version: 66.08
glider: 503
mission: 7
dive: 872
start: 1 26 111 5 34 5
data:
$ID,503
$MISSION,7
$DIVE,872
$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,-20635.643
$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,48
$R_STBD_OVSHOOT,40
$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
$GPS1,260111,052621,-7637.438,17613.748,18,1.2,32,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-73.5
$GPS2,260111,053336,-7637.469,17613.932,35,0.9,41,123.9
$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,219.0,68560,-16.1,-10.000
$D_GRID,421
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,97,0.00,0.00,-78.15,0.000,2,0.000,0.000,179,2795,3486,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.7,-6.2,13,122,9.20,0.00,-3.45,0.000,6,0.206,0.000,2565,2795,3658,0,0,0,0,0,0
$GC,258,-0.71,-170.3,35.1,-13.7,40,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,400,-0.71,-170.3,53.7,-13.2,65,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,542,-0.71,-170.3,72.7,-13.3,90,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,683,-0.71,-170.3,91.5,-14.7,115,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,823,-0.71,-170.3,109.7,-13.2,133,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,949,-0.71,-170.3,126.1,-12.7,145,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,1076,-0.71,-170.3,142.4,-12.9,157,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3662,0,0,0,0,0,0
$GC,1205,-0.71,-170.3,158.9,-12.7,169,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,1331,-0.71,-170.3,174.8,-12.3,181,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,1458,-0.71,-170.3,190.8,-12.4,193,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,1588,-0.71,-170.3,206.5,-12.0,205,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,1723,-0.71,-170.3,224.0,-12.7,218,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,1850,-0.71,-170.3,240.3,-12.9,230,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2795,3661,0,0,0,0,0,0
$GC,1979,-0.71,-170.3,256.8,-13.0,242,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,2169,-0.71,-170.3,280.8,-12.5,260,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2796,3661,0,0,0,0,0,0
$GC,2359,-0.71,-170.3,304.8,-12.5,278,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,2553,-0.71,-170.3,328.5,-12.4,296,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$GC,2752,-0.71,-170.3,353.0,-12.1,315,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3661,0,0,0,0,0,0
$STATE,2898,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2898,begin apogee
$GC,2906,-0.16,0.0,371.2,12.1,329,3052,0.52,0.00,139.80,0.974,6,0.113,0.000,2744,2689,2959,0,0,0,0,0,0
$STATE,3053,end apogee,CONTROL_FINISHED_OK
$STATE,3053,begin climb
$GC,3056,0.71,170.3,378.5,0.0,342,3219,0.82,2.47,152.45,0.926,4,0.076,0.031,3036,1314,2264,0,0,0,0,0,0
$GC,3259,0.73,181.9,368.3,9.5,359,3279,0.00,2.42,11.90,0.830,6,0.000,0.041,3035,2685,2219,0,0,1,0,0,0
$GC,3474,0.73,182.8,347.7,10.0,379,3478,0.00,1.83,0.00,0.000,4,0.000,0.048,3035,3765,2214,0,0,0,0,0,0
$GC,3547,0.73,182.8,338.8,12.1,385,3553,0.00,1.67,0.00,0.000,6,0.000,0.029,3044,2712,2213,0,0,1,0,0,0
$GC,3746,0.73,182.8,318.4,10.3,404,3750,0.00,1.73,0.00,0.000,4,0.000,0.047,3044,3766,2211,0,0,0,0,0,0
$GC,3797,0.73,182.8,312.2,12.2,408,3803,0.00,1.70,0.00,0.000,6,0.000,0.029,3052,2714,2211,0,0,0,0,0,0
$GC,3996,0.73,182.8,291.4,10.6,427,3999,0.00,1.73,0.00,0.000,4,0.000,0.047,3052,3775,2210,0,0,0,0,0,0
$GC,4046,0.73,182.8,285.1,12.6,431,4054,0.00,1.65,0.00,0.000,6,0.000,0.029,3060,2715,2209,0,0,0,0,0,0
$GC,4244,0.73,182.8,263.2,11.1,450,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2715,2209,0,0,0,0,0,0
$GC,4437,0.73,182.8,241.6,11.2,468,4441,0.00,1.75,0.00,0.000,4,0.000,0.047,3060,3763,2208,0,0,0,0,0,0
$GC,4529,0.73,182.8,229.8,13.1,476,4533,0.12,1.62,0.00,0.000,6,0.168,0.029,3033,2742,2207,0,0,0,0,0,0
$GC,4669,0.73,185.8,215.6,9.9,489,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2742,2207,0,0,0,0,0,0
$GC,4798,0.76,205.5,203.8,9.2,501,4826,0.00,0.00,20.62,0.868,6,0.000,0.000,3033,2742,2121,0,0,0,0,0,0
$GC,4954,0.77,214.0,188.9,9.7,516,4965,0.00,0.00,9.32,0.806,6,0.000,0.000,3032,2741,2087,0,0,0,0,0,0
$GC,5092,0.79,234.9,176.0,9.2,529,5118,0.00,1.73,20.48,0.840,4,0.000,0.049,3033,3757,2002,0,0,1,0,0,0
$GC,5171,0.79,234.9,167.8,10.6,536,5175,0.00,1.62,0.00,0.000,6,0.000,0.031,3040,2714,2002,0,0,1,0,0,0
$GC,5312,0.79,234.9,153.7,10.1,549,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2713,2002,0,0,0,0,0,0
$GC,5440,0.79,236.9,141.1,9.9,561,5444,0.00,1.75,0.00,0.000,4,0.000,0.049,3039,3758,2002,0,0,0,0,0,0
$GC,5476,0.79,236.9,137.2,11.1,564,5488,0.00,1.62,3.62,0.570,6,0.000,0.031,3047,2745,1993,0,0,0,0,0,0
$GC,5617,0.79,236.9,122.7,10.4,577,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2745,1993,0,0,0,0,0,0
$GC,5743,0.79,236.9,109.5,10.5,589,5747,0.00,1.70,0.00,0.000,4,0.000,0.050,3047,3763,1993,0,0,0,0,0,0
$GC,5779,0.79,236.9,105.5,11.3,592,5782,0.00,1.62,0.00,0.000,6,0.000,0.031,3052,2749,1994,0,0,0,0,0,0
$GC,5918,0.79,236.9,90.6,10.7,612,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2749,1994,0,0,0,0,0,0
$GC,6060,0.79,236.9,75.4,10.5,637,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2749,1994,0,0,0,0,0,0
$GC,6201,0.79,236.9,60.0,11.0,662,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2749,1993,0,0,0,0,0,0
$GC,6343,0.79,236.9,44.1,11.0,687,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2749,1994,0,0,0,0,0,0
$GC,6487,0.79,236.9,28.2,11.2,712,6493,0.00,1.70,0.00,0.000,4,0.000,0.049,3052,3766,1994,0,0,0,0,0,0
$GC,6546,0.79,236.9,21.0,12.4,722,6552,0.00,1.62,0.00,0.000,6,0.000,0.029,3059,2747,1994,0,0,0,0,0,0
$FREEZE,8.88,0.073,-1.897,2,1,0
$FREEZE,8.37,0.049,-1.897,2,1,0
$FREEZE,7.70,0.058,-1.896,2,1,0
$FREEZE,7.17,0.039,-1.896,2,1,0
$FREEZE,6.22,0.055,-1.895,2,1,0
$FREEZE,5.70,0.083,-1.894,2,1,0
$FREEZE,5.02,0.084,-1.894,2,1,0
$FREEZE,4.28,0.087,-1.893,2,1,0
$GC,6689,0.79,236.9,4.3,12.1,747,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2748,1993,0,0,0,0,0,0
$FREEZE,2.91,0.098,-1.892,2,1,0
$STATE,6702,end climb,SURFACE_DEPTH_REACHED
$STATE,6702,begin surface coast
$FREEZE,2.21,0.092,-1.892,2,1,0
$FREEZE,1.62,0.091,-1.892,2,1,0
$FREEZE,1.12,0.097,-1.891,2,1,0
$FREEZE,0.40,0.096,-1.890,2,1,0
$FREEZE,-0.02,0.092,-1.890,2,1,0
$FINISH,-0.0,1.027647
$STATE,6730,end surface coast,CONTROL_FINISHED_OK
$STATE,6730,begin surface
$SM_CCo,6749,5.50,0.103,0,0,1940,250.20
$SM_GC,2.14,0.00,0.00,5.50,0.000,0.000,0.103,187,2747,1940,-8.17,-0.93,250.20
$IRIDIUM_FIX,-7554.21,17617.32,260111,030357
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.3
$ALTIM_BOTTOM_PING,350.5,35.6
$24V_AH,21.7,91.990
$10V_AH,9.6,37.601
$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,18.250,32.075,358.200,5.500,0.000,22.198,38.647,184.385,1.250,0.000,44.150,1863.059,3053.082,448.808,1516.832,312.744,0.000,1145.439,0.000,1188.430,0.000,10.558,0.000
$DEVICE_MAMPS,205.785,65.790,973.845,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.703,978.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258168
$DATA_FILE_SIZE,50403,754
$CAP_FILE_SIZE,92534,0
$CFSIZE,260165632,211877888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.127,163.0,1
$GPS,260111,072743,-7636.918,17612.758,14,1.1,20,123.9