version: 66.08
glider: 503
mission: 7
dive: 701
start: 1 13 111 0 30 15
data:
$ID,503
$MISSION,7
$DIVE,701
$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,-20405.824
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,130111,002334,-7609.928,17514.736,21,3.3,41,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-67.3
$GPS2,130111,002944,-7609.935,17514.588,10,1.6,10,123.5
$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,203.5,11213,-15.8,-11.364
$D_GRID,414
$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,-219.0,0.0,0.0,0,110,0.00,0.00,-91.93,0.000,2,0.000,0.000,125,2776,3412,0,0,0,0,0,0
$GC,114,-0.76,-219.0,3.3,-6.2,15,141,9.45,2.25,-9.00,0.000,4,0.216,0.044,2549,1376,3854,0,0,0,0,0,0
$GC,375,-0.76,-219.0,49.9,-14.9,61,382,0.00,2.30,0.00,0.000,6,0.000,0.044,2539,2787,3858,0,0,0,0,0,0
$GC,519,-0.76,-219.0,71.9,-15.4,86,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2787,3858,0,0,0,0,0,0
$GC,663,-0.76,-219.0,93.7,-15.0,111,669,0.00,1.58,0.00,0.000,4,0.000,0.048,2532,3761,3858,0,0,0,0,0,0
$GC,705,-0.76,-219.0,100.5,-16.8,118,712,0.00,1.55,0.00,0.000,6,0.000,0.029,2531,2772,3859,0,0,0,0,0,0
$GC,840,-0.76,-219.0,122.1,-15.8,131,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2771,3859,0,0,0,0,0,0
$GC,967,-0.76,-219.0,142.0,-15.6,143,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2772,3859,0,0,0,0,0,0
$GC,1095,-0.76,-219.0,161.8,-15.5,155,1099,0.00,1.62,0.00,0.000,4,0.000,0.049,2524,3787,3859,0,0,0,0,0,0
$GC,1130,-0.76,-219.0,167.7,-16.8,158,1134,0.00,1.58,0.00,0.000,6,0.000,0.030,2524,2781,3859,0,0,0,0,0,0
$GC,1271,-0.76,-219.0,190.0,-15.7,171,1272,0.10,0.00,0.00,0.000,6,0.177,0.000,2551,2781,3858,0,0,0,0,0,0
$GC,1398,-0.76,-219.0,208.2,-14.6,183,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2780,3858,0,0,0,0,0,0
$GC,1524,-0.76,-219.0,226.4,-14.4,195,1528,0.00,1.60,0.00,0.000,4,0.000,0.050,2545,3756,3859,0,0,0,0,0,0
$GC,1585,-0.76,-219.0,235.9,-14.4,200,1592,0.00,1.52,0.00,0.000,6,0.000,0.029,2544,2776,3858,0,0,0,0,0,0
$GC,1720,-0.76,-219.0,254.9,-14.2,213,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2776,3858,0,0,0,0,0,0
$GC,1911,-0.76,-219.0,281.6,-14.3,231,1915,0.00,1.62,0.00,0.000,4,0.000,0.049,2536,3797,3858,0,0,0,0,0,0
$GC,1950,-0.76,-219.0,287.6,-14.8,234,1957,0.00,1.55,0.00,0.000,6,0.000,0.028,2536,2790,3858,0,0,0,0,0,0
$GC,2149,-0.76,-219.0,315.7,-14.2,253,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2789,3858,0,0,0,0,0,0
$GC,2339,-0.76,-219.0,342.8,-14.4,271,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2789,3858,0,0,0,0,0,0
$GC,2530,-0.76,-219.0,370.2,-14.5,289,2534,0.00,1.60,0.00,0.000,4,0.000,0.049,2529,3768,3858,0,0,0,0,0,0
$GC,2577,-0.76,-219.0,377.3,-15.2,293,2581,0.00,1.50,0.00,0.000,6,0.000,0.029,2529,2801,3858,0,0,0,0,0,0
$GC,2780,-0.76,-219.0,407.9,-14.9,312,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2801,3858,0,0,0,0,0,0
$STATE,2820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2820,begin apogee
$GC,2827,-0.16,0.0,414.3,15.3,316,3010,0.65,0.00,177.23,0.998,4,0.117,0.000,2746,2682,2959,0,0,0,0,0,0
$STATE,3010,end apogee,CONTROL_FINISHED_OK
$STATE,3010,begin climb
$GC,3014,0.76,219.0,424.1,0.0,332,3217,0.85,0.00,196.57,0.942,6,0.071,0.000,3039,2682,2067,0,0,0,0,0,0
$GC,3409,0.76,219.0,392.5,11.6,368,3412,0.00,1.83,0.00,0.000,4,0.000,0.047,3039,3763,2060,0,0,0,0,0,0
$GC,3503,0.76,219.0,380.3,12.6,376,3510,0.00,1.67,0.00,0.000,6,0.000,0.029,3046,2730,2057,0,0,1,0,0,0
$GC,3703,0.77,225.0,357.4,11.2,395,3711,0.00,0.00,5.03,0.719,6,0.000,0.000,3046,2730,2042,0,0,0,0,0,0
$GC,3904,0.77,225.4,334.8,11.3,414,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2730,2041,0,0,0,0,0,0
$GC,4094,0.78,234.3,313.4,11.1,432,4106,0.00,0.00,9.90,0.864,6,0.000,0.000,3046,2730,2004,0,0,0,0,0,0
$GC,4295,0.78,235.2,290.6,11.3,451,4299,0.00,1.67,0.00,0.000,4,0.000,0.049,3046,3772,2003,0,0,0,0,0,0
$GC,4342,0.78,235.2,284.8,12.9,455,4346,0.00,1.65,0.00,0.000,6,0.000,0.029,3054,2704,2003,0,0,0,0,0,0
$GC,4548,0.78,235.2,260.7,11.9,474,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2703,2003,0,0,0,0,0,0
$GC,4746,0.78,235.2,237.2,11.8,493,4750,0.00,1.75,0.00,0.000,4,0.000,0.050,3054,3766,2003,0,0,0,0,0,0
$GC,4826,0.78,235.2,226.8,13.2,500,4829,0.00,1.65,0.00,0.000,6,0.000,0.031,3061,2695,2002,0,0,0,0,0,0
$GC,4966,0.78,235.2,209.8,12.0,513,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2693,2002,0,0,0,0,0,0
$GC,5093,0.78,235.2,194.6,11.9,525,5097,0.00,1.73,0.00,0.000,4,0.000,0.049,3061,3773,2002,0,0,0,0,0,0
$GC,5165,0.78,235.2,184.4,14.3,531,5172,0.00,1.65,0.00,0.000,6,0.000,0.029,3069,2726,2002,0,0,0,0,0,0
$GC,5300,0.78,235.2,167.3,12.9,544,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2726,2002,0,0,0,0,0,0
$GC,5427,0.78,235.2,150.7,13.1,556,5431,0.00,1.65,0.00,0.000,4,0.000,0.047,3069,3766,2002,0,0,0,0,0,0
$GC,5477,0.78,235.2,143.6,14.4,560,5484,0.00,1.62,0.00,0.000,6,0.000,0.030,3077,2734,2002,0,0,0,0,0,0
$GC,5612,0.78,235.2,125.6,13.2,573,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,2002,0,0,0,0,0,0
$GC,5739,0.78,235.2,109.2,12.9,585,5743,0.00,1.65,0.00,0.000,4,0.000,0.049,3077,3767,2002,0,0,0,0,0,0
$GC,5788,0.78,235.2,102.1,14.6,589,5795,0.08,1.60,0.00,0.000,6,0.141,0.029,3056,2755,2001,0,0,0,0,0,0
$GC,5932,0.79,238.9,86.1,11.2,613,5939,0.00,0.00,5.62,0.716,6,0.000,0.000,3056,2755,1985,0,0,0,0,0,0
$GC,6076,0.81,256.2,70.4,10.8,638,6095,0.00,0.00,17.58,0.794,6,0.000,0.000,3056,2755,1915,0,0,0,0,0,0
$GC,6234,0.81,256.2,53.0,11.5,665,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2755,1914,0,0,0,0,0,0
$GC,6375,0.81,256.2,36.0,11.5,690,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2755,1913,0,0,0,0,0,0
$GC,6521,0.81,256.2,19.6,12.1,715,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2755,1913,0,0,0,0,0,0
$FREEZE,8.50,-0.123,-1.892,2,1,0
$FREEZE,7.88,-0.127,-1.892,2,1,0
$FREEZE,7.29,-0.122,-1.891,2,1,0
$FREEZE,6.71,-0.127,-1.891,2,1,0
$FREEZE,6.06,-0.125,-1.890,2,1,0
$FREEZE,5.26,-0.123,-1.890,2,1,0
$FREEZE,4.51,-0.125,-1.889,2,1,0
$FREEZE,3.89,-0.122,-1.889,2,1,0
$FREEZE,2.90,-0.120,-1.888,2,1,0
$STATE,6660,end climb,SURFACE_DEPTH_REACHED
$STATE,6660,begin surface coast
$FREEZE,2.23,-0.120,-1.887,2,1,0
$FREEZE,1.60,-0.122,-1.887,2,1,0
$FREEZE,1.07,-0.120,-1.886,2,1,0
$FREEZE,0.35,-0.118,-1.886,2,1,0
$FINISH,0.4,1.027593
$STATE,6684,end surface coast,CONTROL_FINISHED_OK
$STATE,6684,begin surface
$SM_CCo,6761,0.00,0.000,0,0,1908,258.05
$SM_GC,0.91,7.55,0.00,0.00,0.044,0.000,0.000,188,2755,1908,-8.08,-0.71,258.05
$IRIDIUM_FIX,-7528.04,17511.94,120111,222206
$TT8_MAMPS,0.027713
$HUMID,52.95
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.2
$24V_AH,21.8,72.880
$10V_AH,9.8,28.312
$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,18.675,40.525,411.925,0.000,0.000,29.984,37.907,162.282,1.250,0.000,13.147,1831.717,3078.893,473.888,1484.671,267.841,0.000,1184.856,0.000,1202.057,0.000,9.473,0.000
$DEVICE_MAMPS,215.730,69.615,997.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.085,926.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50328,744
$CAP_FILE_SIZE,92637,0
$CFSIZE,260165632,220262400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.100,171.9,1
$GPS,130111,022407,-7609.354,17512.027,26,1.3,32,123.5