version: 66.08
glider: 503
mission: 7
dive: 687
start: 1 11 111 22 32 38
data:
$ID,503
$MISSION,7
$DIVE,687
$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,-20387.939
$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,44
$R_STBD_OVSHOOT,34
$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
$GPS1,110111,222555,-7620.284,17543.711,61,0.8,62,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.2
$GPS2,110111,223207,-7620.241,17543.547,9,1.3,14,123.5
$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,209.0,34248,-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,-219.0,0.0,0.0,0,91,0.00,0.00,-73.28,0.000,2,0.000,0.000,136,2790,3471,0,0,0,0,0,0
$GC,95,-0.76,-219.0,3.9,-8.7,12,116,9.12,1.62,-7.65,0.000,4,0.202,0.063,2545,3760,3856,0,0,0,0,0,0
$GC,369,-0.76,-219.0,56.3,-16.1,60,375,0.00,1.55,0.00,0.000,6,0.000,0.030,2546,2773,3861,0,0,0,0,0,0
$GC,511,-0.76,-219.0,78.3,-15.5,85,518,0.00,1.62,0.00,0.000,4,0.000,0.050,2538,3759,3860,0,0,0,0,0,0
$GC,575,-0.76,-219.0,88.9,-16.3,96,581,0.00,1.52,0.00,0.000,6,0.000,0.030,2537,2789,3860,0,0,0,0,0,0
$GC,720,-0.76,-219.0,112.3,-15.8,115,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2790,3860,0,0,0,0,0,0
$GC,846,-0.76,-219.0,132.0,-15.0,127,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2790,3861,0,0,0,0,0,0
$GC,973,-0.76,-219.0,150.8,-14.7,139,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2790,3861,0,0,0,0,0,0
$GC,1104,-0.76,-219.0,169.6,-15.2,151,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2790,3861,0,0,0,0,0,0
$GC,1238,-0.76,-219.0,189.9,-15.0,164,1242,0.00,1.58,0.00,0.000,4,0.000,0.049,2530,3752,3862,0,0,0,0,0,0
$GC,1288,-0.76,-219.0,198.2,-16.1,168,1295,0.00,1.50,0.00,0.000,6,0.000,0.028,2531,2788,3861,0,0,0,0,0,0
$GC,1423,-0.76,-219.0,218.7,-15.3,181,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2788,3861,0,0,0,0,0,0
$GC,1550,-0.76,-219.0,238.3,-15.6,193,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2788,3861,0,0,0,0,0,0
$GC,1678,-0.76,-219.0,258.0,-15.5,205,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2789,3861,0,0,0,0,0,0
$GC,1870,-0.76,-219.0,286.9,-14.7,223,1874,0.00,1.58,0.00,0.000,4,0.000,0.049,2524,3747,3861,0,0,0,0,0,0
$GC,1908,-0.76,-219.0,293.4,-16.0,226,1916,0.00,1.48,0.00,0.000,6,0.000,0.030,2524,2795,3861,0,0,0,0,0,0
$GC,2107,-0.76,-219.0,322.7,-15.0,245,2109,0.10,0.00,0.00,0.000,6,0.175,0.000,2552,2795,3861,0,0,0,0,0,0
$GC,2299,-0.76,-219.0,347.9,-13.7,263,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2795,3861,0,0,0,0,0,0
$GC,2489,-0.76,-219.0,373.6,-13.3,281,2493,0.00,1.58,0.00,0.000,4,0.000,0.049,2545,3760,3861,0,0,0,0,0,0
$STATE,2498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2499,begin apogee
$GC,2507,-0.16,0.0,375.3,13.2,282,2689,0.60,0.00,176.95,0.972,4,0.114,0.000,2747,2696,2961,0,0,0,0,0,0
$STATE,2690,end apogee,CONTROL_FINISHED_OK
$STATE,2690,begin climb
$GC,2693,0.76,219.0,383.9,0.0,298,2902,0.90,2.42,195.77,0.918,4,0.071,0.032,3045,1290,2067,0,0,0,0,0,0
$GC,3015,0.78,236.1,360.1,10.8,327,3040,0.00,2.42,16.73,0.861,6,0.000,0.040,3045,2692,1997,0,0,0,0,0,0
$GC,3231,0.78,236.1,335.0,12.1,347,3235,0.00,2.30,0.00,0.000,4,0.000,0.033,3054,1300,1994,0,0,0,0,0,0
$GC,3395,0.80,246.5,316.2,11.0,361,3411,0.00,2.33,10.40,0.839,6,0.000,0.041,3053,2712,1954,0,0,0,0,0,0
$GC,3607,0.80,246.5,290.9,11.9,380,3611,0.00,1.67,0.00,0.000,4,0.000,0.048,3054,3760,1954,0,0,0,0,0,0
$GC,3657,0.80,246.5,284.1,12.6,384,3665,0.00,1.67,0.00,0.000,6,0.000,0.031,3061,2709,1953,0,0,0,0,0,0
$GC,3855,0.80,246.5,260.9,11.7,403,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2709,1953,0,0,0,0,0,0
$GC,4048,0.80,246.5,238.3,12.0,421,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2709,1952,0,0,0,0,0,0
$GC,4174,0.80,246.5,222.9,12.2,433,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2709,1952,0,0,0,0,0,0
$GC,4302,0.80,246.5,206.7,13.2,445,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2708,1952,0,0,0,0,0,0
$GC,4429,0.80,246.5,189.9,13.2,457,4433,0.00,1.70,0.00,0.000,4,0.000,0.049,3061,3769,1951,0,0,0,0,0,0
$GC,4477,0.80,246.5,183.0,15.2,461,4480,0.00,1.65,0.00,0.000,6,0.000,0.030,3068,2695,1951,0,0,0,0,0,0
$GC,4617,0.80,246.5,163.1,13.7,474,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2694,1951,0,0,0,0,0,0
$GC,4744,0.80,246.5,146.4,12.8,486,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2694,1951,0,0,0,0,0,0
$GC,4872,0.80,246.5,131.1,11.8,498,4876,0.00,1.70,0.00,0.000,4,0.000,0.048,3068,3763,1950,0,0,0,0,0,0
$GC,4908,0.80,246.5,126.4,13.3,501,4912,0.00,1.65,0.00,0.000,6,0.000,0.031,3076,2689,1951,0,0,0,0,0,0
$GC,5048,0.80,252.7,110.0,11.1,514,5058,0.00,0.00,6.38,0.744,6,0.000,0.000,3076,2687,1929,0,0,0,0,0,0
$GC,5187,0.80,252.7,94.1,11.7,531,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2688,1928,0,0,0,0,0,0
$GC,5328,0.80,252.7,77.2,12.6,556,5335,0.00,1.75,0.00,0.000,4,0.000,0.049,3076,3773,1929,0,0,0,0,0,0
$GC,5366,0.80,252.7,72.3,13.4,562,5372,0.00,1.65,0.00,0.000,6,0.000,0.030,3083,2724,1928,0,0,0,0,0,0
$GC,5508,0.80,252.7,53.6,12.3,587,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2724,1928,0,0,0,0,0,0
$GC,5649,0.80,252.7,35.8,13.0,612,5657,0.00,1.70,0.00,0.000,4,0.000,0.047,3083,3764,1928,0,0,0,0,0,0
$GC,5698,0.80,252.7,28.1,14.9,620,5706,0.10,1.62,0.00,0.000,6,0.145,0.030,3056,2734,1928,0,0,0,0,0,0
$GC,5844,0.82,263.4,10.6,11.0,645,5857,0.00,0.00,10.98,0.754,6,0.000,0.000,3055,2733,1886,0,0,0,0,0,0
$FREEZE,8.56,-0.327,-1.896,2,1,0
$FREEZE,8.21,-0.323,-1.895,2,1,0
$FREEZE,7.84,-0.324,-1.895,2,1,0
$FREEZE,7.44,-0.325,-1.895,2,1,0
$FREEZE,6.97,-0.329,-1.894,2,1,0
$FREEZE,6.38,-0.327,-1.894,2,1,0
$FREEZE,5.85,-0.325,-1.893,2,1,0
$FREEZE,5.54,-0.325,-1.893,2,1,0
$FREEZE,5.08,-0.324,-1.893,2,1,0
$FREEZE,4.80,-0.326,-1.893,2,1,0
$FREEZE,4.31,-0.320,-1.892,2,1,0
$FREEZE,4.00,-0.325,-1.892,2,1,0
$FREEZE,3.25,-0.325,-1.892,2,1,0
$FREEZE,2.70,-0.321,-1.891,2,1,0
$STATE,5933,end climb,SURFACE_DEPTH_REACHED
$STATE,5933,begin surface coast
$FREEZE,2.34,-0.318,-1.890,2,1,0
$FREEZE,1.98,-0.319,-1.890,2,1,0
$FREEZE,1.61,-0.320,-1.890,2,1,0
$FREEZE,1.04,-0.323,-1.890,2,1,0
$FREEZE,0.25,-0.317,-1.889,2,1,0
$FREEZE,0.02,-0.341,-1.890,2,1,0
$FINISH,0.0,1.027669
$STATE,5965,end surface coast,CONTROL_FINISHED_OK
$STATE,5965,begin surface
$SM_CCo,6043,0.00,0.000,0,0,1882,264.18
$SM_GC,1.09,7.53,0.00,0.00,0.041,0.000,0.000,175,2788,1882,-8.09,0.20,264.18
$IRIDIUM_FIX,-7536.68,17553.56,110111,202013
$TT8_MAMPS,0.026964
$HUMID,53.03
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,21.9,71.088
$10V_AH,9.8,27.556
$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,18.350,42.025,417.200,0.000,0.000,31.200,36.825,161.061,1.000,0.000,17.577,1652.075,2685.152,463.787,1365.460,256.202,0.000,1114.660,0.000,1085.647,0.000,7.756,0.000
$DEVICE_MAMPS,201.960,113.985,971.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.895,855.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,43725,667
$CAP_FILE_SIZE,86261,0
$CFSIZE,260165632,220966912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,277.7,1
$GPS,120111,001420,-7619.350,17541.090,19,1.7,19,123.5