version: 66.08
glider: 503
mission: 7
dive: 721
start: 1 14 111 15 31 39
data:
$ID,503
$MISSION,7
$DIVE,721
$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,-20431.258
$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,31
$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
$GPS1,140111,152456,-7606.170,17552.088,23,1.3,24,122.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-70.0
$GPS2,140111,153108,-7606.170,17551.969,10,1.5,10,122.4
$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,322.5,30380,-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,16,-0.76,-219.0,0.0,0.0,0,98,0.00,0.00,-80.32,0.000,2,0.000,0.000,171,2799,3386,0,0,0,0,0,0
$GC,102,-0.76,-219.0,3.2,-6.6,14,129,9.18,1.55,-9.85,0.000,4,0.209,0.064,2545,3763,3854,0,0,0,0,0,0
$GC,243,-0.76,-219.0,32.2,-15.6,38,250,0.00,1.55,0.00,0.000,6,0.000,0.030,2545,2779,3856,0,0,0,0,0,0
$GC,385,-0.76,-219.0,55.0,-15.1,63,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2779,3857,0,0,0,0,0,0
$GC,527,-0.76,-219.0,76.5,-14.4,88,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2779,3857,0,0,0,0,0,0
$GC,668,-0.76,-219.0,98.6,-16.6,113,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2779,3857,0,0,0,0,0,0
$GC,809,-0.76,-219.0,120.6,-15.3,127,812,0.00,1.60,0.00,0.000,4,0.000,0.049,2537,3753,3858,0,0,0,0,0,0
$GC,844,-0.76,-219.0,126.1,-16.4,130,847,0.00,1.52,0.00,0.000,6,0.000,0.029,2538,2781,3858,0,0,0,0,0,0
$GC,984,-0.76,-219.0,148.2,-15.6,143,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2781,3858,0,0,0,0,0,0
$GC,1111,-0.76,-219.0,168.0,-15.6,155,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2781,3858,0,0,0,0,0,0
$GC,1239,-0.76,-219.0,187.5,-15.5,167,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2781,3858,0,0,0,0,0,0
$GC,1366,-0.76,-219.0,207.0,-15.2,179,1370,0.00,1.60,0.00,0.000,4,0.000,0.049,2530,3755,3858,0,0,0,0,0,0
$GC,1405,-0.76,-219.0,213.5,-16.2,182,1412,0.00,1.52,0.00,0.000,6,0.000,0.030,2530,2789,3858,0,0,0,0,0,0
$GC,1540,-0.76,-219.0,234.4,-15.7,195,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2789,3857,0,0,0,0,0,0
$GC,1667,-0.76,-219.0,254.5,-15.9,207,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2789,3858,0,0,0,0,0,0
$GC,1859,-0.76,-219.0,284.5,-15.6,225,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2789,3858,0,0,0,0,0,0
$GC,2049,-0.76,-219.0,314.4,-15.5,243,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2789,3857,0,0,0,0,0,0
$GC,2243,-0.76,-219.0,344.1,-15.1,261,2247,0.00,1.60,0.00,0.000,4,0.000,0.050,2522,3757,3857,0,0,0,0,0,0
$GC,2281,-0.76,-219.0,350.9,-15.7,264,2289,0.08,1.50,0.00,0.000,6,0.129,0.030,2550,2800,3857,0,0,0,0,0,0
$STATE,2466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2466,begin apogee
$GC,2473,-0.16,0.0,376.4,13.5,282,2656,0.57,0.00,177.05,0.967,4,0.115,0.000,2744,2681,2959,0,0,0,0,0,0
$STATE,2657,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2659,0.76,219.0,386.7,0.0,298,2861,0.88,0.00,195.75,0.916,6,0.073,0.000,3044,2681,2067,0,0,0,0,0,0
$GC,3054,0.76,219.0,354.9,11.4,334,3058,0.00,1.83,0.00,0.000,4,0.000,0.046,3044,3756,2060,0,0,0,0,0,0
$GC,3134,0.76,219.0,344.8,13.2,341,3138,0.00,1.65,0.00,0.000,6,0.000,0.030,3052,2719,2058,0,0,1,0,0,0
$GC,3338,0.77,223.4,320.9,11.2,360,3342,0.00,1.75,0.00,0.000,4,0.000,0.049,3052,3761,2057,0,0,0,0,0,0
$GC,3383,0.77,223.4,315.3,13.0,364,3387,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2711,2056,0,0,0,0,0,0
$GC,3587,0.77,223.4,291.0,11.4,383,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2710,2056,0,0,0,0,0,0
$GC,3780,0.77,223.4,269.0,11.7,401,3784,0.00,1.73,0.00,0.000,4,0.000,0.049,3059,3757,2055,0,0,0,0,0,0
$GC,3818,0.77,223.4,263.5,13.3,404,3826,0.00,1.65,0.00,0.000,6,0.000,0.030,3067,2721,2055,0,0,0,0,0,0
$GC,4017,0.77,223.4,239.1,12.6,423,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2721,2055,0,0,0,0,0,0
$GC,4145,0.77,223.4,223.1,12.6,435,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2721,2054,0,0,0,0,0,0
$GC,4271,0.77,223.4,207.5,12.2,447,4275,0.00,1.70,0.00,0.000,4,0.000,0.047,3067,3757,2054,0,0,0,0,0,0
$GC,4321,0.77,223.4,200.6,13.7,451,4328,0.00,1.62,0.00,0.000,6,0.000,0.029,3074,2733,2054,0,0,0,0,0,0
$GC,4457,0.77,223.4,183.6,12.5,464,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2733,2054,0,0,0,0,0,0
$GC,4583,0.77,223.4,167.4,12.5,476,4587,0.00,1.65,0.00,0.000,4,0.000,0.049,3074,3767,2054,0,0,0,0,0,0
$GC,4618,0.77,223.4,162.6,14.5,479,4622,0.12,1.62,0.00,0.000,6,0.165,0.030,3045,2737,2054,0,0,0,0,0,0
$GC,4758,0.79,244.7,147.4,10.6,492,4787,0.00,0.00,21.92,0.837,6,0.000,0.000,3046,2737,1964,0,0,0,0,0,0
$GC,4915,0.82,265.3,130.6,10.6,507,4937,0.00,0.00,20.50,0.811,6,0.000,0.000,3046,2737,1878,0,0,0,0,0,0
$GC,5062,0.85,287.1,115.0,10.6,521,5090,0.00,0.00,21.23,0.796,6,0.000,0.000,3045,2737,1789,0,0,0,0,0,0
$GC,5220,0.87,310.8,98.3,10.5,537,5247,0.10,0.00,22.65,0.783,6,0.101,0.000,3102,2737,1691,0,0,0,0,0,0
$GC,5384,0.87,310.8,74.8,14.8,565,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2737,1691,0,0,0,0,0,0
$GC,5524,0.87,310.8,54.2,15.4,590,5531,0.00,1.70,0.00,0.000,4,0.000,0.049,3103,3761,1691,0,0,0,0,0,0
$GC,5561,0.87,310.8,48.3,16.4,596,5570,0.08,1.58,0.00,0.000,6,0.135,0.031,3083,2764,1691,0,0,1,0,0,0
$GC,5709,0.87,310.8,27.6,14.1,621,5716,0.00,2.33,0.00,0.000,4,0.000,0.035,3093,1304,1690,0,0,0,0,0,0
$GC,5757,0.87,310.8,21.0,12.9,629,5764,0.00,2.33,0.00,0.000,6,0.000,0.042,3093,2745,1689,0,0,0,0,0,0
$FREEZE,8.24,-0.344,-1.893,2,1,0
$FREEZE,7.48,-0.346,-1.892,2,1,0
$FREEZE,6.70,-0.346,-1.892,2,1,0
$FREEZE,6.09,-0.347,-1.891,2,1,0
$FREEZE,5.28,-0.349,-1.890,2,1,0
$FREEZE,4.31,-0.347,-1.890,2,1,0
$FREEZE,3.54,-0.349,-1.889,2,1,0
$FREEZE,2.78,-0.349,-1.889,2,1,0
$STATE,5889,end climb,SURFACE_DEPTH_REACHED
$STATE,5890,begin surface coast
$FREEZE,1.99,-0.350,-1.888,2,1,0
$FREEZE,1.14,-0.345,-1.887,2,1,0
$FREEZE,0.18,-0.343,-1.886,2,1,0
$FINISH,0.2,1.027617
$STATE,5907,end surface coast,CONTROL_FINISHED_OK
$STATE,5907,begin surface
$SM_CCo,5984,0.00,0.000,0,0,1686,312.26
$SM_GC,0.79,7.70,0.00,0.00,0.046,0.000,0.000,184,2746,1686,-8.10,-0.96,312.26
$IRIDIUM_FIX,-7519.49,17540.87,140111,131303
$TT8_MAMPS,0.026964
$HUMID,52.52
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,19.9
$24V_AH,21.8,75.488
$10V_AH,9.8,29.415
$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,18.700,37.350,459.100,0.000,0.000,22.462,37.024,172.243,1.250,0.000,12.733,1593.613,2688.308,502.770,1324.640,254.222,0.000,1146.329,0.000,1049.550,0.000,7.758,0.000
$DEVICE_MAMPS,208.845,68.850,966.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.104,838.884,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,43669,656
$CAP_FILE_SIZE,84453,0
$CFSIZE,260165632,219262976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.085,277.5,1
$GPS,140111,171254,-7606.051,17555.297,35,1.1,52,122.3