version: 66.08
glider: 503
mission: 7
dive: 730
start: 1 15 111 7 51 15
data:
$ID,503
$MISSION,7
$DIVE,730
$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,616.91943
$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,-20444.549
$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,43
$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
$GPS1,150111,074055,-7606.510,17613.047,32,1.5,32,121.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-62.4
$GPS2,150111,075044,-7606.512,17612.824,13,1.5,13,121.9
$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,298.2,21199,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-89.95,0.000,2,0.000,0.000,133,2797,3413,0,0,0,0,0,0
$GC,112,-0.76,-219.0,3.1,-5.9,15,139,9.18,1.58,-9.70,0.000,4,0.206,0.069,2545,3744,3855,0,0,0,0,0,0
$GC,296,-0.76,-219.0,39.6,-15.5,47,302,0.00,1.52,0.00,0.000,6,0.000,0.028,2545,2774,3858,0,0,0,0,0,0
$GC,439,-0.76,-219.0,61.6,-14.2,72,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2774,3859,0,0,0,0,0,0
$GC,581,-0.76,-219.0,82.1,-14.3,97,589,0.00,1.60,0.00,0.000,4,0.000,0.048,2537,3743,3859,0,0,0,0,0,0
$GC,629,-0.76,-219.0,89.7,-16.1,105,637,0.00,1.48,0.00,0.000,6,0.000,0.029,2537,2787,3859,0,0,1,0,0,0
$GC,774,-0.76,-219.0,111.5,-15.3,124,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2787,3860,0,0,0,0,0,0
$GC,903,-0.76,-219.0,131.0,-15.4,136,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2787,3860,0,0,0,0,0,0
$GC,1029,-0.76,-219.0,150.1,-14.8,148,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2788,3860,0,0,0,0,0,0
$GC,1157,-0.76,-219.0,169.3,-15.2,160,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2788,3860,0,0,0,0,0,0
$GC,1285,-0.76,-219.0,189.1,-15.3,172,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2788,3860,0,0,0,0,0,0
$GC,1412,-0.76,-219.0,209.2,-15.8,184,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2788,3860,0,0,0,0,0,0
$GC,1539,-0.76,-219.0,229.4,-15.7,196,1543,0.00,1.58,0.00,0.000,4,0.000,0.050,2530,3741,3859,0,0,0,0,0,0
$GC,1597,-0.76,-219.0,239.0,-16.8,201,1600,0.00,1.45,0.00,0.000,6,0.000,0.029,2530,2800,3859,0,0,1,0,0,0
$GC,1737,-0.76,-219.0,261.4,-16.0,214,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2800,3859,0,0,0,0,0,0
$GC,1928,-0.76,-219.0,290.7,-15.2,232,1932,0.00,2.22,0.00,0.000,4,0.000,0.031,2530,1372,3859,0,0,0,0,0,0
$GC,1962,-0.76,-219.0,295.7,-14.6,235,1967,0.12,2.28,0.00,0.000,6,0.148,0.044,2555,2783,3859,0,0,0,0,0,0
$GC,2168,-0.76,-219.0,321.9,-13.0,254,2171,0.00,1.58,0.00,0.000,4,0.000,0.048,2549,3763,3859,0,0,0,0,0,0
$GC,2206,-0.76,-219.0,327.6,-13.8,257,2214,0.00,1.50,0.00,0.000,6,0.000,0.029,2549,2801,3859,0,0,0,0,0,0
$GC,2406,-0.76,-219.0,353.0,-13.1,276,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2801,3859,0,0,0,0,0,0
$STATE,2583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2583,begin apogee
$GC,2589,-0.16,0.0,375.7,12.2,293,2772,0.57,0.00,176.50,0.968,4,0.112,0.000,2745,2681,2961,0,0,0,0,0,0
$STATE,2773,end apogee,CONTROL_FINISHED_OK
$STATE,2773,begin climb
$GC,2776,0.76,219.0,382.9,0.0,309,2985,0.90,2.35,195.82,0.917,4,0.071,0.033,3044,1309,2067,0,0,0,0,0,0
$GC,3055,0.78,235.8,363.3,10.8,334,3079,0.00,2.45,16.80,0.851,6,0.000,0.041,3044,2698,1997,0,0,0,0,0,0
$GC,3273,0.80,252.2,339.2,10.8,354,3297,0.00,2.33,15.85,0.857,4,0.000,0.035,3053,1310,1931,0,0,1,0,0,0
$GC,3444,0.85,290.5,321.4,10.0,369,3490,0.00,2.33,35.92,0.890,6,0.000,0.042,3053,2710,1775,0,0,0,0,0,0
$GC,3683,0.85,290.5,294.8,11.6,391,3686,0.00,1.70,0.00,0.000,4,0.000,0.049,3053,3761,1774,0,0,0,0,0,0
$GC,3733,0.85,290.5,287.9,13.0,395,3740,0.00,1.65,0.00,0.000,6,0.000,0.031,3060,2710,1774,0,0,0,0,0,0
$GC,3932,0.85,290.5,263.9,12.2,414,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2710,1773,0,0,0,0,0,0
$GC,4122,0.85,290.5,240.9,11.8,432,4125,0.00,1.70,0.00,0.000,4,0.000,0.048,3060,3767,1772,0,0,0,0,0,0
$GC,4178,0.85,290.5,233.5,13.8,437,4182,0.00,1.65,0.00,0.000,6,0.000,0.029,3064,2702,1773,0,0,0,0,0,0
$GC,4319,0.85,290.5,216.8,11.7,450,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2701,1772,0,0,0,0,0,0
$GC,4446,0.85,290.5,202.4,11.5,462,4450,0.00,1.70,0.00,0.000,4,0.000,0.048,3064,3766,1772,0,0,0,0,0,0
$GC,4482,0.85,290.5,198.0,12.7,465,4485,0.00,1.65,0.00,0.000,6,0.000,0.030,3071,2695,1772,0,0,0,0,0,0
$GC,4622,0.85,290.5,181.0,12.0,478,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2694,1772,0,0,0,0,0,0
$GC,4749,0.85,290.5,165.7,11.9,490,4753,0.00,1.70,0.00,0.000,4,0.000,0.049,3070,3763,1772,0,0,0,0,0,0
$GC,4788,0.85,290.5,160.3,13.3,493,4794,0.00,1.62,0.00,0.000,6,0.000,0.031,3078,2737,1772,0,0,0,0,0,0
$GC,4922,0.85,290.5,142.5,13.2,506,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2737,1772,0,0,0,0,0,0
$GC,5050,0.85,290.5,125.7,13.3,518,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2737,1771,0,0,0,0,0,0
$GC,5178,0.85,290.5,108.8,13.3,530,5181,0.00,1.65,0.00,0.000,4,0.000,0.049,3078,3770,1772,0,0,0,0,0,0
$GC,5216,0.85,290.5,102.9,14.5,533,5223,0.00,1.60,0.00,0.000,6,0.000,0.031,3084,2749,1771,0,0,0,0,0,0
$GC,5355,0.85,290.5,84.3,13.8,556,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2749,1771,0,0,0,0,0,0
$GC,5498,0.85,290.5,65.6,13.9,581,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2749,1771,0,0,0,0,0,0
$GC,5639,0.85,290.5,46.8,13.3,606,5647,0.00,1.65,0.00,0.000,4,0.000,0.048,3085,3756,1771,0,0,0,0,0,0
$GC,5677,0.85,290.5,41.3,15.1,612,5684,0.00,1.60,0.00,0.000,6,0.000,0.031,3092,2745,1771,0,0,0,0,0,0
$GC,5821,0.85,290.5,19.9,15.9,637,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2745,1771,0,0,0,0,0,0
$FREEZE,8.47,-0.200,-1.894,2,2,0
$FREEZE,7.53,-0.189,-1.893,2,2,0
$FREEZE,6.73,-0.189,-1.893,2,2,0
$FREEZE,6.02,-0.186,-1.892,2,2,0
$FREEZE,5.29,-0.196,-1.892,2,2,0
$FREEZE,4.52,-0.190,-1.891,2,2,0
$FREEZE,3.67,-0.192,-1.890,2,2,0
$FREEZE,2.95,-0.202,-1.890,2,2,0
$STATE,5930,end climb,SURFACE_DEPTH_REACHED
$STATE,5933,begin surface coast
$FREEZE,2.10,-0.209,-1.890,2,2,0
$FREEZE,1.24,-0.205,-1.889,2,2,0
$FREEZE,0.55,-0.204,-1.888,2,2,0
$FREEZE,0.03,-0.205,-1.888,2,2,0
$FINISH,0.0,1.027631
$STATE,5955,end surface coast,CONTROL_FINISHED_OK
$STATE,5955,begin surface
$SM_CCo,5973,177.27,0.099,0,0,445,616.92
$SM_GC,0.54,0.00,0.00,177.27,0.000,0.000,0.099,152,2742,445,-8.19,-1.07,616.92
$IRIDIUM_FIX,-7519.49,17624.86,150111,070746
$TT8_MAMPS,0.027713
$HUMID,50.35
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.3
$24V_AH,21.8,76.652
$10V_AH,9.8,29.891
$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,18.425,46.225,440.900,177.275,0.000,85.385,225.349,0.000,1.000,0.000,16.462,1618.228,2714.495,679.446,1482.588,254.678,0.000,1346.474,0.000,1091.714,0.000,9.538,0.000
$DEVICE_MAMPS,205.785,69.615,968.490,99.450,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.879,844.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43661,661
$CAP_FILE_SIZE,85660,0
$CFSIZE,260165632,218828800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.138,216.4,1
$GPS,150111,093507,-7606.479,17615.291,39,1.3,40,121.8