version: 66.08
glider: 503
mission: 7
dive: 869
start: 1 25 111 23 43 4
data:
$ID,503
$MISSION,7
$DIVE,869
$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,-20631.871
$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,50
$R_STBD_OVSHOOT,32
$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
$GPS1,250111,233606,-7639.194,17616.199,22,0.9,38,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-74.3
$GPS2,250111,234238,-7639.207,17615.988,12,1.3,12,124.0
$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,236.0,71826,-16.1,-10.000
$D_GRID,439
$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,-170.3,0.0,0.0,0,93,0.00,0.00,-72.20,0.000,2,0.000,0.000,173,2798,3419,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.3,-5.4,12,120,9.25,1.62,-5.05,0.000,4,0.207,0.062,2558,3765,3660,0,0,0,0,0,0
$GC,255,-0.71,-170.3,34.1,-14.5,39,262,0.00,1.55,0.00,0.000,6,0.000,0.028,2557,2773,3663,0,0,0,0,0,0
$GC,398,-0.71,-170.3,54.3,-13.6,64,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2774,3662,0,0,0,0,0,0
$GC,542,-0.71,-170.3,74.4,-14.2,89,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2774,3663,0,0,0,0,0,0
$GC,682,-0.71,-170.3,93.9,-13.7,114,690,0.00,1.62,0.00,0.000,4,0.000,0.047,2550,3758,3663,0,0,0,0,0,0
$GC,730,-0.71,-170.3,100.9,-14.9,122,734,0.00,1.52,0.00,0.000,6,0.000,0.028,2549,2784,3663,0,0,0,0,0,0
$GC,871,-0.71,-170.3,120.8,-14.1,135,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2784,3663,0,0,0,0,0,0
$GC,999,-0.71,-170.3,138.3,-13.5,147,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2784,3663,0,0,0,0,0,0
$GC,1127,-0.71,-170.3,156.1,-14.5,159,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2784,3663,0,0,0,0,0,0
$GC,1253,-0.71,-170.3,173.9,-14.4,171,1257,0.00,1.60,0.00,0.000,4,0.000,0.047,2542,3758,3664,0,0,0,0,0,0
$GC,1300,-0.71,-170.3,181.1,-15.8,175,1303,0.00,1.50,0.00,0.000,6,0.000,0.028,2542,2792,3664,0,0,0,0,0,0
$GC,1441,-0.71,-170.3,201.1,-14.0,188,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2792,3664,0,0,0,0,0,0
$GC,1567,-0.71,-170.3,218.0,-13.1,200,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2792,3664,0,0,0,0,0,0
$GC,1695,-0.71,-170.3,235.4,-13.8,212,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2792,3663,0,0,0,0,0,0
$GC,1823,-0.71,-170.3,252.5,-13.0,224,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2792,3663,0,0,0,0,0,0
$GC,2013,-0.71,-170.3,277.8,-13.1,242,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2792,3663,0,0,0,0,0,0
$GC,2205,-0.71,-170.3,303.7,-13.4,260,2209,0.00,1.60,0.00,0.000,4,0.000,0.049,2535,3758,3663,0,0,0,0,0,0
$GC,2253,-0.71,-170.3,310.6,-14.0,264,2257,0.10,1.50,0.00,0.000,6,0.125,0.030,2569,2800,3663,0,0,0,0,0,0
$GC,2460,-0.71,-170.3,334.0,-10.9,283,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2799,3663,0,0,0,0,0,0
$STATE,2625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2625,begin apogee
$GC,2633,-0.16,0.0,353.5,12.4,299,2779,0.52,0.00,140.05,0.962,4,0.114,0.000,2748,2683,2959,0,0,0,0,0,0
$STATE,2780,end apogee,CONTROL_FINISHED_OK
$STATE,2780,begin climb
$GC,2784,0.71,170.3,361.3,0.0,312,2944,0.77,0.00,151.52,0.914,6,0.070,0.000,3023,2682,2266,0,0,0,0,0,0
$GC,3140,0.73,184.2,338.4,9.5,344,3157,0.00,1.85,12.93,0.848,4,0.000,0.046,3023,3757,2209,0,0,0,0,0,0
$GC,3275,0.73,184.2,323.4,11.7,355,3282,0.00,1.67,0.00,0.000,6,0.000,0.030,3031,2716,2208,0,0,0,0,0,0
$GC,3476,0.74,190.5,303.8,9.7,374,3489,0.00,1.80,7.15,0.793,4,0.000,0.049,3031,3765,2183,0,0,0,0,0,0
$GC,3539,0.74,190.5,296.5,11.3,379,3546,0.00,1.67,0.00,0.000,6,0.000,0.030,3039,2700,2182,0,0,0,0,0,0
$GC,3738,0.74,190.5,276.3,10.0,398,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2700,2182,0,0,0,0,0,0
$GC,3929,0.75,200.4,257.3,9.6,416,3945,0.00,1.77,10.25,0.847,4,0.000,0.050,3039,3752,2143,0,0,0,0,0,0
$GC,4009,0.75,200.4,248.7,10.9,423,4013,0.00,1.62,0.00,0.000,6,0.000,0.030,3046,2725,2143,0,0,0,0,0,0
$GC,4150,0.75,200.4,234.8,10.0,436,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2726,2143,0,0,0,0,0,0
$GC,4277,0.75,200.4,221.5,10.3,448,4281,0.00,1.70,0.00,0.000,4,0.000,0.049,3046,3752,2143,0,0,0,0,0,0
$GC,4326,0.75,200.4,215.3,12.3,452,4334,0.00,1.62,0.00,0.000,6,0.000,0.029,3053,2723,2142,0,0,0,0,0,0
$GC,4462,0.75,200.4,200.2,11.0,465,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2723,2142,0,0,0,0,0,0
$GC,4588,0.75,200.4,185.8,11.3,477,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2723,2142,0,0,0,0,0,0
$GC,4716,0.75,200.4,170.9,11.8,489,4719,0.00,1.67,0.00,0.000,4,0.000,0.049,3054,3763,2142,0,0,0,0,0,0
$GC,4766,0.75,200.4,164.1,13.4,493,4773,0.00,1.62,0.00,0.000,6,0.000,0.030,3061,2735,2142,0,0,0,0,0,0
$GC,4901,0.75,200.4,148.6,11.2,506,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2735,2141,0,0,0,0,0,0
$GC,5028,0.75,200.4,134.5,11.0,518,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2735,2142,0,0,0,0,0,0
$GC,5156,0.75,200.4,120.4,11.2,530,5160,0.00,1.70,0.00,0.000,4,0.000,0.047,3060,3760,2142,0,0,0,0,0,0
$GC,5214,0.75,200.4,113.3,12.5,535,5218,0.00,1.60,0.00,0.000,6,0.000,0.030,3069,2749,2142,0,0,0,0,0,0
$GC,5349,0.75,200.4,98.1,11.1,548,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2749,2142,0,0,0,0,0,0
$GC,5493,0.75,200.4,82.6,11.1,573,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2749,2141,0,0,0,0,0,0
$GC,5634,0.75,200.4,66.7,10.9,598,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2749,2141,0,0,0,0,0,0
$GC,5777,0.75,200.4,50.2,11.6,623,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2749,2141,0,0,0,0,0,0
$GC,5920,0.75,200.4,33.4,11.9,648,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2749,2141,0,0,0,0,0,0
$GC,6063,0.75,200.4,16.8,12.2,673,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2749,2141,0,0,0,0,0,0
$FREEZE,8.46,-0.011,-1.898,2,1,0
$FREEZE,7.98,-0.014,-1.898,2,1,0
$FREEZE,7.27,-0.016,-1.898,2,1,0
$FREEZE,6.71,-0.016,-1.897,2,1,0
$FREEZE,6.08,-0.018,-1.897,2,1,0
$FREEZE,5.40,-0.015,-1.896,2,1,0
$FREEZE,4.82,-0.008,-1.896,2,1,0
$FREEZE,4.20,-0.009,-1.895,2,1,0
$FREEZE,3.60,-0.008,-1.895,2,1,0
$FREEZE,3.03,-0.006,-1.894,2,1,0
$FREEZE,2.02,-0.001,-1.893,2,1,0
$STATE,6184,end climb,SURFACE_DEPTH_REACHED
$STATE,6184,begin surface coast
$FREEZE,1.47,0.001,-1.893,2,1,0
$FREEZE,0.80,0.000,-1.893,2,1,0
$FREEZE,0.15,-0.003,-1.892,2,1,0
$FREEZE,-0.14,-0.010,-1.222,2,1,0
$FINISH,-0.1,1.018048
$STATE,6207,end surface coast,CONTROL_FINISHED_OK
$STATE,6207,begin surface
$SM_CCo,6225,23.10,0.099,0,0,1939,250.20
$SM_GC,0.64,0.00,0.00,23.10,0.000,0.000,0.099,187,2749,1939,-8.17,-0.88,250.20
$IRIDIUM_FIX,-7554.21,17616.72,250111,212108
$TT8_MAMPS,0.027713
$HUMID,53.07
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.3
$ALTIM_BOTTOM_PING,350.8,16.9
$24V_AH,21.7,91.649
$10V_AH,9.8,37.427
$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,18.300,32.975,321.900,23.100,0.000,28.765,37.771,175.535,1.250,0.000,15.221,1746.240,2775.696,419.342,1411.655,292.964,0.000,1074.675,0.000,1122.503,0.000,10.509,0.000
$DEVICE_MAMPS,206.550,68.850,961.605,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,490.573,911.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43623,699
$CAP_FILE_SIZE,87035,0
$CFSIZE,260165632,212045824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,228.2,1
$GPS,260111,012825,-7638.496,17614.615,16,1.2,28,124.0