version: 66.08
glider: 503
mission: 7
dive: 737
start: 1 15 111 21 10 7
data:
$ID,503
$MISSION,7
$DIVE,737
$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,-20453.451
$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,50
$R_STBD_OVSHOOT,33
$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
$GPS1,150111,210307,-7605.470,17629.947,20,1.6,26,121.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-68.0
$GPS2,150111,210936,-7605.442,17629.795,13,1.6,23,121.4
$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,333.3,13479,-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,-219.0,0.0,0.0,0,85,0.00,0.00,-67.07,0.000,2,0.000,0.000,138,2792,3259,0,0,0,0,0,0
$GC,89,-0.76,-219.0,3.2,-6.7,11,117,9.25,1.62,-12.90,0.000,4,0.205,0.065,2545,3760,3855,0,0,0,0,0,0
$GC,262,-0.76,-219.0,38.6,-16.1,41,270,0.00,1.55,0.00,0.000,6,0.000,0.029,2545,2778,3858,0,0,0,0,0,0
$GC,408,-0.76,-219.0,61.1,-15.4,66,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2779,3859,0,0,0,0,0,0
$GC,549,-0.76,-219.0,82.9,-15.0,91,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2779,3859,0,0,0,0,0,0
$GC,695,-0.76,-219.0,105.1,-15.1,114,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2779,3860,0,0,0,0,0,0
$GC,821,-0.76,-219.0,124.0,-14.9,126,825,0.00,1.60,0.00,0.000,4,0.000,0.048,2537,3748,3860,0,0,0,0,0,0
$GC,860,-0.76,-219.0,130.4,-15.9,129,868,0.00,1.52,0.00,0.000,6,0.000,0.028,2537,2775,3859,0,0,0,0,0,0
$GC,996,-0.76,-219.0,150.6,-15.0,142,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2776,3860,0,0,0,0,0,0
$GC,1122,-0.76,-219.0,169.8,-15.2,154,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2776,3860,0,0,0,0,0,0
$GC,1250,-0.76,-219.0,188.8,-15.1,166,1253,0.00,1.60,0.00,0.000,4,0.000,0.050,2529,3748,3860,0,0,0,0,0,0
$GC,1288,-0.76,-219.0,195.1,-15.6,169,1296,0.00,1.50,0.00,0.000,6,0.000,0.029,2529,2790,3860,0,0,0,0,0,0
$GC,1424,-0.76,-219.0,215.0,-15.0,182,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2789,3860,0,0,0,0,0,0
$GC,1550,-0.76,-219.0,234.0,-15.0,194,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2789,3860,0,0,0,0,0,0
$GC,1678,-0.76,-219.0,253.2,-15.1,206,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2789,3860,0,0,0,0,0,0
$GC,1869,-0.76,-219.0,281.5,-14.8,224,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2789,3860,0,0,0,0,0,0
$GC,2060,-0.76,-219.0,309.7,-14.9,242,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2789,3859,0,0,0,0,0,0
$GC,2251,-0.76,-219.0,337.6,-14.7,260,2255,0.00,1.58,0.00,0.000,4,0.000,0.050,2522,3748,3859,0,0,0,0,0,0
$GC,2290,-0.76,-219.0,344.3,-16.5,263,2297,0.08,1.50,0.00,0.000,6,0.129,0.030,2550,2786,3859,0,0,0,0,0,0
$GC,2491,-0.76,-219.0,370.9,-13.6,282,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2785,3859,0,0,0,0,0,0
$STATE,2516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2516,begin apogee
$GC,2524,-0.16,0.0,375.1,13.7,285,2707,0.57,0.00,177.95,0.971,4,0.115,0.000,2744,2685,2960,0,0,0,0,0,0
$STATE,2708,end apogee,CONTROL_FINISHED_OK
$STATE,2708,begin climb
$GC,2711,0.76,219.0,384.9,0.0,301,2918,0.88,0.00,195.93,0.918,6,0.072,0.000,3042,2685,2066,0,0,0,0,0,0
$GC,3108,0.78,233.4,354.0,10.9,338,3131,0.00,1.90,13.20,0.851,4,0.000,0.048,3043,3752,2008,0,0,1,0,0,0
$GC,3249,0.78,233.4,335.9,13.4,350,3256,0.00,1.65,0.00,0.000,6,0.000,0.028,3049,2732,2005,0,0,1,0,0,0
$GC,3449,0.78,233.4,313.1,11.4,369,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2732,2005,0,0,0,0,0,0
$GC,3648,0.79,244.9,290.6,11.0,388,3663,0.00,1.67,11.00,0.855,4,0.000,0.048,3050,3755,1962,0,0,0,0,0,0
$GC,3727,0.79,244.9,280.8,13.1,395,3730,0.00,1.65,0.00,0.000,6,0.000,0.030,3057,2701,1962,0,0,0,0,0,0
$GC,3932,0.80,246.1,257.1,11.3,414,3936,0.00,1.70,0.00,0.000,4,0.000,0.050,3057,3755,1960,0,0,1,0,0,0
$GC,3970,0.80,246.1,251.8,13.4,417,3977,0.00,1.62,0.00,0.000,6,0.000,0.031,3064,2732,1960,0,0,0,0,0,0
$GC,4170,0.80,246.1,228.3,11.5,436,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2732,1960,0,0,0,0,0,0
$GC,4296,0.80,246.1,213.6,11.6,448,4300,0.00,1.67,0.00,0.000,4,0.000,0.050,3063,3747,1959,0,0,0,0,0,0
$GC,4334,0.80,246.1,208.4,13.4,451,4342,0.00,1.58,0.00,0.000,6,0.000,0.030,3070,2737,1959,0,0,1,0,0,0
$GC,4470,0.80,246.1,192.2,12.4,464,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2737,1959,0,0,0,0,0,0
$GC,4596,0.80,246.1,176.7,11.9,476,4600,0.00,1.65,0.00,0.000,4,0.000,0.050,3070,3764,1959,0,0,0,0,0,0
$GC,4635,0.80,246.1,171.2,14.3,479,4642,0.00,1.60,0.00,0.000,6,0.000,0.031,3077,2752,1959,0,0,0,0,0,0
$GC,4770,0.80,246.1,154.2,12.4,492,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2752,1959,0,0,0,0,0,0
$GC,4897,0.80,246.1,138.1,12.8,504,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2753,1958,0,0,0,0,0,0
$GC,5025,0.80,246.1,122.1,12.5,516,5028,0.00,1.62,0.00,0.000,4,0.000,0.049,3078,3769,1958,0,0,0,0,0,0
$GC,5060,0.80,246.1,117.1,14.5,519,5064,0.00,1.60,0.00,0.000,6,0.000,0.030,3084,2754,1957,0,0,0,0,0,0
$GC,5196,0.80,246.1,98.9,13.3,532,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2753,1958,0,0,0,0,0,0
$GC,5338,0.80,246.1,79.2,13.5,557,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2753,1958,0,0,0,0,0,0
$GC,5479,0.80,246.1,60.3,13.7,582,5486,0.00,1.65,0.00,0.000,4,0.000,0.049,3084,3757,1957,0,0,0,0,0,0
$GC,5518,0.80,246.1,54.3,16.5,588,5525,0.10,1.58,0.00,0.000,6,0.138,0.031,3055,2760,1958,0,0,0,0,0,0
$GC,5663,0.81,256.5,37.3,11.0,613,5683,0.00,2.35,11.45,0.768,4,0.000,0.036,3066,1304,1914,0,0,0,0,0,0
$GC,5731,0.84,278.9,29.6,10.6,624,5757,0.00,2.35,21.67,0.762,6,0.000,0.041,3066,2756,1823,0,0,0,0,0,0
$GC,5893,0.84,278.9,10.5,14.7,652,5900,0.00,1.65,0.00,0.000,4,0.000,0.050,3066,3754,1822,0,0,0,0,0,0
$FREEZE,8.27,-0.230,-1.892,2,1,0
$FREEZE,7.53,-0.227,-1.891,2,1,0
$FREEZE,6.65,-0.227,-1.891,2,1,0
$FREEZE,5.93,-0.229,-1.890,2,1,0
$FREEZE,5.21,-0.226,-1.890,2,1,0
$FREEZE,4.81,-0.226,-1.889,2,1,0
$FREEZE,4.18,-0.222,-1.889,2,1,0
$FREEZE,3.14,-0.222,-1.888,2,1,0
$FREEZE,2.27,-0.220,-1.887,2,1,0
$STATE,5948,end climb,SURFACE_DEPTH_REACHED
$STATE,5948,begin surface coast
$FREEZE,1.46,-0.216,-1.886,2,1,0
$FINISH,1.5,1.027594
$STATE,5956,end surface coast,CONTROL_FINISHED_OK
$STATE,5957,begin surface
$SM_CCo,6037,0.00,0.000,0,0,1818,280.13
$SM_GC,0.77,7.65,0.00,0.00,0.044,0.000,0.000,181,2779,1818,-8.09,-0.03,280.13
$IRIDIUM_FIX,-7519.49,17634.34,150111,191905
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.8
$24V_AH,21.7,77.570
$10V_AH,9.7,30.283
$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,18.525,43.625,431.200,0.000,0.000,27.324,37.746,168.134,1.000,0.000,25.998,1616.880,2690.973,490.662,1366.391,268.476,0.000,1146.799,0.000,1073.915,0.000,7.757,0.000
$DEVICE_MAMPS,205.020,81.090,970.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.085,846.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258160
$DATA_FILE_SIZE,43723,663
$CAP_FILE_SIZE,86759,0
$CFSIZE,260165632,218480640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.130,271.1,1
$GPS,150111,225156,-7605.499,17632.344,32,1.4,33,121.4