version: 66.08
glider: 503
mission: 7
dive: 690
start: 1 12 111 3 58 37
data:
$ID,503
$MISSION,7
$DIVE,690
$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,-20391.713
$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,33
$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
$GPS1,120111,035114,-7617.861,17535.881,15,1.3,16,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.8
$GPS2,120111,035806,-7617.842,17535.768,13,1.0,29,123.5
$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,226.8,28626,-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,16,-0.76,-219.0,0.0,0.0,0,90,0.00,0.00,-72.22,0.000,2,0.000,0.000,156,2787,3401,0,0,0,0,0,0
$GC,94,-0.76,-219.0,3.7,-8.9,12,121,8.98,2.33,-9.30,0.000,4,0.200,0.045,2548,1367,3856,0,0,0,0,0,0
$GC,128,-0.76,-219.0,16.0,-32.7,17,135,0.00,2.30,0.00,0.000,6,0.000,0.043,2539,2773,3857,0,0,0,0,0,0
$GC,268,-0.76,-219.0,37.6,-14.2,42,276,0.00,2.22,0.00,0.000,4,0.000,0.031,2539,1372,3859,0,0,0,0,0,0
$GC,530,-0.76,-219.0,75.9,-14.6,88,537,0.00,2.30,0.00,0.000,6,0.000,0.044,2528,2785,3859,0,0,0,0,0,0
$GC,672,-0.76,-219.0,98.2,-16.2,113,680,0.00,2.22,0.00,0.000,4,0.000,0.031,2528,1370,3859,0,0,0,0,0,0
$GC,712,-0.76,-219.0,104.9,-15.2,117,720,0.12,2.28,0.00,0.000,6,0.151,0.043,2554,2780,3859,0,0,0,0,0,0
$GC,847,-0.76,-219.0,124.4,-14.8,130,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2780,3860,0,0,0,0,0,0
$GC,975,-0.76,-219.0,142.7,-14.2,142,978,0.00,1.60,0.00,0.000,4,0.000,0.050,2547,3754,3859,0,0,0,0,0,0
$GC,1013,-0.76,-219.0,148.8,-15.4,145,1020,0.00,1.52,0.00,0.000,6,0.000,0.030,2547,2773,3860,0,0,0,0,0,0
$GC,1148,-0.76,-219.0,168.4,-14.9,158,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2773,3860,0,0,0,0,0,0
$GC,1276,-0.76,-219.0,187.0,-14.6,170,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2773,3860,0,0,0,0,0,0
$GC,1403,-0.76,-219.0,205.0,-13.8,182,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2773,3860,0,0,0,0,0,0
$GC,1530,-0.76,-219.0,222.3,-13.7,194,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2773,3860,0,0,0,0,0,0
$GC,1658,-0.76,-219.0,239.6,-13.6,206,1661,0.00,1.62,0.00,0.000,4,0.000,0.049,2540,3791,3860,0,0,0,0,0,0
$GC,1708,-0.76,-219.0,247.2,-14.9,210,1716,0.00,1.58,0.00,0.000,6,0.000,0.028,2540,2778,3860,0,0,0,0,0,0
$GC,1843,-0.76,-219.0,266.7,-15.0,223,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2778,3860,0,0,0,0,0,0
$GC,2034,-0.76,-219.0,295.1,-14.4,241,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2778,3860,0,0,0,0,0,0
$GC,2225,-0.76,-219.0,320.6,-12.7,259,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2778,3860,0,0,0,0,0,0
$GC,2416,-0.76,-219.0,347.3,-14.4,277,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2779,3860,0,0,0,0,0,0
$STATE,2606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2606,begin apogee
$GC,2613,-0.16,0.0,375.6,15.0,295,2795,0.60,0.00,176.55,0.972,4,0.116,0.000,2742,2689,2959,0,0,0,0,0,0
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin climb
$GC,2799,0.76,219.0,385.7,0.0,311,3006,0.93,2.38,195.45,0.920,4,0.072,0.032,3047,1312,2067,0,0,0,0,0,0
$GC,3136,0.76,219.0,359.1,11.6,341,3143,0.00,2.40,0.00,0.000,6,0.000,0.040,3047,2700,2060,0,0,0,0,0,0
$GC,3334,0.76,219.0,335.6,11.8,360,3338,0.00,2.28,0.00,0.000,4,0.000,0.034,3057,1318,2057,0,0,0,0,0,0
$GC,3513,0.76,219.0,315.5,11.4,375,3520,0.00,2.28,0.00,0.000,6,0.000,0.041,3057,2710,2055,0,0,0,0,0,0
$GC,3712,0.76,219.0,291.2,12.0,394,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2710,2055,0,0,0,0,0,0
$GC,3902,0.77,222.0,269.4,11.3,412,3906,0.00,1.67,0.00,0.000,4,0.000,0.048,3058,3765,2054,0,0,0,0,0,0
$GC,3937,0.77,222.0,265.0,12.8,415,3940,0.00,1.65,0.00,0.000,6,0.000,0.031,3066,2695,2054,0,0,0,0,0,0
$GC,4141,0.77,222.0,240.4,12.8,434,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2695,2054,0,0,0,0,0,0
$GC,4268,0.77,222.0,224.4,12.4,446,4272,0.00,1.75,0.00,0.000,4,0.000,0.047,3066,3762,2053,0,0,0,0,0,0
$GC,4325,0.77,222.0,216.4,14.6,451,4328,0.00,1.65,0.00,0.000,6,0.000,0.030,3074,2688,2053,0,0,0,0,0,0
$GC,4465,0.77,222.0,198.0,12.9,464,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2687,2053,0,0,0,0,0,0
$GC,4592,0.77,222.0,182.4,12.2,476,4596,0.00,1.75,0.00,0.000,4,0.000,0.048,3073,3757,2053,0,0,0,0,0,0
$GC,4626,0.77,222.0,177.8,13.6,479,4630,0.10,1.65,0.00,0.000,6,0.135,0.031,3046,2714,2052,0,0,0,0,0,0
$GC,4766,0.78,232.1,162.2,11.0,492,4779,0.00,0.00,10.70,0.821,6,0.000,0.000,3046,2714,2013,0,0,0,0,0,0
$GC,4904,0.78,236.5,146.8,11.2,505,4913,0.00,0.00,5.85,0.728,6,0.000,0.000,3046,2715,1996,0,0,0,0,0,0
$GC,5041,0.80,250.9,131.6,10.9,518,5060,0.00,0.00,14.43,0.813,6,0.000,0.000,3046,2714,1937,0,0,0,0,0,0
$GC,5189,0.81,259.3,115.7,11.1,532,5203,0.00,1.75,9.32,0.772,4,0.000,0.050,3046,3759,1903,0,0,0,0,0,0
$GC,5233,0.81,259.3,110.6,11.9,536,5237,0.00,1.65,0.00,0.000,6,0.000,0.031,3052,2696,1903,0,0,0,0,0,0
$GC,5371,0.82,265.1,95.0,11.2,552,5385,0.00,2.25,7.10,0.736,4,0.000,0.033,3063,1296,1878,0,0,0,0,0,0
$GC,5405,0.82,266.1,91.2,11.3,557,5411,0.00,2.33,0.00,0.000,6,0.000,0.042,3063,2722,1878,0,0,0,0,0,0
$GC,5549,0.85,292.3,74.8,10.4,582,5581,0.00,1.70,25.85,0.787,4,0.000,0.047,3063,3765,1768,0,0,0,0,0,0
$GC,5617,0.85,292.3,66.2,13.5,593,5624,0.00,1.67,0.00,0.000,6,0.000,0.031,3070,2720,1767,0,0,0,0,0,0
$GC,5761,0.85,292.3,47.1,14.2,618,5768,0.00,2.28,0.00,0.000,4,0.000,0.034,3080,1298,1767,0,0,0,0,0,0
$GC,5787,0.85,292.3,43.6,13.0,622,5794,0.00,2.33,0.00,0.000,6,0.000,0.041,3080,2723,1767,0,0,0,0,0,0
$GC,5930,0.85,292.3,23.3,14.7,647,5937,0.00,1.70,0.00,0.000,4,0.000,0.050,3080,3764,1766,0,0,0,0,0,0
$GC,5990,0.85,292.3,13.3,16.8,657,5997,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2719,1766,0,0,0,0,0,0
$FREEZE,8.74,-0.217,-1.896,2,1,0
$FREEZE,7.79,-0.218,-1.896,2,1,0
$FREEZE,6.92,-0.216,-1.895,2,1,0
$FREEZE,6.06,-0.215,-1.894,2,1,0
$FREEZE,5.12,-0.215,-1.893,2,1,0
$FREEZE,4.12,-0.212,-1.893,2,1,0
$FREEZE,3.18,-0.213,-1.892,2,1,0
$FREEZE,2.48,-0.212,-1.891,2,1,0
$STATE,6049,end climb,SURFACE_DEPTH_REACHED
$STATE,6050,begin surface coast
$FREEZE,1.75,-0.210,-1.891,2,1,0
$FREEZE,1.26,-0.204,-1.890,2,1,0
$FREEZE,0.50,-0.209,-1.890,2,1,0
$FINISH,0.5,1.027651
$STATE,6068,end surface coast,CONTROL_FINISHED_OK
$STATE,6068,begin surface
$SM_CCo,6147,0.00,0.000,0,0,1762,293.62
$SM_GC,0.74,7.65,0.00,0.00,0.043,0.000,0.000,173,2786,1762,-8.08,0.17,293.62
$IRIDIUM_FIX,-7536.68,17449.98,120111,020239
$TT8_MAMPS,0.026964
$HUMID,53.22
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,19.4
$24V_AH,21.9,71.461
$10V_AH,9.8,27.714
$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,18.375,58.900,445.250,0.000,0.000,30.712,41.075,183.722,1.250,0.000,32.236,1648.403,2739.021,499.160,1424.355,255.602,0.000,1167.512,0.000,1099.183,0.000,7.758,0.000
$DEVICE_MAMPS,199.665,101.745,972.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.673,858.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,43650,671
$CAP_FILE_SIZE,89938,0
$CFSIZE,260165632,220823552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,218.3,1
$GPS,120111,054203,-7617.300,17534.160,20,1.5,21,123.5