version: 66.08
glider: 503
mission: 7
dive: 731
start: 1 15 111 9 46 52
data:
$ID,503
$MISSION,7
$DIVE,731
$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,-20445.9
$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,28
$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
$GPS1,150111,093507,-7606.479,17615.291,39,1.3,40,121.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-59.9
$GPS2,150111,094620,-7606.469,17615.064,12,1.3,12,121.9
$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,302.6,20200,-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,-219.0,0.0,0.0,0,155,0.00,0.00,-136.57,0.000,2,0.000,0.000,124,2742,3331,0,0,0,0,0,0
$GC,160,-0.76,-219.0,3.5,-7.4,22,187,9.20,1.67,-10.62,0.000,4,0.203,0.063,2539,3765,3855,0,0,0,0,0,0
$GC,400,-0.76,-219.0,47.3,-11.9,64,408,0.00,1.55,0.00,0.000,6,0.000,0.028,2539,2778,3858,0,0,0,0,0,0
$GC,544,-0.76,-219.0,68.4,-14.8,89,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2778,3859,0,0,0,0,0,0
$GC,684,-0.76,-219.0,89.4,-15.2,114,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2778,3859,0,0,0,0,0,0
$GC,829,-0.76,-219.0,112.3,-15.9,133,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2778,3859,0,0,0,0,0,0
$GC,955,-0.76,-219.0,132.2,-15.2,145,959,0.00,1.62,0.00,0.000,4,0.000,0.049,2532,3789,3859,0,0,0,0,0,0
$GC,990,-0.76,-219.0,137.7,-16.6,148,994,0.00,1.60,0.00,0.000,6,0.000,0.029,2531,2775,3859,0,0,0,0,0,0
$GC,1131,-0.76,-219.0,159.9,-15.5,161,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2775,3859,0,0,0,0,0,0
$GC,1259,-0.76,-219.0,179.8,-15.5,173,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2775,3859,0,0,0,0,0,0
$GC,1385,-0.76,-219.0,199.7,-15.6,185,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2775,3859,0,0,0,0,0,0
$GC,1513,-0.76,-219.0,219.6,-15.9,197,1517,0.00,1.62,0.00,0.000,4,0.000,0.050,2524,3760,3859,0,0,0,0,0,0
$GC,1560,-0.76,-219.0,227.2,-16.0,201,1564,0.00,1.52,0.00,0.000,6,0.000,0.029,2524,2790,3858,0,0,0,0,0,0
$GC,1700,-0.76,-219.0,249.8,-16.3,214,1702,0.10,0.00,0.00,0.000,6,0.171,0.000,2552,2789,3858,0,0,0,0,0,0
$GC,1827,-0.76,-219.0,267.5,-13.5,226,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2790,3859,0,0,0,0,0,0
$GC,2019,-0.76,-219.0,293.8,-13.7,244,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2789,3858,0,0,0,0,0,0
$GC,2210,-0.76,-219.0,319.7,-13.4,262,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2789,3858,0,0,0,0,0,0
$GC,2402,-0.76,-219.0,345.9,-14.1,280,2405,0.00,1.60,0.00,0.000,4,0.000,0.050,2545,3758,3858,0,0,0,0,0,0
$GC,2430,-0.76,-219.0,350.1,-14.1,282,2437,0.00,1.55,0.00,0.000,6,0.000,0.030,2545,2778,3858,0,0,0,0,0,0
$STATE,2604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2604,begin apogee
$GC,2611,-0.16,0.0,375.1,14.0,299,2794,0.60,0.00,177.85,0.972,4,0.113,0.000,2748,2689,2959,0,0,0,0,0,0
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2798,0.76,219.0,385.1,0.0,315,3004,0.85,0.00,194.70,0.917,6,0.071,0.000,3043,2689,2067,0,0,0,0,0,0
$GC,3195,0.80,252.0,355.5,10.2,352,3230,0.00,1.92,29.83,0.886,4,0.000,0.048,3042,3764,1931,0,0,1,0,0,0
$GC,3325,0.80,252.0,340.1,13.4,363,3329,0.00,1.67,0.00,0.000,6,0.000,0.029,3050,2723,1928,0,0,1,0,0,0
$GC,3530,0.80,252.0,316.3,11.6,382,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2722,1925,0,0,0,0,0,0
$GC,3719,0.80,252.7,294.8,11.3,400,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2722,1924,0,0,0,0,0,0
$GC,3912,0.80,252.7,272.9,11.6,418,3916,0.00,1.67,0.00,0.000,4,0.000,0.049,3051,3761,1924,0,0,0,0,0,0
$GC,3948,0.80,252.7,268.2,13.5,421,3952,0.00,1.62,0.00,0.000,6,0.000,0.031,3057,2705,1923,0,0,1,0,0,0
$GC,4152,0.80,252.7,243.7,12.1,440,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2706,1922,0,0,0,0,0,0
$GC,4279,0.80,252.7,228.6,11.7,452,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2706,1922,0,0,0,0,0,0
$GC,4407,0.80,252.7,213.5,11.8,464,4411,0.00,1.73,0.00,0.000,4,0.000,0.049,3057,3754,1922,0,0,0,0,0,0
$GC,4457,0.80,252.7,206.6,13.7,468,4464,0.00,1.65,0.00,0.000,6,0.000,0.029,3064,2713,1921,0,0,0,0,0,0
$GC,4592,0.80,252.7,190.6,11.7,481,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2712,1922,0,0,0,0,0,0
$GC,4719,0.80,252.7,175.7,11.8,493,4723,0.00,1.73,0.00,0.000,4,0.000,0.050,3064,3760,1921,0,0,0,0,0,0
$GC,4765,0.80,252.7,169.9,12.8,497,4769,0.00,1.62,0.00,0.000,6,0.000,0.031,3070,2735,1921,0,0,0,0,0,0
$GC,4905,0.80,252.7,153.0,12.0,510,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2733,1921,0,0,0,0,0,0
$GC,5033,0.80,252.7,137.5,12.3,522,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2733,1921,0,0,0,0,0,0
$GC,5160,0.80,252.7,121.7,12.4,534,5164,0.00,1.65,0.00,0.000,4,0.000,0.050,3070,3763,1920,0,0,0,0,0,0
$GC,5195,0.80,252.7,117.0,14.0,537,5199,0.00,1.65,0.00,0.000,6,0.000,0.031,3079,2695,1920,0,0,0,0,0,0
$GC,5331,0.80,252.7,99.2,13.0,550,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2694,1921,0,0,0,0,0,0
$GC,5472,0.80,252.7,80.2,14.0,575,5479,0.00,1.75,0.00,0.000,4,0.000,0.050,3079,3776,1920,0,0,0,0,0,0
$GC,5541,0.80,252.7,69.7,15.3,587,5549,0.08,1.62,0.00,0.000,6,0.135,0.031,3057,2748,1920,0,0,0,0,0,0
$GC,5686,0.82,268.4,53.1,10.8,612,5705,0.00,0.00,13.85,0.783,6,0.000,0.000,3057,2748,1864,0,0,0,0,0,0
$GC,5846,0.84,285.5,36.0,10.8,639,5872,0.00,2.38,16.65,0.766,4,0.000,0.035,3067,1298,1796,0,0,0,0,0,0
$GC,5885,0.85,288.5,31.4,11.3,645,5899,0.00,2.35,4.75,0.602,6,0.000,0.042,3067,2742,1783,0,0,0,0,0,0
$GC,6035,0.85,288.5,11.6,13.7,671,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2742,1782,0,0,0,0,0,0
$FREEZE,8.93,-0.196,-1.894,2,3,0
$FREEZE,8.23,-0.196,-1.893,2,3,0
$FREEZE,7.42,-0.195,-1.893,2,3,0
$FREEZE,6.72,-0.198,-1.892,2,3,0
$FREEZE,5.99,-0.197,-1.892,2,3,0
$FREEZE,5.14,-0.196,-1.891,2,3,0
$FREEZE,4.56,-0.196,-1.891,2,3,0
$FREEZE,3.69,-0.196,-1.890,2,3,0
$FREEZE,3.18,-0.196,-1.890,2,3,0
$FREEZE,2.46,-0.196,-1.889,2,3,0
$STATE,6099,end climb,SURFACE_DEPTH_REACHED
$STATE,6100,begin surface coast
$FREEZE,1.73,-0.196,-1.889,2,3,0
$FREEZE,1.10,-0.199,-1.888,2,3,0
$FREEZE,0.21,-0.197,-1.887,2,3,0
$FREEZE,-0.02,-0.241,-1.889,2,3,0
$FINISH,-0.0,1.027654
$STATE,6123,end surface coast,CONTROL_FINISHED_OK
$STATE,6123,begin surface
$SM_CCo,6141,177.57,0.099,0,0,445,616.92
$SM_GC,0.59,0.00,0.00,177.57,0.000,0.000,0.099,181,2744,445,-8.15,-1.02,616.92
$IRIDIUM_FIX,-7519.49,17616.50,150111,090954
$TT8_MAMPS,0.027713
$HUMID,50.66
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.7
$24V_AH,21.8,76.783
$10V_AH,9.8,29.949
$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,18.400,37.850,437.625,177.575,0.000,90.746,225.347,0.000,1.000,0.000,15.485,1660.078,2821.459,698.391,1500.613,323.240,0.000,1372.351,0.000,1098.914,0.000,7.758,0.000
$DEVICE_MAMPS,202.725,98.685,971.550,98.685,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.604,879.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43612,687
$CAP_FILE_SIZE,86739,0
$CFSIZE,260165632,218775552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.108,224.0,1
$GPS,150111,113334,-7606.280,17618.039,19,4.1,39,121.8