version: 66.08
glider: 503
mission: 7
dive: 729
start: 1 15 111 6 2 51
data:
$ID,503
$MISSION,7
$DIVE,729
$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,-20443.295
$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,48
$R_STBD_OVSHOOT,35
$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
$GPS1,150111,055603,-7606.384,17610.820,32,1.5,32,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.0
$GPS2,150111,060220,-7606.378,17610.713,12,1.6,12,122.0
$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,305.2,22102,-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,-219.0,0.0,0.0,0,97,0.00,0.00,-78.45,0.000,2,0.000,0.000,143,2791,3399,0,0,0,0,0,0
$GC,101,-0.76,-219.0,3.6,-7.3,13,128,9.18,1.60,-9.35,0.000,4,0.204,0.066,2542,3749,3857,0,0,0,0,0,0
$GC,185,-0.76,-219.0,24.3,-16.4,27,193,0.00,1.55,0.00,0.000,6,0.000,0.028,2542,2769,3859,0,0,0,0,0,0
$GC,329,-0.76,-219.0,46.8,-16.0,52,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2769,3859,0,0,0,0,0,0
$GC,471,-0.76,-219.0,69.5,-15.7,77,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2769,3859,0,0,0,0,0,0
$GC,612,-0.76,-219.0,91.1,-15.0,102,620,0.00,1.62,0.00,0.000,4,0.000,0.047,2534,3755,3859,0,0,0,0,0,0
$GC,650,-0.76,-219.0,97.1,-16.9,108,657,0.00,1.52,0.00,0.000,6,0.000,0.029,2534,2783,3860,0,0,0,0,0,0
$GC,786,-0.76,-219.0,118.8,-15.7,122,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2783,3860,0,0,0,0,0,0
$GC,914,-0.76,-219.0,138.3,-15.4,134,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2783,3860,0,0,0,0,0,0
$GC,1042,-0.76,-219.0,158.1,-15.9,146,1046,0.00,1.60,0.00,0.000,4,0.000,0.050,2527,3754,3861,0,0,0,0,0,0
$GC,1076,-0.76,-219.0,163.9,-17.4,149,1080,0.00,1.50,0.00,0.000,6,0.000,0.030,2527,2799,3861,0,0,0,0,0,0
$GC,1217,-0.76,-219.0,186.7,-16.4,162,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2799,3861,0,0,0,0,0,0
$GC,1345,-0.76,-219.0,207.8,-16.5,174,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2799,3860,0,0,0,0,0,0
$GC,1471,-0.76,-219.0,229.1,-16.7,186,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2799,3860,0,0,0,0,0,0
$GC,1599,-0.76,-219.0,249.9,-16.2,198,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2799,3860,0,0,0,0,0,0
$GC,1727,-0.76,-219.0,270.9,-16.2,210,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2799,3861,0,0,0,0,0,0
$GC,1918,-0.76,-219.0,301.9,-16.3,228,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2799,3861,0,0,0,0,0,0
$GC,2109,-0.76,-219.0,331.3,-14.8,246,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2799,3860,0,0,0,0,0,0
$GC,2301,-0.76,-219.0,359.2,-14.6,264,2305,0.00,1.58,0.00,0.000,4,0.000,0.048,2520,3753,3860,0,0,0,0,0,0
$GC,2340,-0.76,-219.0,365.6,-15.0,267,2348,0.08,1.50,0.00,0.000,6,0.129,0.029,2548,2796,3860,0,0,0,0,0,0
$STATE,2420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2420,begin apogee
$GC,2428,-0.16,0.0,376.2,12.8,275,2610,0.57,0.00,177.50,0.969,4,0.112,0.000,2744,2690,2959,0,0,0,0,0,0
$STATE,2611,end apogee,CONTROL_FINISHED_OK
$STATE,2611,begin climb
$GC,2614,0.76,219.0,385.3,0.0,291,2820,0.85,1.90,196.70,0.917,4,0.073,0.050,3040,3744,2067,0,0,1,0,0,0
$GC,2978,0.76,219.0,351.6,13.2,323,2982,0.00,1.67,0.00,0.000,6,0.000,0.028,3048,2713,2060,0,0,1,0,0,0
$GC,3182,0.76,219.0,327.5,12.1,342,3186,0.00,2.30,0.00,0.000,4,0.000,0.034,3059,1300,2057,0,0,0,0,0,0
$GC,3368,0.77,225.2,306.2,11.1,358,3381,0.00,2.28,5.10,0.712,6,0.000,0.041,3059,2701,2041,0,0,0,0,0,0
$GC,3576,0.77,225.2,281.2,12.0,377,3579,0.00,1.70,0.00,0.000,4,0.000,0.049,3059,3765,2040,0,0,0,0,0,0
$GC,3623,0.77,225.2,274.3,14.1,381,3627,0.00,1.65,0.00,0.000,6,0.000,0.030,3067,2702,2040,0,0,0,0,0,0
$GC,3827,0.77,225.2,248.0,12.3,400,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2701,2039,0,0,0,0,0,0
$GC,3954,0.77,225.2,231.7,12.9,412,3958,0.00,1.73,0.00,0.000,4,0.000,0.048,3068,3769,2039,0,0,0,0,0,0
$GC,4012,0.77,225.2,223.4,15.4,417,4016,0.00,1.65,0.00,0.000,6,0.000,0.030,3076,2705,2038,0,0,0,0,0,0
$GC,4153,0.77,225.2,204.5,13.0,430,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2705,2038,0,0,0,0,0,0
$GC,4280,0.77,225.2,188.1,12.8,442,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2705,2038,0,0,0,0,0,0
$GC,4408,0.77,225.2,171.5,13.0,454,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2705,2038,0,0,0,0,0,0
$GC,4535,0.77,225.2,155.2,12.7,466,4539,0.00,1.75,0.00,0.000,4,0.000,0.047,3076,3763,2038,0,0,0,0,0,0
$GC,4570,0.77,225.2,150.6,13.8,469,4574,0.10,1.62,0.00,0.000,6,0.138,0.031,3048,2727,2038,0,0,1,0,0,0
$GC,4710,0.81,254.6,135.1,10.3,482,4740,0.00,0.00,27.98,0.829,6,0.000,0.000,3048,2727,1920,0,0,0,0,0,0
$GC,4869,0.84,283.0,118.5,10.4,497,4897,0.00,0.00,26.60,0.805,6,0.000,0.000,3048,2727,1806,0,0,0,0,0,0
$GC,5025,0.87,309.3,102.0,10.4,512,5056,0.00,0.00,24.42,0.786,6,0.000,0.000,3048,2727,1700,0,0,0,0,0,0
$GC,5192,0.90,328.6,84.1,10.7,540,5218,0.12,0.00,18.25,0.767,6,0.088,0.000,3111,2726,1620,0,0,0,0,0,0
$GC,5352,0.90,328.6,59.6,15.5,568,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2727,1620,0,0,0,0,0,0
$GC,5496,0.90,328.6,37.1,16.1,593,5503,0.00,1.70,0.00,0.000,4,0.000,0.047,3112,3750,1619,0,0,0,0,0,0
$GC,5555,0.90,328.6,26.7,15.7,603,5563,0.08,1.65,0.00,0.000,6,0.131,0.031,3091,2718,1619,0,0,0,0,0,0
$FREEZE,8.26,-0.223,-1.894,2,1,0
$FREEZE,7.02,-0.223,-1.893,2,1,0
$FREEZE,6.09,-0.224,-1.892,2,1,0
$FREEZE,5.44,-0.225,-1.892,2,1,0
$FREEZE,4.77,-0.225,-1.891,2,1,0
$GC,5699,0.90,328.6,4.8,15.5,628,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2719,1618,0,0,0,0,0,0
$FREEZE,2.91,-0.226,-1.890,2,1,0
$STATE,5712,end climb,SURFACE_DEPTH_REACHED
$STATE,5712,begin surface coast
$FREEZE,2.20,-0.228,-1.890,2,1,0
$FREEZE,1.43,-0.227,-1.889,2,1,0
$FREEZE,0.38,-0.229,-1.888,2,1,0
$FREEZE,-0.02,-0.252,-1.889,2,1,0
$FINISH,-0.0,1.027650
$STATE,5735,end surface coast,CONTROL_FINISHED_OK
$STATE,5735,begin surface
$SM_CCo,5814,0.00,0.000,0,0,1616,329.92
$SM_GC,0.89,7.60,0.00,0.00,0.040,0.000,0.000,186,2795,1616,-8.08,0.42,329.92
$IRIDIUM_FIX,-7519.49,17607.59,150111,040432
$TT8_MAMPS,0.026964
$HUMID,52.79
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.2
$24V_AH,21.8,76.520
$10V_AH,9.8,29.836
$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,18.575,34.275,476.550,0.000,0.000,27.103,37.659,169.875,1.000,0.000,15.303,1545.750,2560.882,509.698,1324.113,257.965,0.000,1149.168,0.000,1043.369,0.000,7.754,0.000
$DEVICE_MAMPS,204.255,98.685,969.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.596,813.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40383,634
$CAP_FILE_SIZE,83713,0
$CFSIZE,260165632,218877952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.177,218.3,1
$GPS,150111,074055,-7606.510,17613.047,32,1.5,32,121.9