version: 66.08
glider: 503
mission: 7
dive: 699
start: 1 12 111 20 48 12
data:
$ID,503
$MISSION,7
$DIVE,699
$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,-20403.307
$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,51
$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
$GPS1,120111,203238,-7611.360,17519.301,17,1.7,18,123.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.4
$GPS2,120111,204743,-7611.340,17519.154,9,1.4,9,123.5
$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,204.9,14514,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-219.0,0.0,0.0,0,86,0.00,0.00,-67.15,0.000,2,0.000,0.000,123,2755,3312,0,0,0,0,0,0
$GC,90,-0.76,-219.0,3.0,-5.9,11,117,9.30,2.28,-11.95,0.000,4,0.207,0.045,2550,1380,3856,0,0,0,0,0,0
$GC,363,-0.76,-219.0,47.4,-13.8,59,370,0.00,2.28,0.00,0.000,6,0.000,0.042,2540,2777,3860,0,0,0,0,0,0
$GC,506,-0.76,-219.0,69.2,-15.7,84,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2778,3859,0,0,0,0,0,0
$GC,647,-0.76,-219.0,92.0,-15.6,109,655,0.00,1.60,0.00,0.000,4,0.000,0.048,2533,3759,3859,0,0,0,0,0,0
$GC,695,-0.76,-219.0,100.0,-17.3,117,699,0.00,1.52,0.00,0.000,6,0.000,0.029,2533,2777,3860,0,0,0,0,0,0
$GC,836,-0.76,-219.0,123.2,-16.8,130,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2776,3860,0,0,0,0,0,0
$GC,963,-0.76,-219.0,143.2,-15.6,142,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2776,3860,0,0,0,0,0,0
$GC,1091,-0.76,-219.0,163.2,-15.7,154,1094,0.00,1.62,0.00,0.000,4,0.000,0.049,2525,3793,3860,0,0,0,0,0,0
$GC,1126,-0.76,-219.0,169.0,-16.2,157,1130,0.00,1.58,0.00,0.000,6,0.000,0.028,2525,2784,3860,0,0,0,0,0,0
$GC,1266,-0.76,-219.0,191.4,-16.1,170,1268,0.10,0.00,0.00,0.000,6,0.174,0.000,2553,2784,3861,0,0,0,0,0,0
$GC,1393,-0.76,-219.0,209.8,-14.3,182,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2784,3860,0,0,0,0,0,0
$GC,1522,-0.76,-219.0,227.8,-14.2,194,1525,0.00,1.60,0.00,0.000,4,0.000,0.049,2546,3758,3860,0,0,0,0,0,0
$GC,1578,-0.76,-219.0,236.4,-14.5,199,1582,0.00,1.50,0.00,0.000,6,0.000,0.029,2546,2798,3860,0,0,0,0,0,0
$GC,1718,-0.76,-219.0,257.0,-14.4,212,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2798,3861,0,0,0,0,0,0
$GC,1911,-0.76,-219.0,284.1,-13.3,230,1914,0.00,1.58,0.00,0.000,4,0.000,0.049,2539,3763,3860,0,0,0,0,0,0
$GC,1949,-0.76,-219.0,290.4,-15.5,233,1957,0.00,1.52,0.00,0.000,6,0.000,0.029,2539,2784,3860,0,0,0,0,0,0
$GC,2148,-0.76,-219.0,319.3,-14.2,252,2152,0.00,1.60,0.00,0.000,4,0.000,0.050,2531,3762,3860,0,0,0,0,0,0
$GC,2186,-0.76,-219.0,325.4,-15.1,255,2193,0.00,1.50,0.00,0.000,6,0.000,0.030,2532,2798,3860,0,0,0,0,0,0
$GC,2386,-0.76,-219.0,354.8,-15.1,274,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2798,3860,0,0,0,0,0,0
$STATE,2541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2541,begin apogee
$GC,2548,-0.16,0.0,378.7,15.0,289,2731,0.62,0.00,176.38,0.974,4,0.117,0.000,2742,2686,2961,0,0,0,0,0,0
$STATE,2732,end apogee,CONTROL_FINISHED_OK
$STATE,2732,begin climb
$GC,2735,0.76,219.0,387.9,0.0,305,2943,0.93,2.35,196.07,0.920,4,0.074,0.032,3047,1319,2066,0,0,0,0,0,0
$GC,3073,0.80,252.1,363.0,10.2,335,3114,0.00,2.38,31.02,0.887,6,0.000,0.040,3047,2708,1932,0,0,1,0,0,0
$GC,3304,0.80,252.1,336.2,11.4,357,3308,0.00,2.30,0.00,0.000,4,0.000,0.034,3057,1320,1928,0,0,0,0,0,0
$GC,3460,0.81,254.3,318.9,11.3,370,3464,0.00,2.25,0.00,0.000,6,0.000,0.041,3057,2706,1927,0,0,1,0,0,0
$GC,3659,0.81,254.3,294.2,12.5,388,3662,0.00,1.70,0.00,0.000,4,0.000,0.050,3057,3770,1926,0,0,0,0,0,0
$GC,3739,0.81,254.3,282.8,14.0,395,3743,0.00,1.65,0.00,0.000,6,0.000,0.030,3065,2702,1926,0,0,0,0,0,0
$GC,3944,0.81,254.3,256.1,13.0,414,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2702,1925,0,0,0,0,0,0
$GC,4134,0.81,254.3,232.1,12.9,432,4138,0.00,1.70,0.00,0.000,4,0.000,0.048,3065,3767,1925,0,0,0,0,0,0
$GC,4206,0.81,254.3,221.4,14.5,438,4214,0.00,1.62,0.00,0.000,6,0.000,0.028,3072,2724,1925,0,0,0,0,0,0
$GC,4342,0.81,254.3,203.9,13.0,451,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2724,1925,0,0,0,0,0,0
$GC,4468,0.81,254.3,187.0,13.3,463,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2724,1925,0,0,0,0,0,0
$GC,4596,0.81,254.3,170.1,13.3,475,4599,0.00,1.65,0.00,0.000,4,0.000,0.047,3072,3763,1924,0,0,0,0,0,0
$GC,4656,0.81,254.3,160.9,14.6,480,4663,0.00,1.62,0.00,0.000,6,0.000,0.030,3081,2728,1924,0,0,0,0,0,0
$GC,4791,0.81,254.3,142.9,13.3,493,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2728,1924,0,0,0,0,0,0
$GC,4918,0.81,254.3,125.6,13.5,505,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2728,1924,0,0,0,0,0,0
$GC,5046,0.81,254.3,108.7,13.1,517,5049,0.00,1.67,0.00,0.000,4,0.000,0.049,3080,3754,1924,0,0,0,0,0,0
$GC,5092,0.81,254.3,101.9,15.5,521,5096,0.00,1.60,0.00,0.000,6,0.000,0.031,3088,2738,1924,0,0,0,0,0,0
$GC,5231,0.81,254.3,83.0,13.5,544,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2736,1924,0,0,0,0,0,0
$GC,5373,0.81,254.3,64.1,13.7,569,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2736,1924,0,0,0,0,0,0
$GC,5513,0.81,254.3,45.5,12.5,594,5521,0.00,1.67,0.00,0.000,4,0.000,0.049,3088,3759,1924,0,0,0,0,0,0
$GC,5556,0.81,254.3,39.1,15.7,601,5564,0.10,1.60,0.00,0.000,6,0.148,0.031,3061,2745,1923,0,0,0,0,0,0
$GC,5704,0.81,254.3,21.9,12.3,626,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2745,1923,0,0,0,0,0,0
$FREEZE,8.62,-0.172,-1.892,2,1,0
$FREEZE,8.05,-0.169,-1.892,2,1,0
$FREEZE,7.36,-0.170,-1.891,2,1,0
$FREEZE,6.55,-0.170,-1.891,2,1,0
$FREEZE,5.87,-0.170,-1.890,2,1,0
$FREEZE,5.10,-0.171,-1.890,2,1,0
$FREEZE,4.11,-0.169,-1.889,2,1,0
$FREEZE,3.30,-0.169,-1.888,2,1,0
$GC,5845,0.81,254.3,3.3,13.7,651,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2745,1923,0,0,0,0,0,0
$FREEZE,1.37,-0.167,-1.887,2,1,0
$STATE,5857,end climb,SURFACE_DEPTH_REACHED
$STATE,5857,begin surface coast
$FREEZE,0.75,-0.167,-1.886,2,1,0
$FREEZE,0.24,-0.169,-1.886,2,1,0
$FREEZE,-0.15,-0.164,-1.885,2,1,0
$FREEZE,-0.18,-0.244,-0.149,2,1,0
$FINISH,-0.2,1.002028
$STATE,5880,end surface coast,FINISH_DEPTH_REACHED
$STATE,5880,begin surface
$SM_CCo,5957,0.00,0.000,0,0,1919,254.86
$SM_GC,1.08,7.55,0.00,0.00,0.044,0.000,0.000,181,2745,1919,-8.08,-0.96,254.86
$IRIDIUM_FIX,-7528.04,17520.90,120111,202054
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$24V_AH,21.9,72.619
$10V_AH,9.8,28.200
$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,18.600,46.050,403.475,0.000,0.000,77.995,118.199,376.391,1.000,0.000,11.882,1633.111,2733.477,453.108,1747.498,299.008,0.000,1114.517,0.000,1103.346,0.000,7.758,0.000
$DEVICE_MAMPS,206.550,81.090,973.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.827,841.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,43698,657
$CAP_FILE_SIZE,93394,0
$CFSIZE,260165632,220368896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.035,136.9,1
$GPS,120111,222900,-7610.594,17517.568,52,1.2,53,123.5