version: 66.08
glider: 503
mission: 7
dive: 683
start: 1 11 111 15 17 7
data:
$ID,503
$MISSION,7
$DIVE,683
$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,-20382.908
$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,28
$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
$GPS1,110111,150950,-7624.329,17553.020,17,1.6,18,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.2
$GPS2,110111,151636,-7624.300,17552.990,34,1.7,34,123.5
$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,202.0,42833,-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,12,begin dive
$GC,15,-0.76,-219.0,0.0,0.0,0,90,0.00,0.00,-72.00,0.000,2,0.000,0.000,125,2772,3457,0,0,0,0,0,0
$GC,94,-0.76,-219.0,4.0,-9.3,12,116,9.10,1.65,-7.82,0.000,4,0.199,0.064,2543,3766,3855,0,0,1,0,0,0
$GC,367,-0.76,-219.0,57.4,-15.4,60,374,0.00,1.55,0.00,0.000,6,0.000,0.029,2543,2776,3859,0,0,0,0,0,0
$GC,511,-0.76,-219.0,79.7,-15.0,85,517,0.00,1.62,0.00,0.000,4,0.000,0.049,2536,3763,3859,0,0,0,0,0,0
$GC,559,-0.76,-219.0,87.7,-15.9,93,566,0.00,1.52,0.00,0.000,6,0.000,0.030,2536,2795,3860,0,0,0,0,0,0
$GC,704,-0.76,-219.0,110.2,-15.4,113,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2796,3860,0,0,0,0,0,0
$GC,830,-0.76,-219.0,130.0,-15.8,125,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2796,3859,0,0,0,0,0,0
$GC,958,-0.76,-219.0,149.7,-15.3,137,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2796,3860,0,0,0,0,0,0
$GC,1086,-0.76,-219.0,169.1,-15.9,149,1090,0.00,1.58,0.00,0.000,4,0.000,0.049,2528,3751,3860,0,0,0,0,0,0
$GC,1135,-0.76,-219.0,177.4,-16.1,153,1143,0.00,1.50,0.00,0.000,6,0.000,0.028,2528,2787,3860,0,0,0,0,0,0
$GC,1270,-0.76,-219.0,198.6,-15.8,166,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2787,3860,0,0,0,0,0,0
$GC,1398,-0.76,-219.0,219.2,-16.4,178,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2787,3860,0,0,0,0,0,0
$GC,1525,-0.76,-219.0,239.9,-16.1,190,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2787,3860,0,0,0,0,0,0
$GC,1652,-0.76,-219.0,260.6,-16.1,202,1656,0.00,1.60,0.00,0.000,4,0.000,0.049,2521,3761,3860,0,0,0,0,0,0
$GC,1691,-0.76,-219.0,267.3,-17.6,205,1698,0.08,1.52,0.00,0.000,6,0.131,0.030,2550,2796,3860,0,0,0,0,0,0
$GC,1890,-0.76,-219.0,295.5,-14.1,224,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2796,3860,0,0,0,0,0,0
$GC,2079,-0.76,-219.0,322.9,-14.2,242,2083,0.00,1.58,0.00,0.000,4,0.000,0.050,2543,3755,3860,0,0,0,0,0,0
$GC,2139,-0.76,-219.0,331.4,-15.2,247,2142,0.00,1.50,0.00,0.000,6,0.000,0.030,2543,2796,3859,0,0,0,0,0,0
$GC,2342,-0.76,-219.0,361.3,-14.1,266,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2796,3860,0,0,0,0,0,0
$STATE,2446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2446,begin apogee
$GC,2453,-0.16,0.0,375.8,13.7,276,2635,0.60,0.00,176.55,0.975,4,0.115,0.000,2744,2682,2960,0,0,0,0,0,0
$STATE,2636,end apogee,CONTROL_FINISHED_OK
$STATE,2636,begin climb
$GC,2639,0.76,219.0,384.5,0.0,292,2844,0.90,2.35,195.40,0.917,4,0.072,0.032,3041,1318,2067,0,0,0,0,0,0
$GC,2946,0.80,246.2,363.4,10.4,319,2980,0.00,2.38,26.15,0.882,6,0.000,0.040,3041,2698,1955,0,0,1,0,0,0
$GC,3171,0.80,246.2,337.5,11.9,340,3175,0.00,2.30,0.00,0.000,4,0.000,0.034,3051,1321,1951,0,0,0,0,0,0
$GC,3325,0.80,250.0,320.4,11.2,353,3338,0.00,2.33,3.50,0.558,6,0.000,0.041,3051,2715,1942,0,0,0,0,0,0
$GC,3532,0.80,250.0,296.4,11.5,372,3535,0.00,1.67,0.00,0.000,4,0.000,0.048,3051,3761,1942,0,0,0,0,0,0
$GC,3581,0.80,250.0,289.4,13.5,376,3588,0.00,1.65,0.00,0.000,6,0.000,0.031,3058,2732,1941,0,0,0,0,0,0
$GC,3780,0.80,250.0,265.4,12.2,395,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2732,1940,0,0,0,0,0,0
$GC,3971,0.80,250.0,243.0,11.8,413,3975,0.00,1.65,0.00,0.000,4,0.000,0.048,3058,3763,1939,0,0,0,0,0,0
$GC,4005,0.80,250.0,238.5,13.1,416,4009,0.00,1.65,0.00,0.000,6,0.000,0.031,3065,2698,1939,0,0,0,0,0,0
$GC,4146,0.80,250.0,220.9,12.5,429,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2698,1940,0,0,0,0,0,0
$GC,4273,0.80,250.0,204.9,12.6,441,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2698,1939,0,0,0,0,0,0
$GC,4400,0.80,250.0,188.6,12.8,453,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2698,1939,0,0,0,0,0,0
$GC,4528,0.80,250.0,172.2,12.8,465,4532,0.00,1.75,0.00,0.000,4,0.000,0.048,3065,3762,1939,0,0,0,0,0,0
$GC,4566,0.80,250.0,166.7,14.5,468,4573,0.00,1.65,0.00,0.000,6,0.000,0.031,3072,2722,1939,0,0,0,0,0,0
$GC,4702,0.80,250.0,149.6,12.6,481,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2722,1939,0,0,0,0,0,0
$GC,4828,0.80,250.0,133.6,12.5,493,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2723,1938,0,0,0,0,0,0
$GC,4956,0.80,250.0,118.0,12.2,505,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2723,1939,0,0,0,0,0,0
$GC,5084,0.80,250.0,102.7,11.7,517,5087,0.00,1.67,0.00,0.000,4,0.000,0.048,3072,3769,1938,0,0,0,0,0,0
$GC,5141,0.80,250.0,95.0,14.5,525,5147,0.00,1.65,0.00,0.000,6,0.000,0.031,3080,2725,1938,0,0,0,0,0,0
$GC,5284,0.80,250.0,77.1,12.5,550,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2725,1938,0,0,0,0,0,0
$GC,5425,0.80,250.0,58.8,12.7,575,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2725,1938,0,0,0,0,0,0
$GC,5566,0.80,250.0,40.9,12.2,600,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2725,1938,0,0,0,0,0,0
$GC,5708,0.80,250.0,22.5,14.4,625,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2725,1937,0,0,0,0,0,0
$FREEZE,8.70,-0.212,-1.896,2,1,0
$FREEZE,8.25,-0.213,-1.895,2,1,0
$FREEZE,7.58,-0.213,-1.895,2,1,0
$FREEZE,7.01,-0.216,-1.894,2,1,0
$FREEZE,5.81,-0.217,-1.894,2,1,0
$FREEZE,4.65,-0.214,-1.892,2,1,0
$GC,5851,0.82,268.1,7.0,10.7,650,5875,0.00,1.67,17.20,0.761,4,0.000,0.045,3080,3766,1866,0,0,0,0,0,0
$FREEZE,2.19,-0.213,-1.891,2,1,0
$STATE,5881,end climb,SURFACE_DEPTH_REACHED
$STATE,5881,begin surface coast
$FREEZE,1.40,-0.211,-1.890,2,1,0
$FINISH,1.4,1.027648
$STATE,5888,end surface coast,CONTROL_FINISHED_OK
$STATE,5888,begin surface
$SM_CCo,5968,0.00,0.000,0,0,1864,268.35
$SM_GC,0.82,7.55,0.00,0.00,0.037,0.000,0.000,157,2776,1864,-8.08,-0.11,268.35
$IRIDIUM_FIX,-7545.40,17552.25,110111,131344
$TT8_MAMPS,0.027713
$HUMID,53.15
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,21.1
$24V_AH,21.9,70.584
$10V_AH,9.8,27.343
$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,18.225,41.675,418.800,0.000,0.000,24.522,38.106,179.930,1.250,0.000,37.028,1613.549,2669.693,458.992,1391.463,247.489,0.000,1104.257,0.000,1073.710,0.000,7.759,0.000
$DEVICE_MAMPS,198.900,80.325,975.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.427,836.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258268
$DATA_FILE_SIZE,43653,655
$CAP_FILE_SIZE,84769,0
$CFSIZE,260165632,221167616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.029,347.7,1
$GPS,110111,165752,-7623.386,17551.018,18,3.2,38,123.5