version: 66.08
glider: 503
mission: 7
dive: 746
start: 1 16 111 13 34 33
data:
$ID,503
$MISSION,7
$DIVE,746
$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,-20464.957
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,160111,132737,-7605.427,17653.797,31,0.9,32,120.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.2
$GPS2,160111,133402,-7605.415,17653.785,13,1.7,13,120.9
$SPEED_LIMITS,0.197,0.325
$TGT_NAME,CORNER_SW
$TGT_LATLONG,-7655.000,17500.000
$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,93.2,103482,-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,-219.0,0.0,0.0,0,96,0.00,0.00,-77.78,0.000,2,0.000,0.000,152,2808,3482,0,0,0,0,0,0
$GC,101,-0.76,-219.0,4.1,-9.9,13,123,9.12,2.35,-7.07,0.000,4,0.203,0.044,2549,1365,3857,0,0,1,0,0,0
$GC,207,-0.76,-219.0,30.5,-14.7,31,215,0.00,2.28,0.00,0.000,6,0.000,0.042,2539,2767,3860,0,0,0,0,0,0
$GC,351,-0.76,-219.0,54.7,-17.3,56,358,0.00,1.62,0.00,0.000,4,0.000,0.049,2532,3763,3860,0,0,0,0,0,0
$GC,389,-0.76,-219.0,61.4,-17.7,62,395,0.00,1.55,0.00,0.000,6,0.000,0.030,2531,2780,3861,0,0,0,0,0,0
$GC,532,-0.76,-219.0,85.7,-17.3,87,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2780,3861,0,0,0,0,0,0
$GC,671,-0.76,-219.0,109.0,-16.8,107,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2780,3862,0,0,0,0,0,0
$GC,797,-0.76,-219.0,129.8,-16.6,119,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2780,3861,0,0,0,0,0,0
$GC,924,-0.76,-219.0,151.1,-16.6,131,928,0.00,1.60,0.00,0.000,4,0.000,0.048,2525,3751,3861,0,0,0,0,0,0
$GC,983,-0.76,-219.0,160.8,-16.7,136,986,0.00,1.52,0.00,0.000,6,0.000,0.028,2525,2774,3861,0,0,0,0,0,0
$GC,1123,-0.76,-219.0,184.9,-17.0,149,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2774,3862,0,0,0,0,0,0
$GC,1250,-0.76,-219.0,206.7,-17.2,161,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2774,3862,0,0,0,0,0,0
$GC,1378,-0.76,-219.0,228.1,-16.8,173,1382,0.00,1.62,0.00,0.000,4,0.000,0.049,2517,3792,3862,0,0,0,0,0,0
$GC,1417,-0.76,-219.0,235.3,-17.8,176,1424,0.10,1.55,0.00,0.000,6,0.126,0.029,2552,2797,3862,0,0,0,0,0,0
$GC,1552,-0.76,-219.0,254.8,-14.3,189,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2798,3862,0,0,0,0,0,0
$GC,1744,-0.76,-219.0,281.8,-13.9,207,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2798,3861,0,0,0,0,0,0
$GC,1936,-0.76,-219.0,308.0,-13.6,225,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2798,3862,0,0,0,0,0,0
$GC,2126,-0.76,-219.0,333.6,-13.4,243,2129,0.00,1.58,0.00,0.000,4,0.000,0.048,2546,3758,3861,0,0,0,0,0,0
$GC,2160,-0.76,-219.0,338.7,-14.1,246,2164,0.00,1.50,0.00,0.000,6,0.000,0.030,2546,2801,3862,0,0,0,0,0,0
$GC,2364,-0.76,-219.0,367.3,-13.8,265,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2801,3862,0,0,0,0,0,0
$STATE,2425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2425,begin apogee
$GC,2433,-0.16,0.0,376.2,14.0,271,2616,0.57,0.00,178.38,0.969,4,0.113,0.000,2741,2682,2960,0,0,0,0,0,0
$STATE,2617,end apogee,CONTROL_FINISHED_OK
$STATE,2617,begin climb
$GC,2621,0.76,219.0,386.1,0.0,287,2825,0.88,0.00,196.20,0.915,6,0.073,0.000,3040,2681,2066,0,0,0,0,0,0
$GC,3018,0.78,232.3,354.5,10.9,323,3040,0.00,1.90,12.50,0.843,4,0.000,0.047,3040,3761,2012,0,0,1,0,0,0
$GC,3112,0.78,232.3,342.4,13.0,331,3119,0.00,1.70,0.00,0.000,6,0.000,0.030,3047,2729,2011,0,0,1,0,0,0
$GC,3312,0.80,249.0,320.6,10.8,350,3331,0.00,0.00,16.10,0.870,6,0.000,0.000,3047,2728,1944,0,0,0,0,0,0
$GC,3524,0.80,254.0,297.5,11.2,370,3536,0.00,1.73,5.75,0.739,4,0.000,0.047,3047,3767,1925,0,0,0,0,0,0
$GC,3587,0.80,254.0,289.1,13.2,375,3594,0.00,1.62,0.00,0.000,6,0.000,0.030,3053,2712,1925,0,0,1,0,0,0
$GC,3786,0.80,254.0,265.6,11.7,394,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2712,1924,0,0,0,0,0,0
$GC,3977,0.81,257.9,243.9,11.2,412,3989,0.00,1.73,5.50,0.737,4,0.000,0.047,3053,3763,1908,0,0,0,0,0,0
$GC,4018,0.81,257.9,238.7,13.4,415,4024,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2733,1908,0,0,0,0,0,0
$GC,4152,0.81,257.9,222.5,12.4,428,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2732,1908,0,0,0,0,0,0
$GC,4279,0.81,257.9,206.6,12.6,440,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2732,1907,0,0,0,0,0,0
$GC,4408,0.81,257.9,190.8,12.2,452,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2732,1907,0,0,0,0,0,0
$GC,4534,0.81,257.9,174.9,12.6,464,4538,0.00,1.70,0.00,0.000,4,0.000,0.048,3059,3761,1907,0,0,0,0,0,0
$GC,4581,0.81,257.9,168.7,13.4,468,4584,0.00,1.65,0.00,0.000,6,0.000,0.030,3067,2696,1907,0,0,0,0,0,0
$GC,4721,0.81,257.9,150.9,12.3,481,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2694,1907,0,0,0,0,0,0
$GC,4848,0.81,257.9,135.4,12.4,493,4852,0.00,1.70,0.00,0.000,4,0.000,0.049,3067,3763,1907,0,0,0,0,0,0
$GC,4875,0.81,257.9,131.5,13.6,495,4882,0.00,1.62,0.00,0.000,6,0.000,0.031,3074,2737,1907,0,0,0,0,0,0
$GC,5011,0.81,257.9,114.3,12.9,508,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2737,1907,0,0,0,0,0,0
$GC,5138,0.81,257.9,98.6,12.1,521,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2737,1906,0,0,0,0,0,0
$GC,5280,0.81,257.9,81.3,11.8,546,5287,0.00,1.67,0.00,0.000,4,0.000,0.049,3073,3756,1906,0,0,0,0,0,0
$GC,5334,0.81,257.9,74.2,13.4,555,5340,0.00,1.60,0.00,0.000,6,0.000,0.031,3081,2747,1906,0,0,0,0,0,0
$GC,5477,0.81,257.9,56.1,11.9,580,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2747,1906,0,0,0,0,0,0
$GC,5619,0.81,257.9,37.5,13.5,605,5627,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3766,1906,0,0,0,0,0,0
$GC,5653,0.81,257.9,32.7,15.1,610,5660,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2737,1905,0,0,0,0,0,0
$GC,5796,0.81,257.9,11.7,14.6,635,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2736,1905,0,0,0,0,0,0
$FREEZE,8.24,-0.127,-1.890,2,1,0
$FREEZE,7.37,-0.126,-1.890,2,1,0
$FREEZE,6.52,-0.126,-1.889,2,1,0
$FREEZE,5.59,-0.123,-1.888,2,1,0
$FREEZE,4.64,-0.126,-1.888,2,1,0
$FREEZE,3.66,-0.126,-1.887,2,1,0
$FREEZE,2.80,-0.126,-1.886,2,1,0
$STATE,5845,end climb,SURFACE_DEPTH_REACHED
$STATE,5845,begin surface coast
$FREEZE,1.70,-0.124,-1.885,2,1,0
$FREEZE,1.04,-0.127,-1.885,2,1,0
$FREEZE,0.41,-0.129,-1.884,2,1,0
$FINISH,0.4,1.027575
$STATE,5867,end surface coast,CONTROL_FINISHED_OK
$STATE,5867,begin surface
$SM_CCo,5945,0.00,0.000,0,0,1902,259.52
$SM_GC,1.17,7.62,0.00,0.00,0.043,0.000,0.000,185,2793,1902,-8.09,0.37,259.52
$IRIDIUM_FIX,-7519.49,17652.19,160111,111156
$TT8_MAMPS,0.026964
$HUMID,53.11
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.7
$24V_AH,21.7,78.736
$10V_AH,9.8,30.756
$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,18.300,40.950,414.425,0.000,0.000,30.227,37.567,170.841,1.250,0.000,16.424,1592.712,2677.599,474.639,1326.680,265.006,0.000,1111.540,0.000,1040.327,0.000,7.759,0.000
$DEVICE_MAMPS,203.490,105.570,969.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.173,817.595,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258136
$DATA_FILE_SIZE,43740,647
$CAP_FILE_SIZE,85132,0
$CFSIZE,260165632,218042368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.033,107.6,1
$GPS,160111,151438,-7606.351,17651.656,20,1.6,21,121.0