version: 66.08
glider: 503
mission: 7
dive: 723
start: 1 14 111 19 11 9
data:
$ID,503
$MISSION,7
$DIVE,723
$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,-20435.654
$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,47
$R_STBD_OVSHOOT,45
$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
$GPS1,140111,190207,-7606.022,17557.668,15,1.3,26,122.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-73.1
$GPS2,140111,191038,-7606.010,17557.488,14,1.9,14,122.2
$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,334.7,27907,-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,-82.53,0.000,2,0.000,0.000,159,2803,3380,0,0,0,0,0,0
$GC,104,-0.76,-219.0,3.3,-6.2,14,131,9.12,1.52,-9.88,0.000,4,0.205,0.063,2543,3748,3856,0,0,0,0,0,0
$GC,229,-0.76,-219.0,30.9,-16.7,35,237,0.00,1.52,0.00,0.000,6,0.000,0.028,2543,2777,3859,0,0,0,0,0,0
$GC,373,-0.76,-219.0,54.3,-15.9,60,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2777,3859,0,0,0,0,0,0
$GC,515,-0.76,-219.0,77.3,-16.3,85,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2777,3859,0,0,0,0,0,0
$GC,656,-0.76,-219.0,99.2,-16.1,110,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2777,3860,0,0,0,0,0,0
$GC,791,-0.76,-219.0,120.1,-15.5,123,794,0.00,1.58,0.00,0.000,4,0.000,0.048,2535,3735,3860,0,0,0,0,0,0
$GC,837,-0.76,-219.0,127.4,-15.9,127,841,0.00,1.48,0.00,0.000,6,0.000,0.030,2535,2781,3860,0,0,1,0,0,0
$GC,978,-0.76,-219.0,149.3,-15.5,140,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2781,3861,0,0,0,0,0,0
$GC,1104,-0.76,-219.0,169.7,-16.1,152,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2781,3860,0,0,0,0,0,0
$GC,1232,-0.76,-219.0,190.1,-15.7,164,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2781,3860,0,0,0,0,0,0
$GC,1360,-0.76,-219.0,210.4,-16.1,176,1363,0.00,1.58,0.00,0.000,4,0.000,0.049,2527,3738,3860,0,0,0,0,0,0
$GC,1395,-0.76,-219.0,216.4,-17.2,179,1398,0.00,1.45,0.00,0.000,6,0.000,0.030,2528,2801,3860,0,0,1,0,0,0
$GC,1535,-0.76,-219.0,239.6,-16.7,192,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2802,3860,0,0,0,0,0,0
$GC,1664,-0.76,-219.0,260.9,-16.7,204,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2802,3860,0,0,0,0,0,0
$GC,1853,-0.76,-219.0,291.7,-15.7,222,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2802,3860,0,0,0,0,0,0
$GC,2045,-0.76,-219.0,321.0,-14.9,240,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2802,3860,0,0,0,0,0,0
$GC,2239,-0.76,-219.0,350.2,-15.1,258,2243,0.00,2.22,0.00,0.000,4,0.000,0.032,2528,1372,3860,0,0,0,0,0,0
$GC,2268,-0.76,-219.0,355.0,-14.9,260,2273,0.12,2.25,0.00,0.000,6,0.151,0.044,2554,2773,3860,0,0,0,0,0,0
$STATE,2416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2416,begin apogee
$GC,2423,-0.16,0.0,375.0,13.1,274,2610,0.55,0.00,177.30,0.966,4,0.112,0.000,2743,2685,2958,0,0,0,0,0,0
$STATE,2611,end apogee,CONTROL_FINISHED_OK
$STATE,2611,begin climb
$GC,2614,0.76,219.0,384.7,0.0,291,2821,0.90,2.38,195.75,0.916,4,0.070,0.033,3042,1309,2067,0,0,0,0,0,0
$GC,2927,0.81,255.7,364.3,10.1,318,2968,0.00,2.45,34.83,0.888,6,0.000,0.042,3042,2704,1917,0,0,0,0,0,0
$GC,3159,0.81,256.4,339.0,11.3,340,3163,0.00,2.33,0.00,0.000,4,0.000,0.034,3051,1312,1913,0,0,0,0,0,0
$GC,3289,0.81,259.3,325.2,11.3,351,3293,0.00,2.33,0.00,0.000,6,0.000,0.043,3051,2713,1911,0,0,0,0,0,0
$GC,3487,0.81,259.3,302.4,11.4,369,3491,0.00,1.67,0.00,0.000,4,0.000,0.049,3051,3763,1910,0,0,0,0,0,0
$GC,3556,0.81,259.3,293.5,13.0,375,3560,0.00,1.65,0.00,0.000,6,0.000,0.030,3058,2707,1910,0,0,0,0,0,0
$GC,3759,0.81,259.3,268.1,12.2,394,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2705,1910,0,0,0,0,0,0
$GC,3951,0.81,259.3,244.5,12.1,412,3954,0.00,1.70,0.00,0.000,4,0.000,0.049,3058,3764,1909,0,0,0,0,0,0
$GC,3989,0.81,259.3,239.0,14.4,415,3996,0.00,1.62,0.00,0.000,6,0.000,0.030,3064,2729,1909,0,0,1,0,0,0
$GC,4124,0.81,259.3,221.8,12.7,428,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2729,1909,0,0,0,0,0,0
$GC,4251,0.81,259.3,205.7,12.6,440,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2729,1909,0,0,0,0,0,0
$GC,4379,0.81,259.3,189.8,12.7,452,4383,0.00,1.65,0.00,0.000,4,0.000,0.048,3064,3763,1909,0,0,0,0,0,0
$GC,4413,0.81,259.3,185.0,14.0,455,4417,0.00,1.65,0.00,0.000,6,0.000,0.030,3072,2692,1909,0,0,0,0,0,0
$GC,4554,0.81,259.3,166.9,12.8,468,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2690,1909,0,0,0,0,0,0
$GC,4682,0.81,259.3,150.8,12.3,480,4686,0.00,1.75,0.00,0.000,4,0.000,0.049,3072,3758,1908,0,0,0,0,0,0
$GC,4717,0.81,259.3,145.7,14.7,483,4721,0.00,1.62,0.00,0.000,6,0.000,0.031,3079,2733,1908,0,0,0,0,0,0
$GC,4857,0.81,259.3,126.9,13.3,496,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2731,1908,0,0,0,0,0,0
$GC,4985,0.81,259.3,109.7,13.5,508,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2731,1908,0,0,0,0,0,0
$GC,5115,0.81,259.3,92.3,13.1,525,5122,0.00,1.67,0.00,0.000,4,0.000,0.050,3079,3754,1908,0,0,0,0,0,0
$GC,5163,0.81,259.3,85.4,14.7,533,5170,0.00,1.60,0.00,0.000,6,0.000,0.031,3086,2740,1908,0,0,0,0,0,0
$GC,5309,0.81,259.3,65.8,12.9,558,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2740,1908,0,0,0,0,0,0
$GC,5451,0.81,259.3,46.9,12.7,583,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2740,1908,0,0,0,0,0,0
$GC,5592,0.81,259.3,28.4,13.1,608,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2740,1908,0,0,0,0,0,0
$GC,5733,0.81,259.3,9.6,14.2,633,5740,0.00,1.67,0.00,0.000,4,0.000,0.050,3086,3761,1908,0,0,0,0,0,0
$FREEZE,7.44,-0.267,-1.890,2,1,0
$FREEZE,6.63,-0.263,-1.890,2,1,0
$FREEZE,5.68,-0.272,-1.889,2,1,0
$FREEZE,4.83,-0.272,-1.888,2,1,0
$FREEZE,3.92,-0.274,-1.888,2,1,0
$FREEZE,3.04,-0.271,-1.887,2,1,0
$FREEZE,2.07,-0.272,-1.886,2,1,0
$STATE,5779,end climb,SURFACE_DEPTH_REACHED
$STATE,5779,begin surface coast
$FREEZE,0.81,-0.264,-1.885,2,1,0
$FREEZE,-0.12,-0.266,-1.885,2,1,0
$FREEZE,-0.01,-0.276,-0.986,2,1,0
$FINISH,-0.0,1.014571
$STATE,5798,end surface coast,CONTROL_FINISHED_OK
$STATE,5799,begin surface
$SM_CCo,5878,0.00,0.000,0,0,1904,259.03
$SM_GC,0.92,7.65,0.00,0.00,0.046,0.000,0.000,186,2777,1904,-8.08,-0.08,259.03
$IRIDIUM_FIX,-7519.49,17558.68,140111,191911
$TT8_MAMPS,0.026964
$HUMID,52.71
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$24V_AH,21.8,75.751
$10V_AH,9.7,29.520
$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,18.350,43.000,407.875,0.000,0.000,59.646,81.035,167.601,1.000,0.000,19.296,1586.786,2680.014,458.428,1422.727,248.446,0.000,1104.000,0.000,1061.325,0.000,7.758,0.000
$DEVICE_MAMPS,205.020,80.325,966.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.580,821.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,43767,644
$CAP_FILE_SIZE,84242,0
$CFSIZE,260165632,219168768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.122,290.7,1
$GPS,140111,205036,-7606.031,17559.838,45,1.1,50,122.2