version: 66.08
glider: 503
mission: 7
dive: 673
start: 1 10 111 22 4 1
data:
$ID,503
$MISSION,7
$DIVE,673
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,180
$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,320
$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,-20368.582
$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,47
$R_STBD_OVSHOOT,49
$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
$GPS1,100111,215744,-7632.429,17608.602,20,2.0,20,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-69.7
$GPS2,100111,220332,-7632.397,17608.475,12,1.3,12,123.7
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$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,208.6,59201,-18.2,-13.333
$D_GRID,385
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-89.35,0.000,2,0.000,0.000,168,2810,3487,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.8,-9.3,15,135,9.02,1.58,-7.20,0.000,4,0.209,0.066,2515,3747,3856,0,0,0,0,0,0
$GC,385,-0.84,-219.0,64.0,-18.5,63,392,0.00,1.52,0.00,0.000,6,0.000,0.028,2516,2773,3860,0,0,0,0,0,0
$GC,528,-0.84,-219.0,89.6,-17.6,88,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$GC,672,-0.84,-219.0,115.0,-17.3,106,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2774,3861,0,0,0,0,0,0
$GC,800,-0.84,-219.0,137.6,-17.7,118,804,0.00,1.58,0.00,0.000,4,0.000,0.049,2508,3733,3860,0,0,0,0,0,0
$GC,847,-0.84,-219.0,146.5,-18.6,122,850,0.00,1.48,0.00,0.000,6,0.000,0.029,2508,2795,3861,0,0,0,0,0,0
$GC,987,-0.84,-219.0,172.4,-18.3,135,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3861,0,0,0,0,0,0
$GC,1117,-0.84,-219.0,195.3,-18.5,147,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3861,0,0,0,0,0,0
$GC,1252,-0.84,-219.0,220.5,-17.9,160,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2795,3861,0,0,0,0,0,0
$GC,1379,-0.84,-219.0,242.7,-17.3,172,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2795,3861,0,0,0,0,0,0
$GC,1507,-0.84,-219.0,264.8,-17.4,184,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3862,0,0,0,0,0,0
$GC,1698,-0.84,-219.0,298.7,-17.8,202,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2795,3861,0,0,0,0,0,0
$GC,1889,-0.84,-219.0,332.2,-17.9,220,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2795,3861,0,0,0,0,0,0
$GC,2081,-0.84,-219.0,365.9,-17.5,238,2085,0.00,1.55,0.00,0.000,4,0.000,0.050,2500,3739,3861,0,0,0,0,0,0
$GC,2120,-0.84,-219.0,373.7,-19.1,241,2127,0.00,1.50,0.00,0.000,6,0.000,0.031,2501,2785,3861,0,0,0,0,0,0
$STATE,2188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2188,begin apogee
$GC,2194,-0.16,0.0,385.9,17.4,248,2377,0.75,0.00,176.70,0.979,4,0.122,0.000,2746,2686,2960,0,0,0,0,0,0
$STATE,2378,end apogee,CONTROL_FINISHED_OK
$STATE,2378,begin climb
$GC,2381,0.84,219.0,395.3,0.0,264,2589,0.98,2.40,194.60,0.923,4,0.073,0.032,3069,1302,2066,0,0,0,0,0,0
$GC,2726,0.90,270.2,369.0,11.2,295,2783,0.00,2.38,47.80,0.897,6,0.000,0.040,3069,2678,1857,0,0,0,0,0,0
$GC,2974,0.90,270.7,336.4,13.3,318,2978,0.00,2.28,0.00,0.000,4,0.000,0.034,3079,1315,1853,0,0,0,0,0,0
$GC,3122,0.91,273.7,317.4,13.2,330,3129,0.00,2.33,0.00,0.000,6,0.000,0.041,3080,2711,1851,0,0,0,0,0,0
$GC,3320,0.91,273.7,289.8,13.7,349,3324,0.00,1.67,0.00,0.000,4,0.000,0.048,3080,3761,1851,0,0,0,0,0,0
$GC,3366,0.91,273.7,282.7,16.4,353,3370,0.00,1.65,0.00,0.000,6,0.000,0.031,3087,2704,1850,0,0,0,0,0,0
$GC,3571,0.91,273.7,253.3,14.8,372,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2704,1850,0,0,0,0,0,0
$GC,3762,0.91,278.1,227.1,13.2,390,3772,0.00,0.00,7.10,0.789,6,0.000,0.000,3087,2704,1826,0,0,0,0,0,0
$GC,3899,0.91,278.1,207.7,14.4,403,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2704,1826,0,0,0,0,0,0
$GC,4026,0.91,278.1,190.1,14.0,415,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2703,1825,0,0,0,0,0,0
$GC,4154,0.91,278.1,172.5,14.0,427,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2703,1825,0,0,0,0,0,0
$GC,4284,0.91,278.1,154.7,13.7,439,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2704,1825,0,0,0,0,0,0
$GC,4419,0.91,278.1,135.3,14.6,452,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2704,1825,0,0,0,0,0,0
$GC,4546,0.91,278.1,117.0,14.4,464,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2704,1825,0,0,0,0,0,0
$GC,4675,0.91,278.1,98.3,14.0,477,4682,0.00,1.73,0.00,0.000,4,0.000,0.049,3087,3758,1824,0,0,0,0,0,0
$GC,4707,0.91,278.1,93.4,15.7,482,4714,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2717,1825,0,0,0,0,0,0
$GC,4848,0.91,278.1,72.9,14.5,507,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2717,1825,0,0,0,0,0,0
$GC,4989,0.91,278.1,53.4,13.8,532,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2716,1825,0,0,0,0,0,0
$GC,5128,0.91,278.1,32.6,14.7,557,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2716,1824,0,0,0,0,0,0
$GC,5270,0.91,278.1,12.5,13.7,582,5277,0.00,1.70,0.00,0.000,4,0.000,0.050,3095,3752,1824,0,0,0,0,0,0
$FREEZE,8.68,-0.077,-1.898,2,1,0
$FREEZE,7.66,-0.078,-1.897,2,1,0
$FREEZE,6.83,-0.077,-1.896,2,1,0
$FREEZE,6.00,-0.076,-1.896,2,1,0
$FREEZE,4.82,-0.075,-1.895,2,1,0
$FREEZE,4.07,-0.075,-1.894,2,1,0
$FREEZE,3.02,-0.080,-1.894,2,1,0
$GC,5329,0.91,278.1,3.0,16.9,592,5336,0.00,1.62,0.00,0.000,6,0.000,0.031,3104,2708,1824,0,0,1,0,0,0
$FREEZE,0.48,-0.084,-1.892,2,1,0
$STATE,5343,end climb,SURFACE_DEPTH_REACHED
$STATE,5343,begin surface coast
$FREEZE,0.02,-0.123,-1.892,2,1,0
$FREEZE,-0.03,-0.280,-0.958,2,1,0
$FREEZE,-0.00,-0.129,-1.887,2,1,0
$FINISH,-0.0,1.027621
$STATE,5360,end surface coast,CONTROL_FINISHED_OK
$STATE,5360,begin surface
$SM_CCo,5379,20.58,0.102,0,0,1655,320.11
$SM_GC,1.07,0.00,0.00,20.58,0.000,0.000,0.102,167,2804,1655,-8.23,0.68,320.11
$IRIDIUM_FIX,-7554.21,17626.58,100111,202012
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,351.1,55.7
$24V_AH,22.0,69.333
$10V_AH,9.8,26.835
$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,18.400,28.825,426.200,20.575,0.000,27.944,37.036,154.239,1.500,0.000,15.146,1447.765,2353.586,494.845,1245.178,217.727,0.000,1091.332,0.000,974.573,0.000,10.611,0.000
$DEVICE_MAMPS,208.845,83.385,979.200,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.603,759.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258252
$DATA_FILE_SIZE,40321,597
$CAP_FILE_SIZE,76114,0
$CFSIZE,260165632,221646848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.065,333.1,1
$GPS,100111,233536,-7631.380,17606.832,48,1.4,53,123.7