version: 66.08
glider: 503
mission: 7
dive: 719
start: 1 14 111 11 53 51
data:
$ID,503
$MISSION,7
$DIVE,719
$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,-20428.646
$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
$GPS1,140111,114702,-7606.315,17545.811,14,1.2,15,122.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.2
$GPS2,140111,115320,-7606.325,17545.672,13,1.6,13,122.5
$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,309.4,33198,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-219.0,0.0,0.0,0,101,0.00,0.00,-83.15,0.000,2,0.000,0.000,156,2793,3438,0,0,0,0,0,0
$GC,105,-0.76,-219.0,3.5,-7.5,14,133,9.15,1.60,-8.57,0.000,4,0.209,0.064,2539,3754,3857,0,0,0,0,0,0
$GC,225,-0.76,-219.0,31.7,-16.3,34,231,0.00,1.52,0.00,0.000,6,0.000,0.030,2539,2781,3860,0,0,0,0,0,0
$GC,368,-0.76,-219.0,54.0,-15.7,59,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2781,3860,0,0,0,0,0,0
$GC,510,-0.76,-219.0,76.0,-15.5,84,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2781,3860,0,0,0,0,0,0
$GC,652,-0.76,-219.0,97.7,-15.1,109,659,0.00,1.60,0.00,0.000,4,0.000,0.050,2531,3749,3860,0,0,0,0,0,0
$GC,700,-0.76,-219.0,105.8,-17.0,114,704,0.00,1.50,0.00,0.000,6,0.000,0.029,2531,2793,3860,0,0,0,0,0,0
$GC,840,-0.76,-219.0,128.0,-15.9,127,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2793,3861,0,0,0,0,0,0
$GC,968,-0.76,-219.0,148.3,-15.8,139,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2793,3861,0,0,0,0,0,0
$GC,1096,-0.76,-219.0,168.4,-15.6,151,1099,0.00,1.58,0.00,0.000,4,0.000,0.049,2524,3751,3861,0,0,0,0,0,0
$GC,1132,-0.76,-219.0,174.2,-16.2,154,1135,0.00,1.50,0.00,0.000,6,0.000,0.029,2524,2792,3861,0,0,0,0,0,0
$GC,1272,-0.76,-219.0,197.5,-16.8,167,1274,0.10,0.00,0.00,0.000,6,0.174,0.000,2552,2792,3861,0,0,0,0,0,0
$GC,1400,-0.76,-219.0,215.5,-13.6,179,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2791,3861,0,0,0,0,0,0
$GC,1527,-0.76,-219.0,233.2,-13.9,191,1530,0.00,1.58,0.00,0.000,4,0.000,0.049,2545,3752,3861,0,0,0,0,0,0
$GC,1562,-0.76,-219.0,238.1,-14.6,194,1565,0.00,1.50,0.00,0.000,6,0.000,0.029,2545,2791,3861,0,0,0,0,0,0
$GC,1702,-0.76,-219.0,257.8,-14.0,207,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2791,3861,0,0,0,0,0,0
$GC,1893,-0.76,-219.0,284.3,-14.0,225,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2792,3861,0,0,0,0,0,0
$GC,2086,-0.76,-219.0,310.9,-14.1,243,2090,0.00,1.55,0.00,0.000,4,0.000,0.049,2538,3740,3862,0,0,0,0,0,0
$GC,2147,-0.76,-219.0,320.2,-14.1,248,2155,0.00,1.45,0.00,0.000,6,0.000,0.030,2538,2813,3861,0,0,0,0,0,0
$GC,2345,-0.76,-219.0,348.2,-14.6,267,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2812,3861,0,0,0,0,0,0
$STATE,2534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2534,begin apogee
$GC,2542,-0.16,0.0,375.1,14.0,285,2724,0.60,0.00,176.73,0.968,4,0.115,0.000,2740,2688,2961,0,0,0,0,0,0
$STATE,2725,end apogee,CONTROL_FINISHED_OK
$STATE,2725,begin climb
$GC,2728,0.76,219.0,384.5,0.0,301,2938,0.93,2.38,196.50,0.914,4,0.073,0.033,3045,1313,2066,0,0,0,0,0,0
$GC,3086,0.80,249.5,359.1,10.3,333,3121,0.00,2.38,28.83,0.883,6,0.000,0.041,3045,2692,1942,0,0,0,0,0,0
$GC,3311,0.81,260.5,334.4,11.0,354,3327,0.00,2.30,11.07,0.832,4,0.000,0.033,3054,1316,1897,0,0,0,0,0,0
$GC,3467,0.84,286.4,317.5,10.5,367,3497,0.00,2.30,24.70,0.884,6,0.000,0.042,3054,2711,1792,0,0,0,0,0,0
$GC,3688,0.84,286.4,291.9,11.7,388,3692,0.00,1.70,0.00,0.000,4,0.000,0.048,3055,3770,1792,0,0,0,0,0,0
$GC,3758,0.84,286.4,282.5,14.1,394,3762,0.00,1.67,0.00,0.000,6,0.000,0.030,3061,2730,1792,0,0,0,0,0,0
$GC,3962,0.84,286.4,257.7,12.0,413,3966,0.00,2.28,0.00,0.000,4,0.000,0.034,3072,1296,1792,0,0,0,0,0,0
$GC,3983,0.84,286.4,255.0,11.6,414,3990,0.00,2.33,0.00,0.000,6,0.000,0.043,3073,2722,1791,0,0,0,0,0,0
$GC,4182,0.84,286.4,230.3,12.4,433,4185,0.00,1.65,0.00,0.000,4,0.000,0.049,3072,3767,1791,0,0,0,0,0,0
$GC,4232,0.84,286.4,223.1,14.1,437,4238,0.00,1.67,0.00,0.000,6,0.000,0.029,3081,2710,1791,0,0,0,0,0,0
$GC,4366,0.84,286.4,205.6,13.0,450,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2710,1790,0,0,0,0,0,0
$GC,4493,0.84,286.4,188.3,13.5,462,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2710,1791,0,0,0,0,0,0
$GC,4622,0.84,286.4,170.9,13.8,474,4625,0.00,1.70,0.00,0.000,4,0.000,0.048,3080,3772,1790,0,0,0,0,0,0
$GC,4660,0.84,286.4,164.6,15.1,477,4667,0.00,1.65,0.00,0.000,6,0.000,0.029,3086,2730,1790,0,0,0,0,0,0
$GC,4795,0.84,286.4,145.9,14.1,490,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2730,1790,0,0,0,0,0,0
$GC,4923,0.84,286.4,128.4,13.5,502,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2730,1790,0,0,0,0,0,0
$GC,5050,0.84,286.4,110.8,13.6,514,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2730,1790,0,0,0,0,0,0
$GC,5178,0.84,286.4,92.6,14.7,530,5185,0.00,1.67,0.00,0.000,4,0.000,0.049,3086,3752,1790,0,0,0,0,0,0
$GC,5210,0.84,286.4,87.8,16.1,535,5218,0.00,1.62,0.00,0.000,6,0.000,0.030,3094,2727,1789,0,0,0,0,0,0
$GC,5357,0.84,286.4,66.3,15.9,560,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2727,1789,0,0,0,0,0,0
$GC,5500,0.84,286.4,45.1,14.0,585,5507,0.00,1.70,0.00,0.000,4,0.000,0.047,3094,3765,1789,0,0,0,0,0,0
$GC,5553,0.84,286.4,36.6,17.0,594,5561,0.10,1.62,0.00,0.000,6,0.145,0.031,3068,2739,1790,0,0,0,0,0,0
$GC,5696,0.84,286.4,18.5,12.3,619,5704,0.00,2.28,0.00,0.000,4,0.000,0.036,3078,1300,1790,0,0,0,0,0,0
$GC,5723,0.84,286.4,15.5,11.5,623,5731,0.00,2.33,0.00,0.000,6,0.000,0.044,3078,2741,1789,0,0,0,0,0,0
$FREEZE,8.85,-0.534,-1.893,2,1,0
$FREEZE,7.93,-0.528,-1.893,2,1,0
$FREEZE,7.08,-0.532,-1.892,2,1,0
$FREEZE,6.45,-0.527,-1.892,2,1,0
$FREEZE,5.71,-0.528,-1.891,2,1,0
$FREEZE,5.24,-0.527,-1.891,2,1,0
$FREEZE,4.25,-0.521,-1.890,2,1,0
$FREEZE,3.75,-0.522,-1.890,2,1,0
$FREEZE,2.95,-0.522,-1.889,2,1,0
$STATE,5820,end climb,SURFACE_DEPTH_REACHED
$STATE,5820,begin surface coast
$FREEZE,1.89,-0.526,-1.888,2,1,0
$FREEZE,1.32,-0.530,-1.888,2,1,0
$FREEZE,0.81,-0.528,-1.887,2,1,0
$FREEZE,-0.06,-0.529,-1.887,2,1,0
$FINISH,-0.1,1.027632
$STATE,5844,end surface coast,CONTROL_FINISHED_OK
$STATE,5844,begin surface
$SM_CCo,5922,0.00,0.000,0,0,1785,287.98
$SM_GC,0.81,7.57,0.00,0.00,0.042,0.000,0.000,184,2741,1785,-8.07,-1.10,287.98
$IRIDIUM_FIX,-7519.49,17531.27,140111,090941
$TT8_MAMPS,0.026964
$HUMID,53.15
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.5
$24V_AH,21.8,75.225
$10V_AH,9.8,29.310
$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,18.450,50.725,437.825,0.000,0.000,29.837,36.868,168.255,1.000,0.000,15.998,1583.398,2603.865,496.828,1361.214,261.152,0.000,1156.263,0.000,1077.117,0.000,9.507,0.000
$DEVICE_MAMPS,208.845,68.850,967.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.819,816.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258232
$DATA_FILE_SIZE,43802,644
$CAP_FILE_SIZE,86908,0
$CFSIZE,260165632,219357184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,235.5,1
$GPS,140111,133401,-7606.248,17548.982,48,1.4,49,122.5