version: 66.08
glider: 503
mission: 7
dive: 728
start: 1 15 111 4 15 37
data:
$ID,503
$MISSION,7
$DIVE,728
$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,-20442.037
$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,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
$GPS1,150111,040532,-7606.245,17608.934,24,1.7,25,122.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-71.9
$GPS2,150111,041506,-7606.231,17608.727,31,0.9,31,122.0
$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,311.4,22952,-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,-219.0,0.0,0.0,0,93,0.00,0.00,-74.80,0.000,2,0.000,0.000,141,2756,3404,0,0,0,0,0,0
$GC,97,-0.76,-219.0,3.6,-8.0,12,124,9.20,1.67,-9.18,0.000,4,0.205,0.066,2543,3761,3857,0,0,1,0,0,0
$GC,315,-0.76,-219.0,47.5,-16.5,50,323,0.00,1.55,0.00,0.000,6,0.000,0.029,2543,2778,3860,0,0,0,0,0,0
$GC,458,-0.76,-219.0,70.0,-16.0,75,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2778,3860,0,0,0,0,0,0
$GC,599,-0.76,-219.0,92.0,-16.7,100,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2778,3860,0,0,0,0,0,0
$GC,736,-0.76,-219.0,112.9,-15.3,117,740,0.00,1.62,0.00,0.000,4,0.000,0.048,2536,3793,3860,0,0,0,0,0,0
$GC,770,-0.76,-219.0,118.4,-15.8,120,774,0.00,1.55,0.00,0.000,6,0.000,0.028,2535,2802,3860,0,0,0,0,0,0
$GC,911,-0.76,-219.0,139.9,-15.3,133,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2801,3861,0,0,0,0,0,0
$GC,1039,-0.76,-219.0,159.7,-15.4,145,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2801,3860,0,0,0,0,0,0
$GC,1165,-0.76,-219.0,179.5,-15.6,157,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2801,3861,0,0,0,0,0,0
$GC,1293,-0.76,-219.0,198.8,-14.7,169,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2801,3861,0,0,0,0,0,0
$GC,1421,-0.76,-219.0,218.1,-15.2,181,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2801,3861,0,0,0,0,0,0
$GC,1548,-0.76,-219.0,237.0,-14.8,193,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2801,3861,0,0,0,0,0,0
$GC,1675,-0.76,-219.0,255.8,-14.5,205,1679,0.00,2.22,0.00,0.000,4,0.000,0.031,2535,1373,3861,0,0,0,0,0,0
$GC,1706,-0.76,-219.0,260.3,-15.3,207,1710,0.00,2.30,0.00,0.000,6,0.000,0.044,2524,2801,3861,0,0,0,0,0,0
$GC,1904,-0.76,-219.0,290.8,-15.4,225,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2802,3861,0,0,0,0,0,0
$GC,2096,-0.76,-219.0,319.9,-15.2,243,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2802,3861,0,0,0,0,0,0
$GC,2287,-0.76,-219.0,348.5,-15.0,261,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2802,3861,0,0,0,0,0,0
$STATE,2477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2477,begin apogee
$GC,2484,-0.16,0.0,376.3,14.0,279,2666,0.65,0.00,177.27,0.970,4,0.116,0.000,2742,2693,2960,0,0,0,0,0,0
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2670,0.76,219.0,384.1,0.0,295,2875,0.93,2.40,196.38,0.916,4,0.073,0.034,3047,1304,2067,0,0,0,0,0,0
$GC,2993,0.80,246.9,358.8,10.4,323,3025,0.00,2.42,26.77,0.881,6,0.000,0.041,3047,2701,1953,0,0,0,0,0,0
$GC,3219,0.80,251.4,333.9,11.2,344,3231,0.00,2.33,4.95,0.681,4,0.000,0.035,3058,1306,1935,0,0,1,0,0,0
$GC,3379,0.84,280.4,316.9,10.3,358,3414,0.00,2.33,28.20,0.886,6,0.000,0.042,3058,2716,1816,0,0,0,0,0,0
$GC,3606,0.85,287.3,291.7,11.1,379,3619,0.00,1.77,7.75,0.792,4,0.000,0.048,3058,3763,1788,0,0,0,0,0,0
$GC,3677,0.85,287.3,282.8,13.2,385,3681,0.00,1.62,0.00,0.000,6,0.000,0.030,3064,2710,1788,0,0,1,0,0,0
$GC,3881,0.85,287.3,258.7,11.6,404,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2709,1788,0,0,0,0,0,0
$GC,4073,0.85,287.3,235.8,12.0,422,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2708,1788,0,0,0,0,0,0
$GC,4200,0.85,287.3,220.3,12.3,434,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2708,1788,0,0,0,0,0,0
$GC,4327,0.85,287.3,205.1,12.1,446,4331,0.00,1.70,0.00,0.000,4,0.000,0.048,3063,3766,1787,0,0,0,0,0,0
$GC,4366,0.85,287.3,199.8,13.7,449,4372,0.00,1.65,0.00,0.000,6,0.000,0.030,3070,2724,1788,0,0,0,0,0,0
$GC,4501,0.85,287.3,183.5,12.3,462,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2724,1787,0,0,0,0,0,0
$GC,4628,0.85,287.3,167.8,12.3,474,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2724,1787,0,0,0,0,0,0
$GC,4755,0.85,287.3,152.4,11.8,486,4759,0.00,1.67,0.00,0.000,4,0.000,0.048,3070,3770,1787,0,0,0,0,0,0
$GC,4805,0.85,287.3,145.5,13.9,490,4813,0.00,1.65,0.00,0.000,6,0.000,0.029,3077,2731,1787,0,0,0,0,0,0
$GC,4940,0.85,287.3,128.2,12.8,503,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2731,1786,0,0,0,0,0,0
$GC,5068,0.85,287.3,111.8,12.8,515,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2731,1787,0,0,0,0,0,0
$GC,5197,0.85,287.3,95.3,12.8,530,5204,0.00,1.70,0.00,0.000,4,0.000,0.048,3077,3765,1786,0,0,0,0,0,0
$GC,5234,0.85,287.3,89.9,15.5,536,5240,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2737,1786,0,0,0,0,0,0
$GC,5378,0.85,287.3,70.2,13.5,561,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2737,1786,0,0,0,0,0,0
$GC,5519,0.85,287.3,50.5,14.0,586,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2737,1786,0,0,0,0,0,0
$GC,5661,0.85,287.3,31.7,13.2,611,5668,0.00,1.67,0.00,0.000,4,0.000,0.048,3083,3760,1785,0,0,0,0,0,0
$GC,5688,0.85,287.3,28.2,13.3,615,5694,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2736,1786,0,0,0,0,0,0
$FREEZE,8.43,-0.251,-1.894,2,1,0
$FREEZE,7.69,-0.250,-1.894,2,1,0
$FREEZE,6.56,-0.250,-1.893,2,1,0
$GC,5832,0.85,287.3,6.6,14.1,640,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2736,1785,0,0,0,0,0,0
$FREEZE,4.78,-0.243,-1.891,2,1,0
$FREEZE,3.96,-0.242,-1.891,2,1,0
$FREEZE,3.05,-0.242,-1.890,2,1,0
$FREEZE,2.17,-0.244,-1.889,2,1,0
$STATE,5859,end climb,SURFACE_DEPTH_REACHED
$STATE,5859,begin surface coast
$FREEZE,1.28,-0.243,-1.889,2,1,0
$FREEZE,0.32,-0.242,-1.888,2,1,0
$FREEZE,-0.04,-0.271,-1.248,2,1,0
$FINISH,-0.0,1.018436
$STATE,5877,end surface coast,CONTROL_FINISHED_OK
$STATE,5877,begin surface
$SM_CCo,5956,0.00,0.000,0,0,1782,289.20
$SM_GC,0.77,7.60,0.00,0.00,0.040,0.000,0.000,178,2788,1782,-8.08,0.23,289.20
$IRIDIUM_FIX,-7519.49,17616.50,150111,040447
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.0
$24V_AH,21.8,76.385
$10V_AH,9.8,29.785
$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,18.375,37.300,441.325,0.000,0.000,59.599,116.166,167.576,1.000,0.000,34.056,1591.105,2729.435,478.720,1475.335,262.906,0.000,1121.085,0.000,1062.363,0.000,7.756,0.000
$DEVICE_MAMPS,205.020,115.515,970.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.215,828.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,43773,648
$CAP_FILE_SIZE,84061,0
$CFSIZE,260165632,218923008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.168,231.0,1
$GPS,150111,055603,-7606.384,17610.820,32,1.5,32,121.9