0,0,0,0
$GC,751,-0.71,-170.3,106.2,-14.5,123,758,0.00,1.52,0.00,0.000,6,0.000,0.028,2546,2788,3662,0,0,0,0,0,0
$GC,886,-0.71,-170.3,125.3,-14.0,136,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2787,3662,0,0,0,0,0,0
$GC,1013,-0.71,-170.3,143.1,-14.3,148,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2787,3662,0,0,0,0,0,0
$GC,1141,-0.71,-170.3,161.6,-14.4,160,1145,0.00,1.62,0.00,0.000,4,0.000,0.048,2538,3796,3662,0,0,0,0,0,0
$GC,1188,-0.71,-170.3,168.7,-14.7,164,1193,0.08,1.55,0.00,0.000,6,0.131,0.028,2566,2805,3662,0,0,0,0,0,0
$GC,1329,-0.71,-170.3,186.7,-12.1,177,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2806,3662,0,0,0,0,0,0
$GC,1455,-0.71,-170.3,201.9,-12.1,189,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2806,3662,0,0,0,0,0,0
$GC,1583,-0.71,-170.3,217.0,-11.6,201,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2806,3662,0,0,0,0,0,0
$GC,1710,-0.71,-170.3,232.2,-12.0,213,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2806,3662,0,0,0,0,0,0
$GC,1838,-0.71,-170.3,248.2,-12.7,225,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2806,3662,0,0,0,0,0,0
$GC,1965,-0.71,-170.3,264.5,-12.8,237,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2806,3662,0,0,0,0,0,0
$GC,2157,-0.71,-170.3,288.5,-12.7,255,2161,0.00,1.60,0.00,0.000,4,0.000,0.047,2560,3768,3661,0,0,0,0,0,0
$GC,2193,-0.71,-170.3,293.2,-13.0,258,2196,0.00,1.52,0.00,0.000,6,0.000,0.028,2559,2799,3661,0,0,0,0,0,0
$GC,2397,-0.71,-170.3,319.1,-12.7,277,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2800,3661,0,0,0,0,0,0
$STATE,2511,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2512,begin apogee
$GC,2519,-0.16,0.0,333.9,12.7,288,2666,0.55,0.00,139.57,0.947,4,0.114,0.000,2744,2694,2958,0,0,0,0,0,0
$STATE,2666,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2669,0.71,170.3,339.7,0.0,301,2831,0.85,2.33,151.20,0.899,4,0.071,0.033,3033,1309,2265,0,0,0,0,0,0
$GC,2848,0.76,213.0,331.3,8.3,316,2901,0.00,2.47,42.10,0.861,6,0.000,0.040,3033,2700,2090,0,0,1,0,0,0
$GC,3093,0.76,213.0,306.8,10.5,339,3096,0.00,1.83,0.00,0.000,4,0.000,0.047,3033,3765,2088,0,0,0,0,0,0
$GC,3162,0.76,213.0,298.4,11.9,345,3166,0.00,1.70,0.00,0.000,6,0.000,0.029,3040,2723,2086,0,0,1,0,0,0
$GC,3367,0.76,213.0,275.7,10.8,364,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2723,2086,0,0,0,0,0,0
$GC,3557,0.78,225.8,256.8,9.5,382,3570,0.00,0.00,11.35,0.838,6,0.000,0.000,3040,2723,2038,0,0,0,0,0,0
$GC,3760,0.78,225.8,235.5,11.4,401,3763,0.00,1.70,0.00,0.000,4,0.000,0.049,3040,3765,2039,0,0,0,0,0,0
$GC,3807,0.78,225.8,229.3,13.2,405,3811,0.00,1.70,0.00,0.000,6,0.000,0.029,3048,2710,2039,0,0,0,0,0,0
$GC,3947,0.78,225.8,212.6,11.3,418,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2710,2038,0,0,0,0,0,0
$GC,4075,0.78,225.8,198.9,10.4,430,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2710,2039,0,0,0,0,0,0
$GC,4202,0.78,225.8,185.5,10.5,442,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2710,2038,0,0,0,0,0,0
$GC,4329,0.78,225.8,171.8,10.6,454,4333,0.00,1.70,0.00,0.000,4,0.000,0.047,3048,3765,2038,0,0,0,0,0,0
$GC,4380,0.78,225.8,165.5,12.1,458,4387,0.00,1.67,0.00,0.000,6,0.000,0.029,3055,2717,2038,0,0,0,0,0,0
$GC,4515,0.78,225.8,150.0,11.4,471,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2717,2038,0,0,0,0,0,0
$GC,4642,0.78,225.8,135.5,11.4,483,4646,0.00,1.70,0.00,0.000,4,0.000,0.048,3056,3769,2038,0,0,0,0,0,0
$GC,4678,0.78,225.8,131.1,12.4,486,4681,0.00,1.67,0.00,0.000,6,0.000,0.030,3064,2706,2037,0,0,0,0,0,0
$GC,4819,0.78,225.8,114.5,11.9,499,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2706,2037,0,0,0,0,0,0
$GC,4945,0.78,225.8,100.3,11.0,511,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2706,2037,0,0,0,0,0,0
$GC,5079,0.78,225.8,86.2,10.9,534,5086,0.00,1.75,0.00,0.000,4,0.000,0.048,3064,3783,2037,0,0,0,0,0,0
$GC,5132,0.78,225.8,79.8,12.4,543,5138,0.00,1.67,0.00,0.000,6,0.000,0.029,3071,2728,2037,0,0,0,0,0,0
$GC,5275,0.78,225.8,63.2,12.0,568,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2728,2037,0,0,0,0,0,0
$GC,5419,0.78,225.8,45.6,12.0,593,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2728,2037,0,0,0,0,0,0
$GC,5561,0.78,225.8,28.8,12.4,618,5568,0.00,1.70,0.00,0.000,4,0.000,0.047,3071,3756,2037,0,0,0,0,0,0
$GC,5615,0.78,225.8,21.7,14.0,627,5622,0.00,1.62,0.00,0.000,6,0.000,0.030,3079,2731,2036,0,0,0,0,0,0
$FREEZE,8.41,-0.028,-1.898,2,1,0
$FREEZE,7.78,-0.020,-1.897,2,1,0
$FREEZE,7.13,-0.019,-1.897,2,1,0
$FREEZE,6.62,-0.018,-1.897,2,1,0
$FREEZE,5.79,-0.019,-1.896,2,1,0
$FREEZE,5.25,-0.014,-1.896,2,1,0
$FREEZE,4.55,-0.017,-1.895,2,1,0
$FREEZE,3.86,-0.014,-1.895,2,1,0
$GC,5756,0.78,225.8,3.9,12.5,652,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2732,2036,0,0,0,0,0,0
$FREEZE,1.53,-0.018,-1.893,2,1,0
$STATE,5772,end climb,SURFACE_DEPTH_REACHED
$STATE,5772,begin surface coast
$FREEZE,0.65,-0.020,-1.892,2,1,0
$FREEZE,-0.00,-0.019,-1.892,2,1,0
$FREEZE,-0.07,-0.171,-1.035,2,1,0
$FREEZE,-0.04,-0.074,-1.849,2,1,0
$FINISH,-0.0,1.027075
$STATE,5794,end surface coast,CONTROL_FINISHED_OK
$STATE,5794,begin surface
$SM_CCo,5814,10.32,0.101,0,0,1940,250.20
$SM_GC,1.68,0.00,0.00,10.32,0.000,0.000,0.101,176,2797,1940,-8.21,0.48,250.20
$IRIDIUM_FIX,-7554.21,17616.72,250111,202008
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,300.3,47.9
$24V_AH,21.7,91.551
$10V_AH,9.7,37.373
$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,18.275,38.075,344.225,10.325,0.000,30.540,37.231,166.933,1.000,0.000,14.803,1634.738,2549.498,421.389,1320.404,283.923,0.000,1046.068,0.000,1042.213,0.000,8.875,0.000
$DEVICE_MAMPS,208.080,104.805,947.070,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.160,877.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,43683,658
$CAP_FILE_SIZE,84224,0
$CFSIZE,260165632,212094976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.132,248.9,1
$GPS,250111,233606,-7639.194,17616.199,22,0.9,38,124.0