version: 66.08
glider: 503
mission: 7
dive: 738
start: 1 15 111 23 2 1
data:
$ID,503
$MISSION,7
$DIVE,738
$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,-20454.709
$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,51
$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
$GPS1,150111,225156,-7605.499,17632.344,32,1.4,33,121.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.7
$GPS2,150111,230132,-7605.478,17632.152,35,1.4,35,121.4
$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,326.6,12436,-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,-219.0,0.0,0.0,0,105,0.00,0.00,-85.60,0.000,2,0.000,0.000,129,2779,3628,0,0,0,0,0,0
$GC,109,-0.76,-219.0,4.5,-11.7,14,130,9.23,1.60,-4.18,0.000,4,0.207,0.059,2539,3770,3855,0,0,0,0,0,0
$GC,289,-0.76,-219.0,47.3,-15.4,45,296,0.00,1.55,0.00,0.000,6,0.000,0.028,2539,2781,3859,0,0,0,0,0,0
$GC,433,-0.76,-219.0,69.7,-16.1,70,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2780,3859,0,0,0,0,0,0
$GC,577,-0.76,-219.0,92.1,-15.4,95,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2780,3860,0,0,0,0,0,0
$GC,714,-0.76,-219.0,113.2,-15.1,112,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2781,3859,0,0,0,0,0,0
$GC,842,-0.76,-219.0,132.6,-15.2,124,846,0.00,1.60,0.00,0.000,4,0.000,0.050,2532,3751,3860,0,0,1,0,0,0
$GC,881,-0.76,-219.0,139.0,-15.8,127,887,0.00,1.50,0.00,0.000,6,0.000,0.029,2532,2786,3860,0,0,0,0,0,0
$GC,1015,-0.76,-219.0,159.9,-15.5,140,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2786,3860,0,0,0,0,0,0
$GC,1143,-0.76,-219.0,179.8,-15.4,152,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2787,3860,0,0,0,0,0,0
$GC,1270,-0.76,-219.0,199.9,-15.8,164,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2786,3860,0,0,0,0,0,0
$GC,1397,-0.76,-219.0,220.0,-15.3,176,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2786,3859,0,0,0,0,0,0
$GC,1526,-0.76,-219.0,239.9,-15.4,188,1530,0.00,1.60,0.00,0.000,4,0.000,0.050,2524,3757,3860,0,0,0,0,0,0
$GC,1565,-0.76,-219.0,246.7,-16.9,191,1572,0.00,1.52,0.00,0.000,6,0.000,0.030,2524,2782,3860,0,0,0,0,0,0
$GC,1699,-0.76,-219.0,268.1,-15.8,204,1701,0.10,0.00,0.00,0.000,6,0.171,0.000,2552,2782,3860,0,0,0,0,0,0
$GC,1892,-0.76,-219.0,294.4,-13.7,222,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2782,3860,0,0,0,0,0,0
$GC,2091,-0.76,-219.0,321.3,-13.3,241,2094,0.00,1.60,0.00,0.000,4,0.000,0.050,2545,3749,3859,0,0,0,0,0,0
$GC,2147,-0.76,-219.0,329.3,-14.2,246,2151,0.00,1.48,0.00,0.000,6,0.000,0.028,2545,2790,3859,0,0,1,0,0,0
$GC,2352,-0.76,-219.0,357.7,-13.6,265,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2790,3859,0,0,0,0,0,0
$STATE,2477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2478,begin apogee
$GC,2484,-0.16,0.0,375.4,13.9,277,2666,0.57,0.00,177.25,0.975,4,0.113,0.000,2740,2687,2960,0,0,0,0,0,0
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2670,0.76,219.0,385.3,0.0,293,2880,0.93,2.40,195.55,0.922,4,0.071,0.031,3045,1304,2066,0,0,0,0,0,0
$GC,2998,0.80,253.2,362.9,10.2,322,3039,0.00,2.42,32.25,0.890,6,0.000,0.040,3045,2696,1926,0,0,0,0,0,0
$GC,3230,0.81,260.3,337.4,11.1,344,3243,0.00,2.35,6.90,0.767,4,0.000,0.032,3055,1313,1899,0,0,1,0,0,0
$GC,3374,0.85,291.8,322.5,10.3,356,3415,0.00,2.33,29.75,0.891,6,0.000,0.041,3055,2714,1770,0,0,0,0,0,0
$GC,3604,0.85,291.8,295.9,11.9,378,3608,0.00,1.70,0.00,0.000,4,0.000,0.050,3055,3764,1769,0,0,0,0,0,0
$GC,3662,0.85,291.8,288.6,12.8,383,3666,0.00,1.62,0.00,0.000,6,0.000,0.030,3063,2709,1768,0,0,1,0,0,0
$GC,3866,0.85,291.8,263.4,12.0,402,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2708,1767,0,0,0,0,0,0
$GC,4058,0.85,291.8,239.7,12.6,420,4061,0.00,1.70,0.00,0.000,4,0.000,0.049,3063,3766,1767,0,0,0,0,0,0
$GC,4094,0.85,291.8,234.8,14.0,423,4097,0.00,1.62,0.00,0.000,6,0.000,0.031,3071,2705,1767,0,0,1,0,0,0
$GC,4234,0.85,291.8,215.9,13.3,436,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2705,1766,0,0,0,0,0,0
$GC,4362,0.85,291.8,199.1,13.2,448,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2705,1766,0,0,0,0,0,0
$GC,4490,0.85,291.8,182.3,13.3,460,4493,0.00,1.70,0.00,0.000,4,0.000,0.049,3071,3767,1766,0,0,0,0,0,0
$GC,4538,0.85,291.8,175.5,14.5,464,4542,0.00,1.65,0.00,0.000,6,0.000,0.030,3078,2698,1766,0,0,0,0,0,0
$GC,4678,0.85,291.8,155.8,13.7,477,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2697,1765,0,0,0,0,0,0
$GC,4806,0.85,291.8,138.4,13.8,489,4810,0.00,1.70,0.00,0.000,4,0.000,0.050,3078,3761,1766,0,0,0,0,0,0
$GC,4842,0.85,291.8,133.0,15.9,492,4845,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2738,1765,0,0,0,0,0,0
$GC,4982,0.85,291.8,113.2,13.7,505,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2736,1765,0,0,0,0,0,0
$GC,5111,0.85,291.8,95.6,14.2,519,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2736,1765,0,0,0,0,0,0
$GC,5253,0.85,291.8,76.8,12.7,544,5260,0.00,1.67,0.00,0.000,4,0.000,0.050,3083,3753,1765,0,0,0,0,0,0
$GC,5289,0.85,291.8,71.5,15.1,550,5296,0.00,1.60,0.00,0.000,6,0.000,0.031,3091,2732,1765,0,0,1,0,0,0
$GC,5434,0.85,291.8,51.4,13.6,575,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2732,1765,0,0,0,0,0,0
$GC,5577,0.85,291.8,32.6,13.5,600,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2732,1765,0,0,0,0,0,0
$GC,5719,0.85,291.8,12.6,14.8,625,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2732,1764,0,0,0,0,0,0
$FREEZE,8.73,-0.123,-1.893,2,2,0
$FREEZE,7.69,-0.120,-1.892,2,2,0
$FREEZE,6.88,-0.120,-1.891,2,2,0
$FREEZE,5.98,-0.120,-1.891,2,2,0
$FREEZE,5.05,-0.124,-1.890,2,2,0
$FREEZE,4.23,-0.120,-1.889,2,2,0
$FREEZE,3.32,-0.118,-1.888,2,2,0
$FREEZE,2.55,-0.118,-1.888,2,2,0
$STATE,5780,end climb,SURFACE_DEPTH_REACHED
$STATE,5780,begin surface coast
$FREEZE,1.69,-0.099,-1.887,2,2,0
$FREEZE,0.79,-0.108,-1.886,2,2,0
$FREEZE,-0.04,-0.092,-1.885,2,2,0
$FINISH,-0.0,1.027592
$STATE,5799,end surface coast,CONTROL_FINISHED_OK
$STATE,5800,begin surface
$SM_CCo,5819,174.60,0.099,0,0,445,616.92
$SM_GC,0.57,0.00,0.00,174.60,0.000,0.000,0.099,183,2786,445,-8.16,0.17,616.92
$IRIDIUM_FIX,-7519.49,17624.86,150111,222255
$TT8_MAMPS,0.027713
$HUMID,51.10
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.4
$24V_AH,21.7,77.702
$10V_AH,9.8,30.337
$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,18.475,38.725,441.700,174.600,0.000,89.559,119.706,56.952,1.000,0.000,38.079,1568.182,2661.852,663.695,1441.152,241.537,0.000,1311.841,0.000,1059.416,0.000,7.757,0.000
$DEVICE_MAMPS,207.315,118.575,974.610,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.373,809.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,43706,639
$CAP_FILE_SIZE,84221,0
$CFSIZE,260165632,218419200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.129,260.9,1
$GPS,160111,004256,-7605.647,17634.586,19,1.3,20,121.3