version: 66.08
glider: 503
mission: 7
dive: 700
start: 1 12 111 22 36 5
data:
$ID,503
$MISSION,7
$DIVE,700
$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,-20404.566
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,120111,222900,-7610.594,17517.568,52,1.2,53,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.3
$GPS2,120111,223534,-7610.584,17517.510,15,2.1,34,123.5
$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,198.8,12952,-15.8,-11.364
$D_GRID,395
$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,-72.18,0.000,2,0.000,0.000,129,2744,3381,0,0,0,0,0,0
$GC,94,-0.76,-219.0,3.2,-6.4,12,121,9.27,2.22,-9.95,0.000,4,0.207,0.044,2549,1363,3854,0,0,0,0,0,0
$GC,326,-0.76,-219.0,43.5,-14.6,53,334,0.00,2.33,0.00,0.000,6,0.000,0.044,2539,2785,3857,0,0,0,0,0,0
$GC,471,-0.76,-219.0,66.8,-16.9,78,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2786,3858,0,0,0,0,0,0
$GC,613,-0.76,-219.0,89.2,-15.7,103,620,0.00,1.58,0.00,0.000,4,0.000,0.047,2532,3761,3857,0,0,0,0,0,0
$GC,650,-0.76,-219.0,95.1,-16.7,109,657,0.00,1.55,0.00,0.000,6,0.000,0.029,2532,2772,3857,0,0,0,0,0,0
$GC,788,-0.76,-219.0,117.9,-16.4,124,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2772,3857,0,0,0,0,0,0
$GC,915,-0.76,-219.0,138.4,-16.2,136,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2772,3858,0,0,0,0,0,0
$GC,1043,-0.76,-219.0,158.3,-15.3,148,1047,0.00,1.62,0.00,0.000,4,0.000,0.049,2524,3788,3857,0,0,0,0,0,0
$GC,1081,-0.76,-219.0,164.8,-15.8,151,1088,0.00,1.58,0.00,0.000,6,0.000,0.029,2524,2779,3858,0,0,0,0,0,0
$GC,1216,-0.76,-219.0,186.0,-15.7,164,1218,0.10,0.00,0.00,0.000,6,0.174,0.000,2552,2779,3858,0,0,0,0,0,0
$GC,1343,-0.76,-219.0,203.8,-13.9,176,1347,0.00,1.62,0.00,0.000,4,0.000,0.050,2545,3766,3857,0,0,0,0,0,0
$GC,1390,-0.76,-219.0,210.7,-14.3,180,1393,0.00,1.52,0.00,0.000,6,0.000,0.029,2545,2794,3857,0,0,0,0,0,0
$GC,1530,-0.76,-219.0,230.6,-14.5,193,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2793,3858,0,0,0,0,0,0
$GC,1658,-0.76,-219.0,248.8,-14.3,205,1661,0.00,1.60,0.00,0.000,4,0.000,0.049,2537,3769,3857,0,0,0,0,0,0
$GC,1707,-0.76,-219.0,256.9,-15.3,209,1715,0.00,1.52,0.00,0.000,6,0.000,0.028,2537,2793,3857,0,0,0,0,0,0
$GC,1906,-0.76,-219.0,285.6,-14.4,228,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2793,3858,0,0,0,0,0,0
$GC,2099,-0.76,-219.0,312.7,-14.3,246,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2793,3857,0,0,0,0,0,0
$GC,2297,-0.76,-219.0,341.2,-14.1,265,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2793,3857,0,0,0,0,0,0
$GC,2489,-0.76,-219.0,368.0,-13.4,283,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2793,3856,0,0,0,0,0,0
$GC,2681,-0.76,-219.0,394.6,-13.7,301,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2793,3857,0,0,0,0,0,0
$STATE,2688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2688,begin apogee
$GC,2694,-0.16,0.0,396.0,13.8,302,2877,0.62,0.00,177.25,0.982,4,0.116,0.000,2747,2686,2960,0,0,0,0,0,0
$STATE,2877,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin climb
$GC,2880,0.76,219.0,404.8,0.0,318,3084,0.85,0.00,196.62,0.929,6,0.072,0.000,3039,2686,2067,0,0,0,0,0,0
$GC,3276,0.77,221.9,371.8,11.3,354,3279,0.00,1.85,0.00,0.000,4,0.000,0.047,3038,3767,2060,0,0,0,0,0,0
$GC,3412,0.77,221.9,354.2,13.1,366,3416,0.00,1.62,0.00,0.000,6,0.000,0.030,3046,2729,2058,0,0,1,0,0,0
$GC,3618,0.78,229.8,330.9,11.1,385,3629,0.00,0.00,9.38,0.843,6,0.000,0.000,3046,2729,2023,0,0,0,0,0,0
$GC,3818,0.78,231.3,308.4,11.3,404,3822,0.00,1.67,0.00,0.000,4,0.000,0.049,3046,3764,2022,0,0,0,0,0,0
$GC,3897,0.78,231.3,298.3,12.5,411,3901,0.00,1.62,0.00,0.000,6,0.000,0.031,3053,2704,2021,0,0,1,0,0,0
$GC,4102,0.78,231.3,274.5,11.5,430,4106,0.00,1.70,0.00,0.000,4,0.000,0.049,3053,3766,2021,0,0,0,0,0,0
$GC,4159,0.78,231.3,266.9,14.1,435,4163,0.00,1.62,0.00,0.000,6,0.000,0.030,3060,2738,2021,0,0,0,0,0,0
$GC,4364,0.78,231.3,242.3,11.8,454,4368,0.00,1.67,0.00,0.000,4,0.000,0.049,3061,3755,2021,0,0,0,0,0,0
$GC,4421,0.78,231.3,234.7,13.3,459,4425,0.00,1.58,0.00,0.000,6,0.000,0.031,3068,2756,2020,0,0,0,0,0,0
$GC,4561,0.78,231.3,217.6,12.1,472,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2756,2020,0,0,0,0,0,0
$GC,4689,0.78,231.3,202.6,11.9,484,4692,0.00,1.65,0.00,0.000,4,0.000,0.049,3068,3763,2020,0,0,0,0,0,0
$GC,4735,0.78,231.3,196.7,12.9,488,4739,0.00,1.60,0.00,0.000,6,0.000,0.031,3075,2750,2020,0,0,0,0,0,0
$GC,4875,0.78,231.3,179.3,12.4,501,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2750,2020,0,0,0,0,0,0
$GC,5003,0.78,231.3,163.0,12.7,513,5006,0.00,1.62,0.00,0.000,4,0.000,0.049,3075,3772,2020,0,0,0,0,0,0
$GC,5072,0.78,231.3,153.0,14.7,519,5076,0.08,1.58,0.00,0.000,6,0.138,0.030,3047,2768,2019,0,0,0,0,0,0
$GC,5212,0.81,257.4,137.6,10.4,532,5242,0.00,0.00,26.58,0.838,6,0.000,0.000,3047,2768,1910,0,0,0,0,0,0
$GC,5370,0.82,265.8,120.3,11.1,547,5381,0.00,0.00,8.88,0.769,6,0.000,0.000,3046,2768,1876,0,0,0,0,0,0
$GC,5507,0.83,276.7,105.0,11.0,560,5526,0.00,0.00,11.82,0.783,6,0.000,0.000,3047,2768,1831,0,0,0,0,0,0
$GC,5657,0.87,304.0,88.6,10.4,583,5688,0.00,0.00,25.42,0.789,6,0.000,0.000,3047,2768,1720,0,0,0,0,0,0
$GC,5825,0.91,337.8,71.1,10.2,612,5864,0.12,0.00,30.17,0.771,6,0.087,0.000,3109,2767,1581,0,0,0,0,0,0
$GC,6000,0.91,337.8,45.1,15.3,642,6007,0.00,1.65,0.00,0.000,4,0.000,0.049,3109,3760,1582,0,0,0,0,0,0
$GC,6036,0.91,337.8,38.8,17.6,648,6044,0.05,1.58,0.00,0.000,6,0.145,0.031,3097,2778,1581,0,0,0,0,0,0
$GC,6182,0.91,337.8,16.9,14.6,673,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2778,1581,0,0,0,0,0,0
$FREEZE,8.32,-0.154,-1.892,2,1,0
$FREEZE,7.51,-0.152,-1.891,2,1,0
$FREEZE,6.61,-0.146,-1.891,2,1,0
$FREEZE,5.81,-0.148,-1.890,2,1,0
$FREEZE,4.82,-0.147,-1.889,2,1,0
$FREEZE,4.02,-0.144,-1.889,2,1,0
$FREEZE,3.34,-0.144,-1.888,2,1,0
$FREEZE,2.34,-0.143,-1.887,2,1,0
$STATE,6273,end climb,SURFACE_DEPTH_REACHED
$STATE,6273,begin surface coast
$FREEZE,1.40,-0.141,-1.887,2,1,0
$FREEZE,0.57,-0.143,-1.886,2,1,0
$FREEZE,-0.17,-0.182,-1.188,2,1,0
$FINISH,-0.2,1.017556
$STATE,6292,end surface coast,CONTROL_FINISHED_OK
$STATE,6292,begin surface
$SM_CCo,6369,0.00,0.000,0,0,1579,339.00
$SM_GC,0.63,7.60,0.00,0.00,0.039,0.000,0.000,173,2778,1579,-8.07,-0.06,339.00
$IRIDIUM_FIX,-7528.04,17529.16,120111,202048
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,21.8,72.757
$10V_AH,9.8,28.255
$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,18.700,40.275,486.125,0.000,0.000,26.206,37.859,164.249,1.000,0.000,37.701,1693.097,2867.215,515.994,1431.322,261.063,0.000,1200.672,0.000,1129.943,0.000,9.443,0.000
$DEVICE_MAMPS,206.550,81.090,982.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.623,869.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,47050,692
$CAP_FILE_SIZE,89638,0
$CFSIZE,260165632,220319744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.055,159.0,1
$GPS,130111,002334,-7609.928,17514.736,21,3.3,41,123.5