version: 66.08
glider: 503
mission: 7
dive: 747
start: 1 16 111 15 21 33
data:
$ID,503
$MISSION,7
$DIVE,747
$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,-20466.213
$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,48
$R_STBD_OVSHOOT,38
$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
$GPS1,160111,151438,-7606.351,17651.656,20,1.6,21,121.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.7
$GPS2,160111,152102,-7606.333,17651.604,12,1.6,12,121.0
$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,92.2,101551,-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,-66.78,0.000,2,0.000,0.000,144,2794,3267,0,0,0,0,0,0
$GC,89,-0.76,-219.0,3.1,-6.3,11,116,9.10,0.00,-12.57,0.000,6,0.202,0.000,2546,2794,3856,0,0,0,0,0,0
$GC,252,-0.76,-219.0,35.3,-15.7,39,259,0.00,2.25,0.00,0.000,4,0.000,0.030,2546,1372,3860,0,0,0,0,0,0
$GC,300,-0.76,-219.0,42.5,-14.5,47,307,0.00,2.28,0.00,0.000,6,0.000,0.041,2536,2773,3859,0,0,0,0,0,0
$GC,442,-0.76,-219.0,65.2,-16.1,72,449,0.00,1.60,0.00,0.000,4,0.000,0.050,2529,3750,3859,0,0,0,0,0,0
$GC,502,-0.76,-219.0,75.3,-17.4,82,508,0.00,1.52,0.00,0.000,6,0.000,0.029,2528,2780,3859,0,0,0,0,0,0
$GC,645,-0.76,-219.0,99.5,-17.0,107,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2780,3860,0,0,0,0,0,0
$GC,779,-0.76,-219.0,121.9,-16.6,120,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2780,3860,0,0,0,0,0,0
$GC,907,-0.76,-219.0,142.9,-16.6,132,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2780,3860,0,0,0,0,0,0
$GC,1035,-0.76,-219.0,163.9,-16.5,144,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2780,3860,0,0,0,0,0,0
$GC,1162,-0.76,-219.0,184.8,-16.3,156,1165,0.00,1.62,0.00,0.000,4,0.000,0.050,2520,3765,3860,0,0,1,0,0,0
$GC,1200,-0.76,-219.0,191.9,-17.9,159,1208,0.08,1.52,0.00,0.000,6,0.129,0.029,2548,2789,3860,0,0,0,0,0,0
$GC,1336,-0.76,-219.0,212.1,-14.7,172,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3860,0,0,0,0,0,0
$GC,1462,-0.76,-219.0,230.6,-14.3,184,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3861,0,0,0,0,0,0
$GC,1590,-0.76,-219.0,249.0,-14.7,196,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3860,0,0,0,0,0,0
$GC,1718,-0.76,-219.0,266.9,-14.1,208,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3861,0,0,0,0,0,0
$GC,1910,-0.76,-219.0,293.6,-13.9,226,1914,0.00,1.60,0.00,0.000,4,0.000,0.049,2542,3762,3860,0,0,0,0,0,0
$GC,1957,-0.76,-219.0,300.8,-15.0,230,1960,0.00,1.50,0.00,0.000,6,0.000,0.029,2541,2802,3860,0,0,0,0,0,0
$GC,2163,-0.76,-219.0,331.8,-14.9,249,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2802,3860,0,0,0,0,0,0
$GC,2361,-0.76,-219.0,360.8,-14.2,268,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2803,3860,0,0,0,0,0,0
$STATE,2465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2465,begin apogee
$GC,2473,-0.16,0.0,375.5,13.6,278,2656,0.60,0.00,177.85,0.967,4,0.116,0.000,2743,2683,2960,0,0,0,0,0,0
$STATE,2656,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2659,0.76,219.0,384.5,0.0,294,2865,0.93,2.35,196.68,0.912,4,0.070,0.031,3049,1306,2067,0,0,0,0,0,0
$GC,2950,0.81,254.7,365.9,10.1,319,2992,0.00,2.45,34.08,0.880,6,0.000,0.040,3049,2705,1922,0,0,0,0,0,0
$GC,3182,0.81,254.7,339.0,12.4,341,3186,0.00,2.33,0.00,0.000,4,0.000,0.033,3059,1309,1916,0,0,0,0,0,0
$GC,3361,0.81,254.7,317.0,11.6,356,3368,0.00,2.30,0.00,0.000,6,0.000,0.041,3059,2704,1914,0,0,0,0,0,0
$GC,3561,0.81,254.7,291.6,12.5,375,3564,0.00,1.70,0.00,0.000,4,0.000,0.050,3059,3760,1913,0,0,0,0,0,0
$GC,3618,0.81,254.7,283.6,14.1,380,3622,0.00,1.65,0.00,0.000,6,0.000,0.030,3067,2698,1912,0,0,0,0,0,0
$GC,3822,0.81,254.7,257.8,12.6,399,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2698,1911,0,0,0,0,0,0
$GC,4013,0.81,254.7,233.9,12.7,417,4017,0.00,1.73,0.00,0.000,4,0.000,0.048,3067,3770,1912,0,0,0,0,0,0
$GC,4062,0.81,254.7,227.9,14.2,421,4065,0.00,1.65,0.00,0.000,6,0.000,0.029,3075,2700,1911,0,0,0,0,0,0
$GC,4202,0.81,254.7,209.9,12.4,434,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2700,1911,0,0,0,0,0,0
$GC,4330,0.81,254.7,193.8,12.7,446,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2700,1911,0,0,0,0,0,0
$GC,4458,0.81,254.7,177.3,12.9,458,4461,0.00,1.75,0.00,0.000,4,0.000,0.048,3075,3766,1911,0,0,0,0,0,0
$GC,4485,0.81,254.7,173.0,14.3,460,4492,0.00,1.65,0.00,0.000,6,0.000,0.029,3082,2716,1911,0,0,0,0,0,0
$GC,4620,0.81,254.7,155.0,13.4,473,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2716,1910,0,0,0,0,0,0
$GC,4748,0.81,254.7,138.3,13.0,485,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2716,1910,0,0,0,0,0,0
$GC,4874,0.81,254.7,121.6,13.0,497,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2716,1910,0,0,0,0,0,0
$GC,5002,0.81,254.7,104.8,13.4,509,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2716,1910,0,0,0,0,0,0
$GC,5134,0.81,254.7,87.4,13.5,529,5141,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3752,1910,0,0,0,0,0,0
$GC,5188,0.81,254.7,79.3,15.2,538,5196,0.08,1.62,0.00,0.000,6,0.142,0.030,3062,2722,1910,0,0,0,0,0,0
$GC,5335,0.81,257.3,62.6,11.3,563,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2722,1909,0,0,0,0,0,0
$GC,5474,0.81,257.3,45.7,12.1,588,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2722,1909,0,0,0,0,0,0
$GC,5617,0.81,257.3,28.6,11.9,613,5624,0.00,1.70,0.00,0.000,4,0.000,0.048,3062,3760,1909,0,0,0,0,0,0
$GC,5660,0.81,257.3,23.0,13.8,620,5667,0.00,1.65,0.00,0.000,6,0.000,0.031,3070,2712,1909,0,0,0,0,0,0
$FREEZE,8.52,-0.291,-1.892,2,1,0
$FREEZE,7.85,-0.289,-1.892,2,1,0
$FREEZE,7.12,-0.298,-1.891,2,1,0
$FREEZE,5.99,-0.296,-1.890,2,1,0
$FREEZE,5.34,-0.291,-1.889,2,1,0
$FREEZE,4.49,-0.282,-1.889,2,1,0
$GC,5805,0.81,257.3,4.5,14.6,645,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2713,1909,0,0,0,0,0,0
$FREEZE,1.92,-0.276,-1.887,2,1,0
$STATE,5818,end climb,SURFACE_DEPTH_REACHED
$STATE,5818,begin surface coast
$FREEZE,1.09,-0.275,-1.886,2,1,0
$FREEZE,0.26,-0.274,-1.885,2,1,0
$FREEZE,-0.07,-0.278,-1.885,2,1,0
$FREEZE,0.00,-0.342,-1.188,2,1,0
$FINISH,0.0,1.017561
$STATE,5841,end surface coast,CONTROL_FINISHED_OK
$STATE,5842,begin surface
$SM_CCo,5921,0.00,0.000,0,0,1906,258.54
$SM_GC,1.03,7.53,0.00,0.00,0.039,0.000,0.000,182,2805,1906,-8.08,0.71,258.54
$IRIDIUM_FIX,-7528.04,17651.70,160111,131351
$TT8_MAMPS,0.026964
$HUMID,52.67
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.8
$24V_AH,21.7,78.857
$10V_AH,9.7,30.807
$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,18.300,40.375,408.600,0.000,0.000,27.620,39.841,172.005,1.000,0.000,15.537,1606.465,2634.400,458.850,1345.352,267.427,0.000,1100.119,0.000,1060.487,0.000,7.757,0.000
$DEVICE_MAMPS,201.960,86.445,966.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.415,833.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258140
$DATA_FILE_SIZE,43835,651
$CAP_FILE_SIZE,84004,0
$CFSIZE,260165632,217993216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.033,355.8,1
$GPS,160111,170136,-7607.016,17649.277,43,1.3,44,121.1