version: 66.08
glider: 503
mission: 7
dive: 680
start: 1 11 111 9 47 39
data:
$ID,503
$MISSION,7
$DIVE,680
$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,-20379.133
$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,40
$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
$GPS1,110111,094031,-7626.847,17557.965,45,1.7,46,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.3
$GPS2,110111,094708,-7626.822,17557.914,8,1.3,8,123.6
$SPEED_LIMITS,0.197,0.325
$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,201.6,47946,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-219.0,0.0,0.0,0,90,0.00,0.00,-71.90,0.000,2,0.000,0.000,143,2796,3448,0,0,0,0,0,0
$GC,94,-0.76,-219.0,3.6,-7.4,12,121,9.07,2.35,-8.20,0.000,4,0.201,0.047,2554,1369,3856,0,0,0,0,0,0
$GC,372,-0.76,-219.0,50.4,-14.2,61,379,0.00,2.28,0.00,0.000,6,0.000,0.041,2547,2769,3860,0,0,0,0,0,0
$GC,515,-0.76,-219.0,71.9,-15.7,86,523,0.00,2.22,0.00,0.000,4,0.000,0.031,2547,1367,3859,0,0,0,0,0,0
$GC,553,-0.76,-219.0,77.8,-14.7,92,560,0.00,2.30,0.00,0.000,6,0.000,0.044,2537,2780,3859,0,0,0,0,0,0
$GC,697,-0.76,-219.0,100.7,-16.3,117,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2781,3859,0,0,0,0,0,0
$GC,823,-0.76,-219.0,120.9,-15.6,129,827,0.00,1.58,0.00,0.000,4,0.000,0.050,2529,3759,3859,0,0,0,0,0,0
$GC,872,-0.76,-219.0,129.4,-16.6,133,879,0.00,1.52,0.00,0.000,6,0.000,0.030,2529,2780,3860,0,0,0,0,0,0
$GC,1008,-0.76,-219.0,151.1,-16.4,146,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2780,3860,0,0,0,0,0,0
$GC,1134,-0.76,-219.0,171.9,-16.4,158,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2780,3860,0,0,0,0,0,0
$GC,1262,-0.76,-219.0,193.1,-16.4,170,1266,0.00,1.60,0.00,0.000,4,0.000,0.050,2522,3755,3860,0,0,0,0,0,0
$GC,1312,-0.76,-219.0,201.7,-18.0,174,1320,0.08,1.50,0.00,0.000,6,0.135,0.030,2549,2796,3860,0,0,0,0,0,0
$GC,1447,-0.76,-219.0,221.7,-14.9,187,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2796,3860,0,0,0,0,0,0
$GC,1574,-0.76,-219.0,240.3,-14.5,199,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2796,3860,0,0,0,0,0,0
$GC,1702,-0.76,-219.0,259.0,-14.9,211,1706,0.00,1.58,0.00,0.000,4,0.000,0.049,2542,3762,3860,0,0,0,0,0,0
$GC,1741,-0.76,-219.0,265.5,-15.2,214,1749,0.00,1.52,0.00,0.000,6,0.000,0.030,2542,2781,3860,0,0,0,0,0,0
$GC,1941,-0.76,-219.0,295.1,-14.7,233,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2781,3860,0,0,0,0,0,0
$GC,2130,-0.76,-219.0,323.0,-14.6,251,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2781,3860,0,0,0,0,0,0
$GC,2322,-0.76,-219.0,350.2,-14.0,269,2326,0.00,1.60,0.00,0.000,4,0.000,0.050,2535,3759,3860,0,0,0,0,0,0
$GC,2379,-0.76,-219.0,358.8,-14.3,274,2383,0.00,1.50,0.00,0.000,6,0.000,0.031,2535,2800,3860,0,0,0,0,0,0
$STATE,2495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2496,begin apogee
$GC,2502,-0.16,0.0,376.1,14.3,285,2684,0.62,0.00,176.68,0.974,4,0.116,0.000,2744,2682,2959,0,0,0,0,0,0
$STATE,2684,end apogee,CONTROL_FINISHED_OK
$STATE,2685,begin climb
$GC,2687,0.76,219.0,384.7,0.0,301,2893,0.90,2.40,194.95,0.917,4,0.072,0.032,3041,1302,2067,0,0,0,0,0,0
$GC,3030,0.81,258.9,361.9,10.0,331,3076,0.00,2.42,37.53,0.891,6,0.000,0.041,3041,2704,1904,0,0,0,0,0,0
$GC,3265,0.82,269.1,335.5,11.0,353,3280,0.00,2.33,10.30,0.825,4,0.000,0.034,3050,1315,1862,0,0,1,0,0,0
$GC,3421,0.84,286.5,318.5,10.8,366,3443,0.00,2.33,17.25,0.874,6,0.000,0.042,3050,2706,1791,0,0,0,0,0,0
$GC,3636,0.84,286.5,293.8,11.6,386,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2706,1790,0,0,0,0,0,0
$GC,3827,0.84,286.5,271.1,12.3,404,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2706,1789,0,0,0,0,0,0
$GC,4019,0.84,286.5,248.9,11.5,422,4022,0.00,1.67,0.00,0.000,4,0.000,0.049,3050,3760,1789,0,0,0,0,0,0
$GC,4054,0.84,286.5,244.4,13.1,425,4058,0.00,1.65,0.00,0.000,6,0.000,0.031,3057,2693,1788,0,0,0,0,0,0
$GC,4194,0.84,286.5,227.2,12.0,438,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2692,1788,0,0,0,0,0,0
$GC,4322,0.84,286.5,211.5,12.3,450,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2692,1788,0,0,0,0,0,0
$GC,4449,0.84,286.5,196.2,12.1,462,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2692,1787,0,0,0,0,0,0
$GC,4576,0.84,286.5,180.9,11.8,474,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2693,1787,0,0,0,0,0,0
$GC,4704,0.84,286.5,165.6,12.0,486,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2692,1787,0,0,0,0,0,0
$GC,4831,0.84,286.5,150.5,11.8,498,4835,0.00,1.70,0.00,0.000,4,0.000,0.050,3058,3761,1787,0,0,0,0,0,0
$GC,4866,0.84,286.5,146.0,12.7,501,4870,0.00,1.65,0.00,0.000,6,0.000,0.031,3064,2689,1787,0,0,0,0,0,0
$GC,5007,0.84,286.5,128.9,11.9,514,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2688,1787,0,0,0,0,0,0
$GC,5133,0.84,286.5,113.5,12.4,526,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2688,1787,0,0,0,0,0,0
$GC,5262,0.84,286.5,97.6,12.5,539,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2688,1787,0,0,0,0,0,0
$GC,5404,0.84,286.5,80.2,11.9,564,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2688,1787,0,0,0,0,0,0
$GC,5545,0.84,286.5,63.0,11.7,589,5552,0.00,1.75,0.00,0.000,4,0.000,0.050,3064,3779,1786,0,0,0,0,0,0
$GC,5581,0.84,286.5,58.4,13.9,595,5588,0.00,1.70,0.00,0.000,6,0.000,0.031,3070,2701,1786,0,0,0,0,0,0
$GC,5725,0.84,286.5,40.3,13.1,620,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2701,1786,0,0,0,0,0,0
$GC,5865,0.84,286.5,21.7,11.8,645,5872,0.00,1.73,0.00,0.000,4,0.000,0.050,3070,3751,1786,0,0,0,0,0,0
$GC,5907,0.84,286.5,16.9,13.2,652,5914,0.00,1.65,0.00,0.000,6,0.000,0.030,3077,2705,1786,0,0,0,0,0,0
$FREEZE,8.70,-0.142,-1.895,2,1,0
$FREEZE,8.15,-0.146,-1.894,2,1,0
$FREEZE,7.43,-0.141,-1.894,2,1,0
$FREEZE,6.74,-0.141,-1.893,2,1,0
$FREEZE,6.19,-0.144,-1.893,2,1,0
$FREEZE,5.75,-0.146,-1.892,2,1,0
$FREEZE,5.07,-0.144,-1.892,2,1,0
$FREEZE,4.56,-0.143,-1.891,2,1,0
$FREEZE,4.16,-0.142,-1.891,2,1,0
$FREEZE,3.37,-0.141,-1.891,2,1,0
$FREEZE,2.85,-0.147,-1.890,2,1,0
$STATE,6023,end climb,SURFACE_DEPTH_REACHED
$STATE,6023,begin surface coast
$FREEZE,2.32,-0.148,-1.890,2,1,0
$FREEZE,1.70,-0.146,-1.889,2,1,0
$FREEZE,0.78,-0.144,-1.889,2,1,0
$FREEZE,0.12,-0.146,-1.888,2,1,0
$FREEZE,0.03,-0.171,-1.889,2,1,0
$FINISH,0.0,1.027641
$STATE,6051,end surface coast,CONTROL_FINISHED_OK
$STATE,6051,begin surface
$SM_CCo,6129,0.00,0.000,0,0,1782,288.71
$SM_GC,0.79,7.43,0.00,0.00,0.033,0.000,0.000,199,2804,1782,-8.07,0.68,288.71
$IRIDIUM_FIX,-7545.40,17601.40,110111,070709
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.9
$24V_AH,21.9,70.221
$10V_AH,9.8,27.185
$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,18.100,44.775,436.700,0.000,0.000,29.332,37.832,192.519,1.250,0.000,11.087,1673.150,2712.433,475.868,1422.152,249.431,0.000,1143.156,0.000,1110.564,0.000,7.757,0.000
$DEVICE_MAMPS,201.195,83.385,973.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.501,869.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43752,678
$CAP_FILE_SIZE,87432,0
$CFSIZE,260165632,221310976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.039,123.9,1
$GPS,110111,113044,-7626.069,17556.371,17,1.2,17,123.6