version: 66.08
glider: 503
mission: 7
dive: 739
start: 1 16 111 0 51 19
data:
$ID,503
$MISSION,7
$DIVE,739
$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,-20455.971
$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,49
$R_STBD_OVSHOOT,30
$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
$GPS1,160111,004256,-7605.647,17634.586,19,1.3,20,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-59.9
$GPS2,160111,005050,-7605.630,17634.518,16,1.9,16,121.3
$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,321.6,11411,-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,-219.0,0.0,0.0,0,160,0.00,0.00,-141.15,0.000,2,0.000,0.000,170,2786,3391,0,0,0,0,0,0
$GC,166,-0.76,-219.0,3.0,-5.3,23,193,9.10,1.62,-9.65,0.000,4,0.206,0.066,2540,3756,3856,0,0,0,0,0,0
$GC,328,-0.76,-219.0,37.7,-15.9,51,335,0.00,1.55,0.00,0.000,6,0.000,0.028,2540,2774,3859,0,0,0,0,0,0
$GC,470,-0.76,-219.0,59.2,-14.8,76,477,0.00,2.20,0.00,0.000,4,0.000,0.031,2540,1378,3860,0,0,0,0,0,0
$GC,501,-0.76,-219.0,63.9,-14.4,81,509,0.00,2.28,0.00,0.000,6,0.000,0.043,2530,2780,3860,0,0,0,0,0,0
$GC,645,-0.76,-219.0,86.5,-16.5,106,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2780,3860,0,0,0,0,0,0
$GC,785,-0.76,-219.0,109.2,-16.2,126,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,913,-0.76,-219.0,129.8,-16.3,138,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,1040,-0.76,-219.0,151.0,-17.0,150,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,1168,-0.76,-219.0,172.0,-16.2,162,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2780,3860,0,0,0,0,0,0
$GC,1296,-0.76,-219.0,192.6,-15.8,174,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,1422,-0.76,-219.0,212.8,-15.6,186,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2780,3860,0,0,0,0,0,0
$GC,1549,-0.76,-219.0,232.4,-15.4,198,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,1677,-0.76,-219.0,252.2,-15.4,210,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2780,3860,0,0,0,0,0,0
$GC,1868,-0.76,-219.0,281.5,-15.2,228,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,2059,-0.76,-219.0,309.5,-14.5,246,2063,0.00,1.62,0.00,0.000,4,0.000,0.050,2522,3763,3859,0,0,0,0,0,0
$GC,2099,-0.76,-219.0,315.7,-15.1,249,2107,0.08,1.52,0.00,0.000,6,0.124,0.030,2550,2796,3859,0,0,0,0,0,0
$GC,2296,-0.76,-219.0,341.7,-13.5,268,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2795,3859,0,0,0,0,0,0
$GC,2488,-0.76,-219.0,367.5,-13.3,286,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2795,3859,0,0,0,0,0,0
$STATE,2549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2549,begin apogee
$GC,2556,-0.16,0.0,376.2,13.4,292,2740,0.57,0.00,178.45,0.973,4,0.115,0.000,2745,2684,2959,0,0,0,0,0,0
$STATE,2741,end apogee,CONTROL_FINISHED_OK
$STATE,2741,begin climb
$GC,2744,0.76,219.0,385.6,0.0,308,2946,0.88,0.00,194.52,0.919,6,0.073,0.000,3045,2684,2067,0,0,0,0,0,0
$GC,3139,0.76,219.0,353.7,11.8,344,3142,0.00,1.85,0.00,0.000,4,0.000,0.047,3045,3766,2056,0,0,0,0,0,0
$GC,3256,0.76,219.0,336.7,14.3,354,3264,0.00,1.70,0.00,0.000,6,0.000,0.029,3053,2724,2054,0,0,1,0,0,0
$GC,3455,0.77,227.5,313.0,11.1,373,3468,0.00,1.77,6.53,0.772,4,0.000,0.049,3053,3767,2032,0,0,1,0,0,0
$GC,3506,0.77,227.5,305.7,13.3,377,3513,0.00,1.65,0.00,0.000,6,0.000,0.030,3060,2727,2031,0,0,1,0,0,0
$GC,3705,0.77,227.5,281.8,11.8,396,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2727,2030,0,0,0,0,0,0
$GC,3896,0.77,227.5,259.4,11.5,414,3899,0.00,1.67,0.00,0.000,4,0.000,0.048,3060,3764,2029,0,0,0,0,0,0
$GC,3954,0.77,227.5,252.0,13.2,419,3958,0.00,1.62,0.00,0.000,6,0.000,0.029,3068,2730,2028,0,0,1,0,0,0
$GC,4158,0.77,227.5,226.3,12.4,438,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2730,2028,0,0,0,0,0,0
$GC,4285,0.77,227.5,211.0,12.1,450,4289,0.00,1.65,0.00,0.000,4,0.000,0.048,3068,3764,2028,0,0,0,0,0,0
$GC,4335,0.77,227.5,203.9,13.9,454,4343,0.00,1.62,0.00,0.000,6,0.000,0.029,3075,2736,2028,0,0,0,0,0,0
$GC,4471,0.77,227.5,187.2,12.3,467,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2736,2028,0,0,0,0,0,0
$GC,4597,0.77,227.5,172.2,11.5,479,4601,0.00,1.65,0.00,0.000,4,0.000,0.049,3076,3764,2027,0,0,0,0,0,0
$GC,4632,0.77,227.5,167.6,13.6,482,4636,0.08,1.58,0.00,0.000,6,0.135,0.031,3047,2759,2028,0,0,1,0,0,0
$GC,4774,0.84,279.7,153.2,9.5,495,4823,0.00,0.00,46.97,0.840,6,0.000,0.000,3047,2759,1819,0,0,0,0,0,0
$GC,4950,0.88,314.8,135.1,10.1,512,4990,0.10,0.00,31.77,0.809,6,0.100,0.000,3107,2759,1675,0,0,0,0,0,0
$GC,5118,0.88,314.8,111.1,15.0,528,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2759,1673,0,0,0,0,0,0
$GC,5247,0.88,314.8,91.5,15.2,545,5253,0.00,1.67,0.00,0.000,4,0.000,0.050,3107,3759,1671,0,0,0,0,0,0
$GC,5283,0.88,314.8,85.6,16.7,551,5290,0.08,1.58,0.00,0.000,6,0.134,0.031,3086,2769,1671,0,0,1,0,0,0
$GC,5428,0.88,314.8,65.6,13.3,576,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2769,1669,0,0,0,0,0,0
$GC,5570,0.88,314.8,46.1,13.7,601,5577,0.00,2.35,0.00,0.000,4,0.000,0.035,3097,1298,1669,0,0,0,0,0,0
$GC,5601,0.88,314.8,42.2,12.4,606,5609,0.00,2.35,0.00,0.000,6,0.000,0.043,3097,2756,1669,0,0,0,0,0,0
$GC,5748,0.88,314.8,22.1,12.4,631,5754,0.00,1.65,0.00,0.000,4,0.000,0.050,3096,3761,1668,0,0,0,0,0,0
$GC,5792,0.88,314.8,14.9,16.9,638,5799,0.00,1.60,0.00,0.000,6,0.000,0.031,3105,2760,1667,0,0,0,0,0,0
$FREEZE,8.53,-0.136,-1.892,2,1,0
$FREEZE,7.35,-0.136,-1.891,2,1,0
$FREEZE,6.32,-0.142,-1.891,2,1,0
$FREEZE,5.39,-0.145,-1.890,2,1,0
$FREEZE,4.48,-0.150,-1.890,2,1,0
$FREEZE,3.41,-0.134,-1.888,2,1,0
$FREEZE,2.53,-0.129,-1.887,2,1,0
$STATE,5859,end climb,SURFACE_DEPTH_REACHED
$STATE,5859,begin surface coast
$FREEZE,1.53,-0.120,-1.887,2,1,0
$FREEZE,0.69,-0.118,-1.886,2,1,0
$FREEZE,0.12,-0.118,-1.886,2,1,0
$FINISH,0.1,1.027596
$STATE,5879,end surface coast,CONTROL_FINISHED_OK
$STATE,5879,begin surface
$SM_CCo,5957,0.00,0.000,0,0,1664,317.66
$SM_GC,0.65,7.65,0.00,0.00,0.042,0.000,0.000,198,2758,1664,-8.07,-0.59,317.66
$IRIDIUM_FIX,-7519.49,17624.86,150111,222255
$TT8_MAMPS,0.027713
$HUMID,53.11
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$24V_AH,21.7,77.839
$10V_AH,9.7,30.389
$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,18.525,38.900,458.250,0.000,0.000,30.830,41.433,251.208,1.000,0.000,19.124,1565.277,2635.311,559.470,1400.950,275.672,0.000,1202.533,0.000,1040.005,0.000,7.759,0.000
$DEVICE_MAMPS,205.785,68.850,973.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.888,834.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43642,653
$CAP_FILE_SIZE,85183,0
$CFSIZE,260165632,218386432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.142,227.3,1
$GPS,160111,023206,-7605.837,17637.387,45,1.3,51,121.3