version: 66.08
glider: 503
mission: 7
dive: 713
start: 1 14 111 1 0 28
data:
$ID,503
$MISSION,7
$DIVE,713
$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,220
$T_MISSION,200
$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,225
$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,-20421.109
$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,39
$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
$GPS1,140111,005336,-7605.777,17527.330,37,0.8,38,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-71.1
$GPS2,140111,005957,-7605.779,17527.180,17,1.4,17,122.9
$SPEED_LIMITS,0.197,0.325
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$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,326.9,41370,-15.8,-11.364
$D_GRID,375
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-219.0,0.0,0.0,0,96,0.00,0.00,-78.20,0.000,2,0.000,0.000,161,2796,3435,0,0,0,0,0,0
$GC,100,-0.76,-219.0,3.5,-7.5,13,121,9.15,0.00,-8.35,0.000,6,0.207,0.000,2546,2796,3856,0,0,0,0,0,0
$GC,257,-0.76,-219.0,38.1,-16.4,40,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3860,0,0,0,0,0,0
$GC,400,-0.76,-219.0,60.6,-15.2,65,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3860,0,0,0,0,0,0
$GC,542,-0.76,-219.0,82.5,-15.3,90,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2796,3860,0,0,0,0,0,0
$GC,681,-0.76,-219.0,104.2,-16.5,113,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3860,0,0,0,0,0,0
$GC,809,-0.76,-219.0,123.5,-15.3,125,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3861,0,0,0,0,0,0
$GC,936,-0.76,-219.0,143.1,-15.7,137,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3861,0,0,0,0,0,0
$GC,1064,-0.76,-219.0,162.4,-14.8,149,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3861,0,0,0,0,0,0
$GC,1192,-0.76,-219.0,181.5,-15.1,161,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2795,3861,0,0,0,0,0,0
$GC,1319,-0.76,-219.0,200.2,-14.9,173,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3860,0,0,0,0,0,0
$GC,1446,-0.76,-219.0,218.7,-14.2,185,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3861,0,0,0,0,0,0
$GC,1574,-0.76,-219.0,237.3,-14.7,197,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2795,3861,0,0,0,0,0,0
$GC,1701,-0.76,-219.0,256.1,-14.6,209,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3860,0,0,0,0,0,0
$GC,1892,-0.76,-219.0,283.4,-14.3,227,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2796,3861,0,0,0,0,0,0
$GC,2084,-0.76,-219.0,310.5,-14.2,245,2088,0.00,2.22,0.00,0.000,4,0.000,0.031,2546,1374,3861,0,0,0,0,0,0
$GC,2125,-0.76,-219.0,316.3,-13.9,248,2129,0.00,2.25,0.00,0.000,6,0.000,0.045,2546,2766,3861,0,0,0,0,0,0
$GC,2324,-0.76,-219.0,344.5,-14.1,266,2328,0.00,1.60,0.00,0.000,4,0.000,0.050,2540,3756,3860,0,0,0,0,0,0
$GC,2375,-0.76,-219.0,352.5,-15.3,270,2382,0.00,1.52,0.00,0.000,6,0.000,0.029,2540,2778,3860,0,0,0,0,0,0
$STATE,2538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2538,begin apogee
$GC,2545,-0.16,0.0,376.3,13.9,286,2727,0.60,0.00,176.88,0.975,4,0.117,0.000,2742,2693,2960,0,0,0,0,0,0
$STATE,2728,end apogee,CONTROL_FINISHED_OK
$STATE,2728,begin climb
$GC,2730,0.76,219.0,385.6,0.0,302,2936,0.93,2.40,195.80,0.922,4,0.072,0.034,3047,1307,2067,0,0,0,0,0,0
$GC,3042,0.77,223.9,363.4,11.2,329,3052,0.00,2.42,5.30,0.685,6,0.000,0.041,3047,2701,2047,0,0,0,0,0,0
$GC,3250,0.77,223.9,339.1,12.1,348,3254,0.00,2.30,0.00,0.000,4,0.000,0.034,3057,1311,2044,0,0,0,0,0,0
$GC,3424,0.77,223.9,318.4,11.4,363,3429,0.00,2.30,0.00,0.000,6,0.000,0.042,3057,2708,2042,0,0,0,0,0,0
$GC,3623,0.77,223.9,293.5,12.5,381,3626,0.00,1.67,0.00,0.000,4,0.000,0.049,3057,3761,2042,0,0,0,0,0,0
$GC,3650,0.77,223.9,289.5,13.6,383,3657,0.00,1.67,0.00,0.000,6,0.000,0.031,3065,2715,2041,0,0,0,0,0,0
$GC,3851,0.77,223.9,264.5,12.3,402,3855,0.00,2.25,0.00,0.000,4,0.000,0.035,3076,1300,2040,0,0,0,0,0,0
$GC,3891,0.77,223.9,259.2,12.3,405,3895,0.00,2.25,0.00,0.000,6,0.000,0.043,3076,2692,2040,0,0,0,0,0,0
$GC,4090,0.77,223.9,233.8,12.9,423,4093,0.00,1.73,0.00,0.000,4,0.000,0.048,3076,3754,2040,0,0,0,0,0,0
$GC,4163,0.77,223.9,223.1,14.2,429,4170,0.08,1.67,0.00,0.000,6,0.140,0.029,3046,2698,2040,0,0,0,0,0,0
$GC,4297,0.81,257.1,208.8,10.2,442,4330,0.00,0.00,30.45,0.867,6,0.000,0.000,3046,2698,1911,0,0,0,0,0,0
$GC,4455,0.83,276.7,192.1,10.7,457,4477,0.00,0.00,19.25,0.838,6,0.000,0.000,3046,2698,1831,0,0,0,0,0,0
$GC,4601,0.85,293.9,176.3,10.8,471,4625,0.00,1.77,16.65,0.820,4,0.000,0.047,3046,3766,1761,0,0,0,0,0,0
$GC,4653,0.85,293.9,170.0,12.4,475,4660,0.00,1.67,0.00,0.000,6,0.000,0.030,3050,2711,1761,0,0,1,0,0,0
$GC,4788,0.85,293.9,154.7,11.4,488,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2711,1761,0,0,0,0,0,0
$GC,4915,0.87,303.6,140.5,11.0,500,4927,0.00,0.00,10.05,0.786,6,0.000,0.000,3050,2711,1722,0,0,0,0,0,0
$GC,5053,0.87,308.8,125.1,11.2,513,5062,0.00,0.00,6.43,0.720,6,0.000,0.000,3050,2711,1700,0,0,0,0,0,0
$GC,5190,0.89,321.5,109.8,10.9,526,5210,0.10,0.00,12.62,0.782,6,0.103,0.000,3106,2711,1649,0,0,0,0,0,0
$GC,5341,0.89,321.5,88.1,14.8,547,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2711,1649,0,0,0,0,0,0
$GC,5484,0.89,321.5,66.0,15.2,572,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2711,1649,0,0,0,0,0,0
$GC,5626,0.89,321.5,43.9,14.8,597,5633,0.00,1.73,0.00,0.000,4,0.000,0.050,3106,3751,1648,0,0,0,0,0,0
$GC,5652,0.89,321.5,39.5,17.1,601,5659,0.00,1.62,0.00,0.000,6,0.000,0.033,3115,2715,1649,0,0,1,0,0,0
$GC,5797,0.89,321.5,15.6,15.2,626,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2715,1648,0,0,0,0,0,0
$FREEZE,8.43,-0.035,-1.892,2,1,0
$FREEZE,7.47,-0.040,-1.892,2,1,0
$FREEZE,6.53,-0.035,-1.891,2,1,0
$FREEZE,5.51,-0.034,-1.890,2,1,0
$FREEZE,4.69,-0.034,-1.890,2,1,0
$FREEZE,3.57,-0.031,-1.889,2,1,0
$FREEZE,2.81,-0.032,-1.888,2,1,0
$STATE,5867,end climb,SURFACE_DEPTH_REACHED
$STATE,5867,begin surface coast
$FREEZE,1.76,-0.031,-1.887,2,1,0
$FREEZE,0.78,-0.032,-1.887,2,1,0
$FREEZE,-0.10,-0.022,-1.886,2,1,0
$FINISH,-0.1,1.027593
$STATE,5887,end surface coast,CONTROL_FINISHED_OK
$STATE,5887,begin surface
$SM_CCo,5965,0.00,0.000,0,0,1645,322.32
$SM_GC,0.64,7.75,0.00,0.00,0.047,0.000,0.000,182,2795,1645,-8.08,0.42,322.32
$IRIDIUM_FIX,-7519.49,17522.35,130111,232333
$TT8_MAMPS,0.026964
$HUMID,53.30
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.3
$24V_AH,21.8,74.460
$10V_AH,9.8,28.996
$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,18.600,35.250,473.425,0.000,0.000,30.299,38.557,164.948,1.250,0.000,19.777,1571.835,2675.336,509.326,1340.326,256.097,0.000,1152.720,0.000,1055.659,0.000,7.759,0.000
$DEVICE_MAMPS,207.315,99.450,974.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.210,822.020,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,40381,642
$CAP_FILE_SIZE,84099,0
$CFSIZE,260165632,219652096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.083,249.4,1
$GPS,140111,024050,-7605.925,17530.162,18,1.6,19,122.9