version: 66.08
glider: 503
mission: 7
dive: 688
start: 1 12 111 0 21 41
data:
$ID,503
$MISSION,7
$DIVE,688
$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,-20389.197
$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,32
$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
$GPS1,120111,001420,-7619.350,17541.090,19,1.7,19,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-69.8
$GPS2,120111,002110,-7619.316,17540.822,14,3.8,33,123.5
$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,215.1,32150,-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,-72.25,0.000,2,0.000,0.000,126,2788,3339,0,0,0,0,0,0
$GC,94,-0.76,-219.0,3.0,-5.7,12,121,9.07,2.28,-10.95,0.000,4,0.200,0.041,2547,1362,3855,0,0,0,0,0,0
$GC,356,-0.76,-219.0,47.7,-13.3,58,364,0.00,2.30,0.00,0.000,6,0.000,0.042,2537,2777,3858,0,0,0,0,0,0
$GC,500,-0.76,-219.0,70.2,-16.6,83,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2776,3859,0,0,0,0,0,0
$GC,641,-0.76,-219.0,93.7,-17.6,108,647,0.00,1.60,0.00,0.000,4,0.000,0.049,2530,3763,3859,0,0,0,0,0,0
$GC,693,-0.76,-219.0,103.0,-17.1,115,699,0.00,1.55,0.00,0.000,6,0.000,0.028,2530,2775,3859,0,0,0,0,0,0
$GC,827,-0.76,-219.0,125.2,-16.7,128,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2775,3859,0,0,0,0,0,0
$GC,954,-0.76,-219.0,146.7,-16.8,140,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2775,3859,0,0,0,0,0,0
$GC,1082,-0.76,-219.0,168.1,-16.7,152,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2775,3859,0,0,0,0,0,0
$GC,1209,-0.76,-219.0,189.8,-17.3,164,1213,0.00,1.62,0.00,0.000,4,0.000,0.049,2522,3768,3859,0,0,0,0,0,0
$GC,1255,-0.76,-219.0,198.2,-18.3,168,1260,0.08,1.52,0.00,0.000,6,0.132,0.028,2549,2788,3859,0,0,0,0,0,0
$GC,1396,-0.76,-219.0,220.6,-15.9,181,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2788,3859,0,0,0,0,0,0
$GC,1523,-0.76,-219.0,240.0,-14.9,193,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2788,3859,0,0,0,0,0,0
$GC,1650,-0.76,-219.0,258.1,-14.1,205,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2788,3860,0,0,0,0,0,0
$GC,1843,-0.76,-219.0,283.5,-13.2,223,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2787,3859,0,0,0,0,0,0
$GC,2032,-0.76,-219.0,308.0,-12.9,241,2036,0.00,1.60,0.00,0.000,4,0.000,0.049,2542,3763,3859,0,0,0,0,0,0
$GC,2101,-0.76,-219.0,317.4,-13.6,247,2104,0.00,1.52,0.00,0.000,6,0.000,0.029,2542,2789,3859,0,0,0,0,0,0
$GC,2305,-0.76,-219.0,347.7,-15.1,266,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2790,3859,0,0,0,0,0,0
$STATE,2493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2493,begin apogee
$GC,2500,-0.16,0.0,375.6,14.3,284,2681,0.60,0.00,176.38,0.975,4,0.116,0.000,2744,2687,2959,0,0,0,0,0,0
$STATE,2682,end apogee,CONTROL_FINISHED_OK
$STATE,2682,begin climb
$GC,2685,0.76,219.0,385.3,0.0,300,2893,0.90,2.40,195.35,0.918,4,0.072,0.031,3041,1304,2067,0,0,0,0,0,0
$GC,2999,0.78,231.3,363.0,10.9,328,3017,0.00,2.45,12.10,0.833,6,0.000,0.040,3041,2702,2016,0,0,0,0,0,0
$GC,3209,0.78,231.3,337.7,12.0,348,3213,0.00,2.30,0.00,0.000,4,0.000,0.034,3050,1318,2013,0,0,0,0,0,0
$GC,3388,0.78,231.3,316.1,11.8,363,3395,0.00,2.28,0.00,0.000,6,0.000,0.040,3050,2703,2011,0,0,0,0,0,0
$GC,3588,0.78,231.3,290.2,13.7,382,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2703,2011,0,0,0,0,0,0
$GC,3778,0.79,240.5,266.9,11.0,400,3794,0.00,1.77,8.95,0.829,4,0.000,0.049,3050,3760,1979,0,0,0,0,0,0
$GC,3850,0.79,240.5,257.9,12.6,406,3858,0.00,1.67,0.00,0.000,6,0.000,0.030,3058,2709,1978,0,0,0,0,0,0
$GC,4048,0.81,261.1,236.6,10.6,425,4070,0.00,0.00,20.15,0.871,6,0.000,0.000,3058,2709,1895,0,0,0,0,0,0
$GC,4196,0.81,261.1,219.1,12.1,439,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2709,1894,0,0,0,0,0,0
$GC,4322,0.81,261.1,203.3,12.3,451,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2709,1893,0,0,0,0,0,0
$GC,4450,0.81,261.1,188.0,11.9,463,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2709,1893,0,0,0,0,0,0
$GC,4578,0.81,261.1,172.8,11.9,475,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2709,1893,0,0,0,0,0,0
$GC,4704,0.81,261.1,158.2,11.8,487,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2709,1892,0,0,0,0,0,0
$GC,4831,0.81,261.1,142.8,11.9,499,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2709,1892,0,0,0,0,0,0
$GC,4960,0.81,261.1,127.2,12.4,511,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2709,1892,0,0,0,0,0,0
$GC,5086,0.81,261.1,111.1,12.4,523,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2709,1892,0,0,0,0,0,0
$GC,5215,0.81,261.1,94.8,13.0,538,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2709,1892,0,0,0,0,0,0
$GC,5357,0.81,261.1,78.2,11.6,563,5364,0.00,1.73,0.00,0.000,4,0.000,0.049,3058,3754,1892,0,0,0,0,0,0
$GC,5393,0.81,261.1,73.5,13.6,569,5400,0.00,1.65,0.00,0.000,6,0.000,0.031,3065,2697,1892,0,0,1,0,0,0
$GC,5538,0.81,261.1,56.7,11.8,594,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2697,1891,0,0,0,0,0,0
$GC,5681,0.81,261.1,38.2,13.0,619,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2697,1891,0,0,0,0,0,0
$GC,5822,0.81,261.1,20.6,13.0,644,5830,0.00,1.75,0.00,0.000,4,0.000,0.048,3065,3763,1891,0,0,0,0,0,0
$GC,5861,0.82,268.2,15.9,11.1,650,5875,0.00,1.65,7.30,0.725,6,0.000,0.030,3073,2714,1866,0,0,0,0,0,0
$FREEZE,8.78,-0.297,-1.896,2,1,0
$FREEZE,8.30,-0.302,-1.895,2,1,0
$FREEZE,7.73,-0.295,-1.895,2,1,0
$FREEZE,7.31,-0.290,-1.894,2,1,0
$FREEZE,6.93,-0.291,-1.894,2,1,0
$FREEZE,6.70,-0.289,-1.894,2,1,0
$FREEZE,6.23,-0.289,-1.893,2,1,0
$FREEZE,5.30,-0.286,-1.893,2,1,0
$FREEZE,4.44,-0.287,-1.892,2,1,0
$FREEZE,3.92,-0.285,-1.892,2,1,0
$FREEZE,3.39,-0.287,-1.891,2,1,0
$FREEZE,2.81,-0.288,-1.891,2,1,0
$STATE,5974,end climb,SURFACE_DEPTH_REACHED
$STATE,5974,begin surface coast
$FREEZE,2.45,-0.286,-1.891,2,1,0
$FREEZE,2.00,-0.289,-1.890,2,1,0
$FREEZE,1.66,-0.287,-1.890,2,1,0
$FREEZE,1.32,-0.286,-1.890,2,1,0
$FREEZE,0.59,-0.283,-1.889,2,1,0
$FINISH,0.6,1.027646
$STATE,6002,end surface coast,CONTROL_FINISHED_OK
$STATE,6002,begin surface
$SM_CCo,6081,0.00,0.000,0,0,1863,268.84
$SM_GC,0.95,7.55,0.00,0.00,0.041,0.000,0.000,178,2790,1863,-8.09,0.28,268.84
$IRIDIUM_FIX,-7536.68,17536.08,110111,222204
$TT8_MAMPS,0.026964
$HUMID,52.55
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,20.2
$24V_AH,21.9,71.211
$10V_AH,9.8,27.609
$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,18.200,33.850,420.225,0.000,0.000,31.024,41.913,168.324,1.250,0.000,37.347,1655.656,2720.413,463.326,1411.336,247.211,0.000,1113.087,0.000,1091.522,0.000,7.756,0.000
$DEVICE_MAMPS,200.430,84.915,974.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.447,865.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258244
$DATA_FILE_SIZE,43640,675
$CAP_FILE_SIZE,83917,0
$CFSIZE,260165632,220921856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.115,256.5,1
$GPS,120111,020425,-7618.496,17538.129,43,0.9,44,123.5