version: 66.08
glider: 503
mission: 7
dive: 697
start: 1 12 111 17 0 47
data:
$ID,503
$MISSION,7
$DIVE,697
$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,-20400.699
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,120111,165107,-7613.024,17523.504,20,2.0,26,123.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-70.3
$GPS2,120111,170016,-7613.016,17523.354,12,2.1,31,123.5
$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,214.8,18127,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.76,-219.0,0.0,0.0,0,91,0.00,0.00,-72.78,0.000,2,0.000,0.000,124,2773,3418,0,0,0,0,0,0
$GC,94,-0.76,-219.0,3.5,-7.8,12,122,9.27,2.28,-8.80,0.000,4,0.208,0.044,2552,1376,3857,0,0,0,0,0,0
$GC,365,-0.76,-219.0,50.0,-13.1,59,372,0.00,2.28,0.00,0.000,6,0.000,0.042,2544,2777,3860,0,0,0,0,0,0
$GC,507,-0.76,-219.0,72.0,-15.5,84,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2777,3860,0,0,0,0,0,0
$GC,649,-0.76,-219.0,93.7,-19.3,109,657,0.00,1.60,0.00,0.000,4,0.000,0.048,2536,3766,3859,0,0,0,0,0,0
$GC,686,-0.76,-219.0,99.3,-16.7,115,693,0.00,1.55,0.00,0.000,6,0.000,0.028,2536,2773,3860,0,0,0,0,0,0
$GC,821,-0.76,-219.0,120.5,-15.9,128,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2773,3860,0,0,0,0,0,0
$GC,948,-0.76,-219.0,140.7,-16.0,140,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2773,3860,0,0,0,0,0,0
$GC,1078,-0.76,-219.0,161.1,-16.0,152,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2773,3861,0,0,0,0,0,0
$GC,1212,-0.76,-219.0,182.9,-15.7,165,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2773,3860,0,0,0,0,0,0
$GC,1339,-0.76,-219.0,203.1,-15.8,177,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2773,3860,0,0,0,0,0,0
$GC,1468,-0.76,-219.0,223.0,-15.6,189,1472,0.00,1.62,0.00,0.000,4,0.000,0.049,2528,3762,3860,0,0,0,0,0,0
$GC,1506,-0.76,-219.0,229.7,-16.6,192,1513,0.00,1.52,0.00,0.000,6,0.000,0.030,2528,2788,3860,0,0,0,0,0,0
$GC,1643,-0.76,-219.0,251.0,-16.0,205,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2788,3860,0,0,0,0,0,0
$GC,1842,-0.76,-219.0,282.8,-15.9,224,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2788,3860,0,0,0,0,0,0
$GC,2033,-0.76,-219.0,313.4,-16.2,242,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2788,3860,0,0,0,0,0,0
$GC,2224,-0.76,-219.0,343.0,-15.1,260,2228,0.00,1.60,0.00,0.000,4,0.000,0.048,2521,3767,3860,0,0,0,0,0,0
$GC,2263,-0.76,-219.0,349.7,-15.6,263,2272,0.08,1.52,0.00,0.000,6,0.132,0.029,2549,2782,3860,0,0,0,0,0,0
$STATE,2448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2448,begin apogee
$GC,2456,-0.16,0.0,375.0,13.5,281,2639,0.57,0.00,176.40,0.972,4,0.116,0.000,2745,2700,2960,0,0,0,0,0,0
$STATE,2639,end apogee,CONTROL_FINISHED_OK
$STATE,2640,begin climb
$GC,2642,0.76,219.0,384.3,0.0,297,2843,0.85,0.00,195.25,0.916,6,0.072,0.000,3041,2700,2067,0,0,0,0,0,0
$GC,3037,0.76,219.0,351.1,12.2,333,3041,0.00,1.83,0.00,0.000,4,0.000,0.048,3041,3768,2060,0,0,1,0,0,0
$GC,3116,0.76,219.0,340.9,13.8,340,3120,0.00,1.67,0.00,0.000,6,0.000,0.029,3048,2711,2058,0,0,1,0,0,0
$GC,3321,0.81,256.0,318.0,10.1,359,3361,0.00,0.00,33.47,0.893,6,0.000,0.000,3048,2710,1916,0,0,0,0,0,0
$GC,3553,0.81,256.0,290.8,11.6,381,3557,0.00,1.73,0.00,0.000,4,0.000,0.049,3049,3766,1914,0,0,0,0,0,0
$GC,3602,0.81,256.0,284.0,13.4,385,3609,0.00,1.70,0.00,0.000,6,0.000,0.030,3056,2707,1913,0,0,0,0,0,0
$GC,3803,0.81,256.0,261.2,11.8,404,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2707,1913,0,0,0,0,0,0
$GC,4001,0.81,256.0,237.4,11.9,423,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2707,1912,0,0,0,0,0,0
$GC,4129,0.81,256.0,222.3,12.2,435,4133,0.00,1.70,0.00,0.000,4,0.000,0.049,3055,3769,1912,0,0,0,0,0,0
$GC,4176,0.81,256.0,215.9,14.1,439,4180,0.00,1.65,0.00,0.000,6,0.000,0.031,3062,2698,1912,0,0,0,0,0,0
$GC,4316,0.81,256.0,198.5,12.4,452,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2697,1911,0,0,0,0,0,0
$GC,4444,0.81,256.0,182.9,12.4,464,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2697,1911,0,0,0,0,0,0
$GC,4572,0.81,256.0,167.4,12.2,476,4575,0.00,1.70,0.00,0.000,4,0.000,0.048,3062,3766,1911,0,0,0,0,0,0
$GC,4610,0.81,256.0,162.1,13.4,479,4617,0.00,1.65,0.00,0.000,6,0.000,0.030,3069,2719,1911,0,0,0,0,0,0
$GC,4745,0.81,256.0,145.9,12.2,492,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2719,1911,0,0,0,0,0,0
$GC,4873,0.81,256.0,130.2,12.3,504,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2719,1911,0,0,0,0,0,0
$GC,4999,0.81,256.0,114.3,12.4,516,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2719,1911,0,0,0,0,0,0
$GC,5127,0.81,256.0,98.8,12.1,528,5134,0.00,1.73,0.00,0.000,4,0.000,0.049,3070,3766,1910,0,0,0,0,0,0
$GC,5158,0.81,256.0,94.8,13.6,533,5164,0.00,1.65,0.00,0.000,6,0.000,0.031,3077,2721,1910,0,0,0,0,0,0
$GC,5300,0.81,256.0,76.9,12.3,558,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2721,1910,0,0,0,0,0,0
$GC,5443,0.81,256.0,58.6,12.1,583,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2721,1910,0,0,0,0,0,0
$GC,5586,0.81,256.0,40.0,12.7,608,5592,0.00,1.70,0.00,0.000,4,0.000,0.049,3077,3761,1910,0,0,0,0,0,0
$GC,5650,0.81,256.0,31.2,13.7,619,5657,0.00,1.60,0.00,0.000,6,0.000,0.031,3084,2739,1909,0,0,0,0,0,0
$GC,5793,0.81,256.0,11.9,13.2,644,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,1910,0,0,0,0,0,0
$FREEZE,8.66,-0.078,-1.892,2,1,0
$FREEZE,7.96,-0.078,-1.892,2,1,0
$FREEZE,6.96,-0.078,-1.891,2,1,0
$FREEZE,6.25,-0.078,-1.891,2,1,0
$FREEZE,5.29,-0.078,-1.890,2,1,0
$FREEZE,4.83,-0.078,-1.890,2,1,0
$FREEZE,4.11,-0.078,-1.889,2,1,0
$FREEZE,3.38,-0.081,-1.889,2,1,0
$FREEZE,2.57,-0.080,-1.888,2,1,0
$STATE,5853,end climb,SURFACE_DEPTH_REACHED
$STATE,5853,begin surface coast
$FREEZE,2.07,-0.081,-1.887,2,1,0
$FREEZE,1.40,-0.080,-1.887,2,1,0
$FREEZE,0.73,-0.083,-1.886,2,1,0
$FREEZE,0.04,-0.084,-1.886,2,1,0
$FINISH,0.0,1.027598
$STATE,5877,end surface coast,CONTROL_FINISHED_OK
$STATE,5877,begin surface
$SM_CCo,5956,0.00,0.000,0,0,1905,258.79
$SM_GC,0.73,7.62,0.00,0.00,0.046,0.000,0.000,159,2787,1905,-8.08,0.17,258.79
$IRIDIUM_FIX,-7528.04,17529.16,120111,161619
$TT8_MAMPS,0.026964
$HUMID,53.07
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,20.3
$24V_AH,21.9,72.358
$10V_AH,9.8,28.089
$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,18.400,34.425,405.125,0.000,0.000,58.112,94.853,167.489,1.250,0.000,34.819,1606.786,2752.960,464.874,1440.030,247.687,0.000,1094.881,0.000,1041.286,0.000,7.751,0.000
$DEVICE_MAMPS,208.080,118.575,971.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.686,843.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43580,659
$CAP_FILE_SIZE,82503,0
$CFSIZE,260165632,220475392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.055,222.9,1
$GPS,120111,184125,-7612.173,17521.025,43,1.8,44,123.5