version: 66.08
glider: 503
mission: 7
dive: 732
start: 1 15 111 11 46 31
data:
$ID,503
$MISSION,7
$DIVE,732
$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,-20447.16
$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
$GPS1,150111,113334,-7606.280,17618.039,19,4.1,39,121.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-64.9
$GPS2,150111,114602,-7606.263,17617.791,14,1.7,14,121.8
$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,309.2,18946,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-219.0,0.0,0.0,0,157,0.00,0.00,-136.85,0.000,2,0.000,0.000,124,2745,3321,0,0,0,0,0,0
$GC,163,-0.76,-219.0,3.2,-5.6,22,190,9.15,1.67,-11.12,0.000,4,0.203,0.064,2541,3773,3855,0,0,0,0,0,0
$GC,385,-0.76,-219.0,47.1,-14.7,61,391,0.00,1.55,0.00,0.000,6,0.000,0.027,2541,2774,3858,0,0,0,0,0,0
$GC,528,-0.76,-219.0,68.5,-14.9,86,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2773,3858,0,0,0,0,0,0
$GC,670,-0.76,-219.0,89.8,-15.2,111,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2773,3858,0,0,0,0,0,0
$GC,814,-0.76,-219.0,111.4,-14.8,130,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2773,3858,0,0,0,0,0,0
$GC,941,-0.76,-219.0,131.0,-15.4,142,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2773,3858,0,0,0,0,0,0
$GC,1070,-0.76,-219.0,150.0,-14.7,154,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2773,3858,0,0,0,0,0,0
$GC,1196,-0.76,-219.0,169.0,-15.3,166,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2773,3859,0,0,0,0,0,0
$GC,1323,-0.76,-219.0,188.3,-15.3,178,1327,0.00,1.62,0.00,0.000,4,0.000,0.049,2533,3788,3858,0,0,0,0,0,0
$GC,1361,-0.76,-219.0,194.8,-16.6,181,1368,0.00,1.58,0.00,0.000,6,0.000,0.028,2533,2780,3858,0,0,0,0,0,0
$GC,1497,-0.76,-219.0,216.0,-16.1,194,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2780,3858,0,0,0,0,0,0
$GC,1623,-0.76,-219.0,236.3,-16.0,206,1627,0.00,1.62,0.00,0.000,4,0.000,0.050,2526,3763,3858,0,0,1,0,0,0
$GC,1661,-0.76,-219.0,243.0,-16.8,209,1668,0.00,1.52,0.00,0.000,6,0.000,0.029,2526,2793,3857,0,0,0,0,0,0
$GC,1797,-0.76,-219.0,264.9,-16.4,222,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2793,3858,0,0,0,0,0,0
$GC,1989,-0.76,-219.0,295.8,-15.6,240,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2793,3858,0,0,0,0,0,0
$GC,2178,-0.76,-219.0,326.4,-15.7,258,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2793,3857,0,0,0,0,0,0
$GC,2372,-0.76,-219.0,356.6,-15.6,276,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2793,3858,0,0,0,0,0,0
$STATE,2493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2493,begin apogee
$GC,2500,-0.16,0.0,376.3,15.4,288,2683,0.65,0.00,177.65,0.969,4,0.115,0.000,2744,2688,2960,0,0,0,0,0,0
$STATE,2684,end apogee,CONTROL_FINISHED_OK
$STATE,2684,begin climb
$GC,2686,0.76,219.0,385.3,0.0,304,2892,0.90,2.38,194.88,0.914,4,0.072,0.032,3042,1310,2066,0,0,0,0,0,0
$GC,3010,0.83,271.0,363.2,9.5,332,3065,0.00,2.42,47.53,0.891,6,0.000,0.041,3042,2698,1855,0,0,0,0,0,0
$GC,3265,0.83,272.2,334.7,11.3,356,3269,0.00,2.30,0.00,0.000,4,0.000,0.033,3051,1311,1849,0,0,0,0,0,0
$GC,3376,0.87,302.9,322.6,10.3,365,3411,0.00,2.33,29.00,0.884,6,0.000,0.041,3051,2716,1724,0,0,0,0,0,0
$GC,3603,0.87,302.9,296.1,12.0,386,3607,0.00,1.70,0.00,0.000,4,0.000,0.049,3051,3768,1721,0,0,0,0,0,0
$GC,3650,0.87,302.9,289.8,13.7,390,3653,0.00,1.62,0.00,0.000,6,0.000,0.030,3057,2716,1721,0,0,1,0,0,0
$GC,3856,0.87,302.9,264.3,12.5,409,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2713,1720,0,0,0,0,0,0
$GC,4055,0.87,302.9,239.3,12.1,428,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2713,1719,0,0,0,0,0,0
$GC,4182,0.87,302.9,223.9,12.2,440,4185,0.00,1.70,0.00,0.000,4,0.000,0.050,3057,3770,1719,0,0,0,0,0,0
$GC,4210,0.87,302.9,220.0,13.0,442,4217,0.00,1.65,0.00,0.000,6,0.000,0.030,3063,2719,1719,0,0,1,0,0,0
$GC,4344,0.87,302.9,203.6,11.7,455,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2719,1719,0,0,0,0,0,0
$GC,4472,0.87,302.9,188.4,11.8,467,4476,0.00,1.67,0.00,0.000,4,0.000,0.050,3063,3766,1719,0,0,0,0,0,0
$GC,4500,0.87,302.9,184.7,12.2,469,4507,0.00,1.65,0.00,0.000,6,0.000,0.030,3069,2724,1718,0,0,0,0,0,0
$GC,4635,0.87,302.9,168.5,12.0,482,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2724,1718,0,0,0,0,0,0
$GC,4762,0.87,302.9,153.3,11.7,494,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2724,1717,0,0,0,0,0,0
$GC,4890,0.87,302.9,138.1,12.1,506,4894,0.00,1.65,0.00,0.000,4,0.000,0.049,3069,3763,1717,0,0,0,0,0,0
$GC,4924,0.87,302.9,133.4,13.2,509,4928,0.00,1.62,0.00,0.000,6,0.000,0.030,3076,2737,1717,0,0,0,0,0,0
$GC,5065,0.87,302.9,115.6,12.6,522,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2735,1717,0,0,0,0,0,0
$GC,5193,0.87,302.9,99.9,12.1,534,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2735,1717,0,0,0,0,0,0
$GC,5332,0.87,302.9,82.5,12.0,559,5340,0.00,1.70,0.00,0.000,4,0.000,0.049,3076,3763,1717,0,0,0,0,0,0
$GC,5370,0.87,302.9,77.4,14.0,565,5376,0.00,1.62,0.00,0.000,6,0.000,0.030,3083,2737,1717,0,0,0,0,0,0
$GC,5515,0.87,302.9,58.6,14.0,590,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2736,1717,0,0,0,0,0,0
$GC,5656,0.87,302.9,40.8,12.2,615,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2736,1717,0,0,0,0,0,0
$GC,5800,0.87,302.9,21.7,12.8,640,5807,0.00,2.28,0.00,0.000,4,0.000,0.035,3093,1301,1717,0,0,0,0,0,0
$GC,5827,0.87,302.9,18.1,14.3,644,5834,0.00,2.33,0.00,0.000,6,0.000,0.043,3093,2740,1716,0,0,0,0,0,0
$FREEZE,8.98,-0.084,-1.892,2,4,2
$FREEZE,8.28,-0.083,-1.892,2,4,2
$FREEZE,7.30,-0.083,-1.891,2,4,2
$FREEZE,6.41,-0.079,-1.890,2,4,2
$FREEZE,5.62,-0.078,-1.890,2,4,2
$FREEZE,4.74,-0.078,-1.889,2,4,2
$FREEZE,3.95,-0.078,-1.888,2,4,2
$FREEZE,3.09,-0.077,-1.888,2,4,2
$FREEZE,2.32,-0.079,-1.887,2,4,2
$STATE,5934,end climb,SURFACE_DEPTH_REACHED
$STATE,5934,begin surface coast
$FREEZE,0.94,-0.077,-1.886,2,4,2
$FREEZE,0.37,-0.080,-1.886,2,4,2
$FREEZE,-0.03,-0.086,-1.885,2,4,2
$FINISH,-0.0,1.027579
$STATE,5952,end surface coast,CONTROL_FINISHED_OK
$STATE,5952,begin surface
$SM_CCo,5970,167.23,0.099,0,0,445,616.92
$SM_GC,0.50,0.00,0.00,167.23,0.000,0.000,0.099,182,2783,445,-8.17,0.11,616.92
$IRIDIUM_FIX,-7519.49,17606.99,150111,111120
$TT8_MAMPS,0.027713
$HUMID,50.90
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.5
$24V_AH,21.8,76.918
$10V_AH,9.8,30.006
$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,18.325,40.350,449.050,167.225,0.000,85.122,225.347,0.000,1.000,0.000,16.622,1605.340,2698.056,707.973,1478.887,402.778,0.000,1379.084,0.000,1085.248,0.000,7.757,0.000
$DEVICE_MAMPS,202.725,149.175,969.255,98.685,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.349,857.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43812,666
$CAP_FILE_SIZE,85477,0
$CFSIZE,260165632,218730496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.080,260.4,1
$GPS,150111,132950,-7606.109,17620.727,19,1.4,20,121.7