version: 66.08
glider: 503
mission: 7
dive: 724
start: 1 14 111 20 57 50
data:
$ID,503
$MISSION,7
$DIVE,724
$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,-20436.91
$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,27
$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
$GPS1,140111,205036,-7606.031,17559.838,45,1.1,50,122.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-71.2
$GPS2,140111,205719,-7606.020,17559.672,9,1.7,14,122.2
$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,332.9,26938,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-72.75,0.000,2,0.000,0.000,171,2776,3388,0,0,0,0,0,0
$GC,95,-0.76,-219.0,3.3,-7.3,12,122,9.18,1.62,-9.73,0.000,4,0.208,0.067,2544,3760,3857,0,0,1,0,0,0
$GC,203,-0.76,-219.0,28.0,-17.0,30,211,0.00,1.55,0.00,0.000,6,0.000,0.030,2544,2777,3859,0,0,0,0,0,0
$GC,347,-0.76,-219.0,51.2,-16.1,55,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2777,3859,0,0,0,0,0,0
$GC,490,-0.76,-219.0,74.2,-15.4,80,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2777,3860,0,0,0,0,0,0
$GC,630,-0.76,-219.0,95.8,-15.4,105,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2777,3860,0,0,0,0,0,0
$GC,766,-0.76,-219.0,116.5,-15.9,120,770,0.00,1.62,0.00,0.000,4,0.000,0.048,2536,3765,3860,0,0,0,0,0,0
$GC,802,-0.76,-219.0,122.3,-16.9,123,806,0.00,1.52,0.00,0.000,6,0.000,0.028,2536,2796,3860,0,0,0,0,0,0
$GC,942,-0.76,-219.0,144.7,-15.8,136,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2795,3861,0,0,0,0,0,0
$GC,1070,-0.76,-219.0,164.6,-15.4,148,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2795,3861,0,0,0,0,0,0
$GC,1197,-0.76,-219.0,183.9,-15.1,160,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2795,3861,0,0,0,0,0,0
$GC,1324,-0.76,-219.0,203.3,-15.4,172,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2795,3861,0,0,0,0,0,0
$GC,1452,-0.76,-219.0,223.1,-15.4,184,1456,0.00,1.60,0.00,0.000,4,0.000,0.049,2528,3766,3861,0,0,0,0,0,0
$GC,1499,-0.76,-219.0,230.6,-16.0,188,1502,0.00,1.52,0.00,0.000,6,0.000,0.029,2529,2794,3860,0,0,0,0,0,0
$GC,1639,-0.76,-219.0,252.1,-15.0,201,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2794,3861,0,0,0,0,0,0
$GC,1831,-0.76,-219.0,281.8,-15.7,219,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2795,3861,0,0,0,0,0,0
$GC,2020,-0.76,-219.0,311.7,-15.7,237,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2794,3861,0,0,0,0,0,0
$GC,2213,-0.76,-219.0,340.5,-14.5,255,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2795,3861,0,0,0,0,0,0
$GC,2402,-0.76,-219.0,368.9,-15.0,273,2406,0.00,1.58,0.00,0.000,4,0.000,0.049,2521,3754,3861,0,0,0,0,0,0
$GC,2429,-0.76,-219.0,373.6,-16.8,275,2436,0.08,1.52,0.00,0.000,6,0.128,0.030,2549,2784,3861,0,0,0,0,0,0
$STATE,2444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2444,begin apogee
$GC,2451,-0.16,0.0,376.1,16.0,277,2634,0.57,0.00,177.73,0.966,4,0.115,0.000,2744,2701,2959,0,0,0,0,0,0
$STATE,2635,end apogee,CONTROL_FINISHED_OK
$STATE,2635,begin climb
$GC,2638,0.76,219.0,387.0,0.0,293,2843,0.88,0.00,195.80,0.915,6,0.072,0.000,3044,2701,2068,0,0,0,0,0,0
$GC,3034,0.77,223.6,356.9,11.2,329,3046,0.00,1.80,4.80,0.666,4,0.000,0.048,3044,3761,2048,0,0,1,0,0,0
$GC,3139,0.77,223.6,344.1,12.6,338,3143,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2722,2047,0,0,1,0,0,0
$GC,3344,0.77,223.6,320.6,11.4,357,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2720,2046,0,0,0,0,0,0
$GC,3534,0.77,223.6,298.3,11.9,375,3538,0.00,1.73,0.00,0.000,4,0.000,0.049,3051,3760,2044,0,0,0,0,0,0
$GC,3605,0.77,223.6,288.6,13.6,381,3612,0.00,1.67,0.00,0.000,6,0.000,0.030,3058,2711,2044,0,0,0,0,0,0
$GC,3805,0.77,223.6,264.8,12.0,400,3808,0.00,1.70,0.00,0.000,4,0.000,0.049,3058,3767,2044,0,0,0,0,0,0
$GC,3843,0.77,223.6,259.3,13.7,403,3851,0.00,1.65,0.00,0.000,6,0.000,0.030,3065,2733,2044,0,0,0,0,0,0
$GC,4042,0.77,223.6,234.7,12.6,422,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2733,2044,0,0,0,0,0,0
$GC,4169,0.77,223.6,219.5,11.6,434,4172,0.00,1.65,0.00,0.000,4,0.000,0.050,3065,3763,2043,0,0,0,0,0,0
$GC,4218,0.77,223.6,212.6,13.8,438,4225,0.00,1.62,0.00,0.000,6,0.000,0.030,3072,2739,2043,0,0,0,0,0,0
$GC,4353,0.77,223.6,196.3,12.2,451,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2739,2043,0,0,0,0,0,0
$GC,4480,0.77,223.6,180.9,12.1,463,4484,0.00,1.65,0.00,0.000,4,0.000,0.049,3072,3771,2043,0,0,0,0,0,0
$GC,4526,0.77,223.6,174.6,14.1,467,4531,0.12,1.62,0.00,0.000,6,0.167,0.031,3044,2744,2042,0,0,0,0,0,0
$GC,4668,0.82,266.6,159.9,9.9,480,4710,0.00,0.00,39.62,0.845,6,0.000,0.000,3044,2744,1873,0,0,0,0,0,0
$GC,4834,0.87,303.3,143.0,10.1,496,4874,0.10,1.73,33.90,0.814,4,0.099,0.049,3102,3762,1723,0,0,1,0,0,0
$GC,4897,0.87,303.3,134.2,15.6,501,4902,0.12,1.60,0.00,0.000,6,0.155,0.031,3074,2767,1723,0,0,1,0,0,0
$GC,5038,0.87,303.3,116.4,12.4,514,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2767,1723,0,0,0,0,0,0
$GC,5165,0.87,303.3,100.6,12.6,526,5169,0.00,2.33,0.00,0.000,4,0.000,0.035,3085,1304,1722,0,0,0,0,0,0
$GC,5194,0.87,305.6,97.3,11.3,530,5201,0.00,2.38,0.00,0.000,6,0.000,0.043,3085,2764,1722,0,0,0,0,0,0
$GC,5335,0.87,305.6,79.2,12.9,555,5343,0.00,1.62,0.00,0.000,4,0.000,0.050,3085,3759,1722,0,0,0,0,0,0
$GC,5378,0.87,305.6,72.3,15.3,562,5385,0.00,1.58,0.00,0.000,6,0.000,0.031,3093,2772,1721,0,0,0,0,0,0
$GC,5523,0.87,305.6,52.2,14.2,587,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2772,1721,0,0,0,0,0,0
$GC,5665,0.87,305.6,31.6,14.9,612,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2772,1720,0,0,0,0,0,0
$GC,5806,0.87,305.6,10.7,15.6,637,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2772,1720,0,0,0,0,0,0
$FREEZE,8.35,-0.382,-1.892,2,1,0
$FREEZE,7.61,-0.380,-1.891,2,1,0
$FREEZE,6.79,-0.383,-1.891,2,1,0
$FREEZE,5.98,-0.383,-1.890,2,1,0
$FREEZE,5.04,-0.384,-1.889,2,1,0
$FREEZE,4.37,-0.385,-1.889,2,1,0
$FREEZE,3.28,-0.382,-1.888,2,1,0
$FREEZE,2.40,-0.382,-1.887,2,1,0
$STATE,5856,end climb,SURFACE_DEPTH_REACHED
$STATE,5856,begin surface coast
$FREEZE,1.57,-0.381,-1.887,2,1,0
$FREEZE,0.75,-0.382,-1.886,2,1,0
$FREEZE,0.02,-0.377,-1.885,2,1,0
$FINISH,0.0,1.027605
$STATE,5875,end surface coast,CONTROL_FINISHED_OK
$STATE,5875,begin surface
$SM_CCo,5953,0.00,0.000,0,0,1717,304.90
$SM_GC,0.86,7.60,0.00,0.00,0.041,0.000,0.000,187,2770,1717,-8.07,-0.28,304.90
$IRIDIUM_FIX,-7519.49,17558.68,140111,191924
$TT8_MAMPS,0.026964
$HUMID,52.95
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.4
$24V_AH,21.8,75.882
$10V_AH,9.8,29.572
$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,18.650,40.600,451.850,0.000,0.000,29.273,44.879,184.900,1.000,0.000,16.875,1595.700,2646.186,494.814,1368.035,259.368,0.000,1144.650,0.000,1057.507,0.000,7.758,0.000
$DEVICE_MAMPS,208.080,97.920,966.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.766,828.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,43737,649
$CAP_FILE_SIZE,86214,0
$CFSIZE,260165632,219115520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.133,278.5,1
$GPS,140111,223813,-7606.049,17602.398,19,1.4,31,122.1