version: 66.08
glider: 503
mission: 7
dive: 742
start: 1 16 111 6 21 15
data:
$ID,503
$MISSION,7
$DIVE,742
$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,-20459.836
$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,46
$R_STBD_OVSHOOT,52
$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
$GPS1,160111,061107,-7605.985,17642.973,48,0.9,49,121.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.5
$GPS2,160111,062044,-7606.009,17642.900,12,1.1,12,121.2
$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,286.7,7842,-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,-219.0,0.0,0.0,0,102,0.00,0.00,-83.20,0.000,2,0.000,0.000,146,2814,3466,0,0,0,0,0,0
$GC,105,-0.76,-219.0,3.6,-8.5,14,127,9.15,1.58,-7.82,0.000,4,0.205,0.063,2542,3747,3856,0,0,0,0,0,0
$GC,374,-0.76,-219.0,56.7,-15.5,61,381,0.00,1.52,0.00,0.000,6,0.000,0.028,2542,2774,3860,0,0,0,0,0,0
$GC,516,-0.76,-219.0,78.4,-15.8,86,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3860,0,0,0,0,0,0
$GC,659,-0.76,-219.0,100.5,-14.1,111,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3860,0,0,0,0,0,0
$GC,786,-0.76,-219.0,119.6,-15.2,123,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3861,0,0,0,0,0,0
$GC,913,-0.76,-219.0,139.2,-15.1,135,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3861,0,0,0,0,0,0
$GC,1041,-0.76,-219.0,158.1,-14.6,147,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3861,0,0,0,0,0,0
$GC,1169,-0.76,-219.0,176.8,-14.7,159,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2774,3861,0,0,0,0,0,0
$GC,1296,-0.76,-219.0,195.5,-14.6,171,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3861,0,0,0,0,0,0
$GC,1423,-0.76,-219.0,214.0,-14.4,183,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2774,3861,0,0,0,0,0,0
$GC,1551,-0.76,-219.0,232.7,-14.8,195,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3861,0,0,0,0,0,0
$GC,1681,-0.76,-219.0,251.1,-14.2,207,1684,0.00,1.58,0.00,0.000,4,0.000,0.048,2534,3727,3861,0,0,0,0,0,0
$GC,1719,-0.76,-219.0,257.9,-15.3,210,1726,0.00,1.48,0.00,0.000,6,0.000,0.029,2534,2776,3861,0,0,1,0,0,0
$GC,1919,-0.76,-219.0,288.0,-15.5,229,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2775,3860,0,0,0,0,0,0
$GC,2110,-0.76,-219.0,317.5,-15.1,247,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2776,3860,0,0,0,0,0,0
$GC,2300,-0.76,-219.0,345.6,-14.4,265,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2775,3860,0,0,0,0,0,0
$GC,2489,-0.76,-219.0,373.5,-14.5,283,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2776,3860,0,0,0,0,0,0
$STATE,2509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2509,begin apogee
$GC,2515,-0.16,0.0,376.5,14.5,285,2698,0.62,0.00,177.80,0.970,4,0.115,0.000,2743,2688,2960,0,0,0,0,0,0
$STATE,2699,end apogee,CONTROL_FINISHED_OK
$STATE,2699,begin climb
$GC,2702,0.76,219.0,386.1,0.0,301,2908,0.90,2.38,195.73,0.918,4,0.070,0.032,3041,1306,2066,0,0,0,0,0,0
$GC,3014,0.80,246.9,364.9,10.4,328,3047,0.00,2.40,26.25,0.877,6,0.000,0.040,3042,2673,1954,0,0,0,0,0,0
$GC,3246,0.80,247.7,338.8,11.3,350,3250,0.00,2.25,0.00,0.000,4,0.000,0.033,3051,1315,1949,0,0,0,0,0,0
$GC,3358,0.81,254.1,326.0,11.1,359,3370,0.00,2.33,6.85,0.773,6,0.000,0.041,3051,2719,1924,0,0,0,0,0,0
$GC,3566,0.81,254.1,301.2,12.2,378,3569,0.00,1.67,0.00,0.000,4,0.000,0.048,3051,3763,1922,0,0,0,0,0,0
$GC,3611,0.81,254.1,294.7,13.9,382,3615,0.00,1.62,0.00,0.000,6,0.000,0.031,3058,2711,1922,0,0,1,0,0,0
$GC,3817,0.81,254.1,270.0,12.0,401,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2711,1921,0,0,0,0,0,0
$GC,4008,0.81,254.1,247.7,11.6,419,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2711,1921,0,0,0,0,0,0
$GC,4134,0.83,271.1,233.7,10.8,431,4158,0.00,1.75,16.17,0.864,4,0.000,0.047,3058,3770,1855,0,0,0,0,0,0
$GC,4194,0.83,271.1,226.3,12.8,436,4198,0.00,1.67,0.00,0.000,6,0.000,0.029,3064,2723,1855,0,0,0,0,0,0
$GC,4335,0.83,271.1,209.7,12.0,449,4339,0.00,2.25,0.00,0.000,4,0.000,0.034,3074,1299,1854,0,0,0,0,0,0
$GC,4365,0.83,271.1,206.2,12.6,451,4369,0.00,2.30,0.00,0.000,6,0.000,0.041,3074,2726,1854,0,0,0,0,0,0
$GC,4499,0.83,271.1,189.3,12.7,463,4503,0.00,1.65,0.00,0.000,4,0.000,0.050,3074,3763,1853,0,0,0,0,0,0
$GC,4537,0.83,271.1,183.9,14.1,466,4544,0.00,1.62,0.00,0.000,6,0.000,0.031,3082,2727,1853,0,0,0,0,0,0
$GC,4673,0.83,271.1,166.3,13.2,479,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,1853,0,0,0,0,0,0
$GC,4802,0.83,271.1,149.5,13.1,491,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,1853,0,0,0,0,0,0
$GC,4936,0.83,271.1,130.9,13.4,504,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,1853,0,0,0,0,0,0
$GC,5064,0.83,271.1,113.7,13.7,516,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,1852,0,0,0,0,0,0
$GC,5192,0.83,271.1,96.7,12.6,530,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,1852,0,0,0,0,0,0
$GC,5334,0.83,271.1,78.9,12.8,555,5341,0.00,1.70,0.00,0.000,4,0.000,0.047,3081,3762,1852,0,0,0,0,0,0
$GC,5371,0.83,271.1,73.9,14.3,561,5378,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2724,1852,0,0,0,0,0,0
$GC,5517,0.83,271.1,55.3,12.3,586,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2724,1852,0,0,0,0,0,0
$GC,5658,0.83,271.1,35.7,13.4,611,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2724,1852,0,0,0,0,0,0
$GC,5799,0.83,271.1,15.7,14.5,636,5807,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3760,1851,0,0,0,0,0,0
$FREEZE,8.92,-0.459,-1.893,2,1,0
$FREEZE,8.23,-0.447,-1.892,2,1,0
$FREEZE,7.35,-0.449,-1.891,2,1,0
$GC,5854,0.83,271.1,7.4,15.0,645,5861,0.08,1.62,0.00,0.000,6,0.145,0.031,3072,2727,1851,0,0,0,0,0,0
$FREEZE,4.77,-0.442,-1.889,2,1,0
$FREEZE,4.22,-0.444,-1.889,2,1,0
$FREEZE,3.77,-0.442,-1.889,2,1,0
$FREEZE,3.01,-0.442,-1.888,2,1,0
$FREEZE,2.33,-0.441,-1.887,2,1,0
$STATE,5890,end climb,SURFACE_DEPTH_REACHED
$STATE,5890,begin surface coast
$FREEZE,1.51,-0.442,-1.887,2,1,0
$FREEZE,1.12,-0.440,-1.886,2,1,0
$FREEZE,0.45,-0.438,-1.886,2,1,0
$FREEZE,-0.02,-0.439,-1.886,2,1,0
$FREEZE,0.03,-0.494,-1.021,2,1,0
$FINISH,0.0,1.015095
$STATE,5920,end surface coast,CONTROL_FINISHED_OK
$STATE,5920,begin surface
$SM_CCo,5999,0.00,0.000,0,0,1847,273.01
$SM_GC,0.79,7.50,0.00,0.00,0.037,0.000,0.000,188,2810,1847,-8.07,0.85,273.01
$IRIDIUM_FIX,-7519.49,17643.26,160111,060617
$TT8_MAMPS,0.026964
$HUMID,53.18
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.5
$24V_AH,21.7,78.231
$10V_AH,9.8,30.549
$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,18.250,36.875,422.800,0.000,0.000,57.670,113.203,199.512,1.000,0.000,14.943,1620.526,2752.685,465.475,1482.217,263.224,0.000,1107.969,0.000,1063.001,0.000,7.759,0.000
$DEVICE_MAMPS,205.020,97.155,970.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.017,837.437,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258236
$DATA_FILE_SIZE,43701,656
$CAP_FILE_SIZE,85108,0
$CFSIZE,260165632,218238976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.194,192.0,1
$GPS,160111,080219,-7606.074,17645.656,21,1.1,26,121.1