version: 66.08
glider: 503
mission: 7
dive: 698
start: 1 12 111 18 51 20
data:
$ID,503
$MISSION,7
$DIVE,698
$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,-20402.051
$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,31
$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
$GPS1,120111,184125,-7612.173,17521.025,43,1.8,44,123.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-67.9
$GPS2,120111,185049,-7612.154,17520.881,8,1.1,13,123.5
$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,210.9,16188,-15.8,-11.364
$D_GRID,378
$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,-219.0,0.0,0.0,0,94,0.00,0.00,-76.22,0.000,2,0.000,0.000,125,2788,3494,0,0,0,0,0,0
$GC,98,-0.76,-219.0,4.1,-10.5,13,120,9.32,2.30,-6.93,0.000,4,0.209,0.044,2552,1374,3856,0,0,1,0,0,0
$GC,360,-0.76,-219.0,50.9,-14.7,59,368,0.00,2.30,0.00,0.000,6,0.000,0.049,2543,2777,3860,0,0,0,0,0,0
$GC,503,-0.76,-219.0,72.1,-13.7,84,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2778,3859,0,0,0,0,0,0
$GC,646,-0.76,-219.0,94.4,-13.3,109,653,0.00,1.60,0.00,0.000,4,0.000,0.048,2535,3769,3860,0,0,0,0,0,0
$GC,686,-0.76,-219.0,101.3,-16.9,115,693,0.00,1.52,0.00,0.000,6,0.000,0.028,2535,2784,3860,0,0,0,0,0,0
$GC,821,-0.76,-219.0,122.1,-15.7,128,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2783,3860,0,0,0,0,0,0
$GC,948,-0.76,-219.0,141.7,-15.5,140,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2784,3860,0,0,0,0,0,0
$GC,1076,-0.76,-219.0,161.2,-15.1,152,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2783,3861,0,0,0,0,0,0
$GC,1203,-0.76,-219.0,181.0,-15.9,164,1207,0.00,1.62,0.00,0.000,4,0.000,0.049,2528,3771,3860,0,0,0,0,0,0
$GC,1242,-0.76,-219.0,187.6,-15.9,167,1250,0.00,1.52,0.00,0.000,6,0.000,0.028,2528,2792,3860,0,0,0,0,0,0
$GC,1378,-0.76,-219.0,208.5,-15.6,180,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2792,3861,0,0,0,0,0,0
$GC,1504,-0.76,-219.0,228.3,-16.1,192,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2792,3860,0,0,0,0,0,0
$GC,1633,-0.76,-219.0,248.6,-15.9,204,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2792,3861,0,0,0,0,0,0
$GC,1759,-0.76,-219.0,268.9,-15.7,216,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2792,3860,0,0,0,0,0,0
$GC,1948,-0.76,-219.0,298.2,-14.8,234,1952,0.00,1.60,0.00,0.000,4,0.000,0.050,2520,3766,3860,0,0,0,0,0,0
$GC,1998,-0.76,-219.0,306.4,-16.6,238,2005,0.08,1.52,0.00,0.000,6,0.134,0.029,2547,2785,3861,0,0,0,0,0,0
$GC,2197,-0.76,-219.0,334.3,-13.8,257,2201,0.00,1.60,0.00,0.000,4,0.000,0.050,2541,3760,3860,0,0,0,0,0,0
$GC,2220,-0.76,-219.0,337.8,-14.6,259,2224,0.00,1.50,0.00,0.000,6,0.000,0.030,2541,2804,3860,0,0,0,0,0,0
$GC,2424,-0.76,-219.0,367.1,-14.7,278,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2804,3860,0,0,0,0,0,0
$STATE,2506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2506,begin apogee
$GC,2512,-0.16,0.0,378.8,13.7,286,2696,0.60,0.00,176.82,0.975,4,0.116,0.000,2743,2684,2959,0,0,0,0,0,0
$STATE,2696,end apogee,CONTROL_FINISHED_OK
$STATE,2697,begin climb
$GC,2699,0.76,219.0,388.1,0.0,302,2909,0.93,2.38,195.68,0.920,4,0.073,0.032,3049,1312,2067,0,0,0,0,0,0
$GC,3034,0.79,245.4,364.2,10.4,332,3069,0.00,2.42,25.05,0.882,6,0.000,0.041,3049,2703,1959,0,0,0,0,0,0
$GC,3260,0.79,245.4,337.6,12.8,353,3264,0.00,2.30,0.00,0.000,4,0.000,0.033,3057,1315,1957,0,0,0,0,0,0
$GC,3427,0.80,248.7,318.3,11.2,367,3437,0.00,2.30,4.07,0.630,6,0.000,0.041,3057,2703,1945,0,0,0,0,0,0
$GC,3639,0.80,248.7,292.9,11.8,387,3642,0.00,1.70,0.00,0.000,4,0.000,0.049,3057,3767,1944,0,0,0,0,0,0
$GC,3700,0.80,248.7,283.8,14.3,392,3708,0.00,1.65,0.00,0.000,6,0.000,0.030,3064,2728,1944,0,0,0,0,0,0
$GC,3899,0.80,248.7,259.4,11.5,411,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2728,1943,0,0,0,0,0,0
$GC,4090,0.80,248.7,236.4,12.0,429,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2728,1941,0,0,0,0,0,0
$GC,4217,0.80,248.7,220.6,12.6,441,4221,0.00,1.65,0.00,0.000,4,0.000,0.048,3064,3763,1942,0,0,0,0,0,0
$GC,4251,0.80,248.7,215.6,14.4,444,4255,0.00,1.65,0.00,0.000,6,0.000,0.030,3071,2691,1941,0,0,0,0,0,0
$GC,4392,0.80,248.7,197.2,13.0,457,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2689,1942,0,0,0,0,0,0
$GC,4519,0.80,248.7,181.4,12.2,469,4523,0.00,1.75,0.00,0.000,4,0.000,0.049,3071,3759,1942,0,0,0,0,0,0
$GC,4577,0.80,248.7,173.5,14.2,474,4580,0.00,1.62,0.00,0.000,6,0.000,0.031,3078,2731,1941,0,0,0,0,0,0
$GC,4717,0.80,248.7,155.2,13.2,487,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2729,1941,0,0,0,0,0,0
$GC,4844,0.80,248.7,138.3,13.0,499,4848,0.00,1.67,0.00,0.000,4,0.000,0.049,3079,3754,1941,0,0,0,0,0,0
$GC,4883,0.80,248.7,132.7,14.6,502,4890,0.00,1.60,0.00,0.000,6,0.000,0.030,3085,2733,1941,0,0,0,0,0,0
$GC,5018,0.80,248.7,114.8,13.2,515,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2733,1941,0,0,0,0,0,0
$GC,5145,0.80,248.7,97.5,13.7,528,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2733,1940,0,0,0,0,0,0
$GC,5288,0.80,248.7,78.4,13.1,553,5295,0.00,1.67,0.00,0.000,4,0.000,0.049,3086,3758,1941,0,0,0,0,0,0
$GC,5336,0.80,248.7,71.3,14.7,561,5344,0.10,1.58,0.00,0.000,6,0.140,0.031,3058,2756,1941,0,0,0,0,0,0
$GC,5480,0.80,248.7,55.3,11.4,586,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2757,1941,0,0,0,0,0,0
$GC,5622,0.80,251.3,38.1,11.3,611,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2757,1940,0,0,0,0,0,0
$GC,5764,0.80,251.3,21.5,12.4,636,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2756,1940,0,0,0,0,0,0
$FREEZE,8.83,-0.006,-1.893,2,1,0
$FREEZE,8.12,-0.005,-1.893,2,1,0
$FREEZE,7.39,-0.001,-1.892,2,1,0
$FREEZE,6.64,0.000,-1.892,2,1,0
$FREEZE,5.97,-0.000,-1.891,2,1,0
$FREEZE,5.28,0.000,-1.891,2,1,0
$FREEZE,4.58,0.000,-1.890,2,1,0
$FREEZE,3.97,0.000,-1.890,2,1,0
$FREEZE,3.43,0.001,-1.889,2,1,0
$GC,5904,0.80,251.3,3.4,11.5,661,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2757,1940,0,0,0,0,0,0
$FREEZE,1.81,0.002,-1.888,2,1,0
$STATE,5916,end climb,SURFACE_DEPTH_REACHED
$STATE,5916,begin surface coast
$FREEZE,1.17,0.003,-1.887,2,1,0
$FREEZE,0.51,0.003,-1.887,2,1,0
$FREEZE,0.15,0.002,-1.887,2,1,0
$FREEZE,-0.38,-0.003,-1.815,2,1,0
$FREEZE,-0.04,-0.045,-1.888,2,1,0
$FINISH,-0.0,1.027627
$STATE,5943,end surface coast,CONTROL_FINISHED_OK
$STATE,5943,begin surface
$SM_CCo,6022,0.00,0.000,0,0,1936,250.69
$SM_GC,1.12,7.53,0.00,0.00,0.042,0.000,0.000,173,2756,1936,-8.10,-0.68,250.69
$IRIDIUM_FIX,-7528.04,17529.16,120111,181843
$TT8_MAMPS,0.026215
$HUMID,52.79
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.9
$24V_AH,21.9,72.482
$10V_AH,9.8,28.143
$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,18.550,43.175,401.625,0.000,0.000,69.769,114.021,172.730,1.250,0.000,16.351,1647.620,2706.144,463.928,1518.597,259.308,0.000,1127.172,0.000,1102.426,0.000,7.760,0.000
$DEVICE_MAMPS,208.845,69.615,974.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.217,855.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258200
$DATA_FILE_SIZE,43841,668
$CAP_FILE_SIZE,87155,0
$CFSIZE,260165632,220422144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.026,219.8,1
$GPS,120111,203238,-7611.360,17519.301,17,1.7,18,123.5