version: 66.08
glider: 503
mission: 7
dive: 702
start: 1 13 111 2 31 35
data:
$ID,503
$MISSION,7
$DIVE,702
$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,-20407.082
$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,52
$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
$GPS1,130111,022407,-7609.354,17512.027,26,1.3,32,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-71.7
$GPS2,130111,023104,-7609.379,17511.844,12,2.7,31,123.5
$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,210.8,9676,-15.8,-11.364
$D_GRID,433
$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,-219.0,0.0,0.0,0,90,0.00,0.00,-72.00,0.000,2,0.000,0.000,126,2754,3369,0,0,0,0,0,0
$GC,94,-0.76,-219.0,3.3,-6.6,12,121,9.48,2.20,-10.15,0.000,4,0.216,0.044,2549,1379,3854,0,0,0,0,0,0
$GC,372,-0.76,-219.0,50.7,-14.0,61,379,0.00,2.28,0.00,0.000,6,0.000,0.043,2539,2782,3857,0,0,0,0,0,0
$GC,515,-0.76,-219.0,72.6,-15.3,86,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2781,3858,0,0,0,0,0,0
$GC,657,-0.76,-219.0,94.2,-15.0,111,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2782,3858,0,0,0,0,0,0
$GC,795,-0.76,-219.0,115.4,-15.6,127,798,0.00,1.60,0.00,0.000,4,0.000,0.050,2532,3764,3858,0,0,0,0,0,0
$GC,845,-0.76,-219.0,124.3,-16.4,131,852,0.00,1.52,0.00,0.000,6,0.000,0.029,2532,2782,3858,0,0,0,0,0,0
$GC,979,-0.76,-219.0,146.3,-16.2,144,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2782,3858,0,0,0,0,0,0
$GC,1107,-0.76,-219.0,167.1,-16.4,156,1111,0.00,1.60,0.00,0.000,4,0.000,0.050,2524,3753,3858,0,0,0,0,0,0
$GC,1146,-0.76,-219.0,174.2,-17.0,159,1153,0.00,1.50,0.00,0.000,6,0.000,0.029,2524,2794,3858,0,0,0,0,0,0
$GC,1281,-0.76,-219.0,196.4,-17.0,172,1282,0.10,0.00,0.00,0.000,6,0.176,0.000,2551,2794,3858,0,0,0,0,0,0
$GC,1409,-0.76,-219.0,215.3,-14.2,184,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2794,3859,0,0,0,0,0,0
$GC,1535,-0.76,-219.0,233.3,-14.1,196,1539,0.00,1.60,0.00,0.000,4,0.000,0.049,2545,3768,3859,0,0,0,0,0,0
$GC,1585,-0.76,-219.0,240.7,-14.5,200,1592,0.00,1.52,0.00,0.000,6,0.000,0.029,2545,2782,3858,0,0,0,0,0,0
$GC,1720,-0.76,-219.0,259.5,-14.0,213,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2782,3858,0,0,0,0,0,0
$GC,1912,-0.76,-219.0,286.6,-14.2,231,1916,0.00,1.62,0.00,0.000,4,0.000,0.050,2537,3796,3858,0,0,0,0,0,0
$GC,1951,-0.76,-219.0,293.0,-15.2,234,1959,0.00,1.55,0.00,0.000,6,0.000,0.028,2537,2800,3858,0,0,0,0,0,0
$GC,2150,-0.76,-219.0,322.0,-14.4,253,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2800,3858,0,0,0,0,0,0
$GC,2341,-0.76,-219.0,349.6,-14.3,271,2346,0.00,1.58,0.00,0.000,4,0.000,0.050,2530,3757,3858,0,0,0,0,0,0
$GC,2380,-0.76,-219.0,355.5,-14.7,274,2388,0.00,1.50,0.00,0.000,6,0.000,0.029,2530,2803,3858,0,0,0,0,0,0
$GC,2578,-0.76,-219.0,384.1,-14.3,293,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2803,3858,0,0,0,0,0,0
$GC,2770,-0.76,-219.0,411.6,-14.4,311,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2803,3857,0,0,0,0,0,0
$STATE,2926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2926,begin apogee
$GC,2933,-0.16,0.0,434.3,14.1,326,3116,0.65,0.00,177.90,1.010,4,0.116,0.000,2747,2683,2960,0,0,0,0,0,0
$STATE,3117,end apogee,CONTROL_FINISHED_OK
$STATE,3117,begin climb
$GC,3120,0.76,219.0,442.6,0.0,342,3324,0.85,0.00,197.77,0.951,6,0.073,0.000,3038,2683,2067,0,0,0,0,0,0
$GC,3516,0.76,219.0,408.4,11.5,378,3520,0.00,1.85,0.00,0.000,4,0.000,0.047,3038,3767,2061,0,0,0,0,0,0
$GC,3585,0.76,219.0,399.4,13.2,384,3589,0.00,1.73,0.00,0.000,6,0.000,0.030,3045,2722,2059,0,0,1,0,0,0
$GC,3789,0.76,219.0,375.5,12.0,403,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2722,2057,0,0,0,0,0,0
$GC,3980,0.76,219.0,353.6,11.6,421,3984,0.00,1.70,0.00,0.000,4,0.000,0.049,3045,3770,2056,0,0,0,0,0,0
$GC,4027,0.76,219.0,347.8,13.3,425,4031,0.00,1.67,0.00,0.000,6,0.000,0.031,3053,2712,2056,0,0,1,0,0,0
$GC,4231,0.76,219.0,323.4,11.9,444,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2711,2056,0,0,0,0,0,0
$GC,4421,0.76,219.0,300.2,12.1,462,4425,0.00,1.70,0.00,0.000,4,0.000,0.050,3053,3766,2055,0,0,0,0,0,0
$GC,4479,0.76,219.0,292.6,13.9,467,4483,0.00,1.65,0.00,0.000,6,0.000,0.030,3061,2699,2055,0,0,0,0,0,0
$GC,4683,0.76,219.0,267.3,12.4,486,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2698,2055,0,0,0,0,0,0
$GC,4874,0.76,219.0,243.6,12.2,504,4878,0.00,1.70,0.00,0.000,4,0.000,0.048,3061,3763,2055,0,0,0,0,0,0
$GC,4943,0.76,219.0,234.2,14.8,510,4947,0.00,1.62,0.00,0.000,6,0.000,0.030,3070,2734,2054,0,0,0,0,0,0
$GC,5083,0.76,219.0,215.9,12.6,523,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2732,2054,0,0,0,0,0,0
$GC,5211,0.76,219.0,199.6,12.7,535,5214,0.00,1.65,0.00,0.000,4,0.000,0.049,3070,3767,2054,0,0,0,0,0,0
$GC,5257,0.76,219.0,193.2,14.8,539,5262,0.12,1.62,0.00,0.000,6,0.166,0.030,3042,2734,2054,0,0,0,0,0,0
$GC,5398,0.78,231.3,177.5,10.9,552,5409,0.00,0.00,9.75,0.826,6,0.000,0.000,3042,2734,2017,0,0,0,0,0,0
$GC,5535,0.78,236.3,162.5,11.2,565,5544,0.00,0.00,6.78,0.766,6,0.000,0.000,3042,2734,1995,0,0,0,0,0,0
$GC,5671,0.80,251.4,147.5,10.8,578,5695,0.00,1.70,15.45,0.825,4,0.000,0.051,3042,3757,1935,0,0,1,0,0,0
$GC,5745,0.80,251.4,138.4,12.9,584,5753,0.00,1.62,0.00,0.000,6,0.000,0.031,3047,2739,1935,0,0,0,0,0,0
$GC,5881,0.81,254.7,123.3,11.2,597,5890,0.00,0.00,5.03,0.681,6,0.000,0.000,3047,2738,1921,0,0,0,0,0,0
$GC,6017,0.81,256.7,107.7,11.3,610,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2739,1920,0,0,0,0,0,0
$GC,6147,0.82,264.0,93.6,11.1,627,6161,0.00,0.00,9.80,0.777,6,0.000,0.000,3048,2738,1883,0,0,0,0,0,0
$GC,6300,0.85,287.3,77.2,10.5,653,6326,0.00,1.73,22.50,0.790,4,0.000,0.050,3047,3763,1788,0,0,1,0,0,0
$GC,6374,0.85,287.3,68.2,12.7,665,6381,0.00,1.60,0.00,0.000,6,0.000,0.031,3052,2750,1788,0,0,1,0,0,0
$GC,6518,0.86,295.0,52.1,11.1,690,6532,0.00,2.40,8.32,0.728,4,0.000,0.035,3063,1293,1757,0,0,0,0,0,0
$GC,6563,0.87,307.4,47.1,10.9,697,6582,0.00,2.38,12.70,0.746,6,0.000,0.043,3063,2748,1706,0,0,0,0,0,0
$GC,6717,0.87,307.4,27.9,12.0,724,6725,0.00,1.65,0.00,0.000,4,0.000,0.050,3063,3748,1706,0,0,0,0,0,0
$GC,6772,0.87,307.4,20.5,14.3,733,6782,0.00,1.55,0.00,0.000,6,0.000,0.029,3064,2756,1706,0,0,1,0,0,0
$FREEZE,8.92,-0.085,-1.893,2,1,0
$FREEZE,8.32,-0.084,-1.892,2,1,0
$FREEZE,7.54,-0.083,-1.892,2,1,0
$FREEZE,7.12,-0.083,-1.891,2,1,0
$FREEZE,6.45,-0.082,-1.891,2,1,0
$FREEZE,5.61,-0.081,-1.890,2,1,0
$FREEZE,5.10,-0.081,-1.890,2,1,0
$FREEZE,4.42,-0.079,-1.889,2,1,0
$FREEZE,3.91,-0.081,-1.889,2,1,0
$FREEZE,3.44,-0.080,-1.888,2,1,0
$FREEZE,2.35,-0.080,-1.888,2,1,0
$GC,6918,0.89,326.2,3.4,10.7,758,6928,0.00,0.00,7.55,0.695,2,0.000,0.000,3064,2756,1658,0,0,0,0,0,0
$STATE,6928,end climb,SURFACE_DEPTH_REACHED
$STATE,6928,begin surface coast
$FREEZE,1.22,-0.079,-1.887,2,1,0
$FREEZE,0.82,-0.075,-1.886,2,1,0
$FREEZE,0.53,-0.075,-1.886,2,1,0
$FREEZE,0.25,-0.076,-1.886,2,1,0
$FREEZE,-0.07,-0.076,-1.886,2,1,0
$FINISH,-0.1,1.027596
$STATE,6957,end surface coast,CONTROL_FINISHED_OK
$STATE,6957,begin surface
$SM_CCo,7035,0.00,0.000,0,0,1658,319.62
$SM_GC,0.77,7.62,0.00,0.00,0.044,0.000,0.000,179,2755,1658,-8.09,-0.71,319.62
$IRIDIUM_FIX,-7528.04,17502.98,130111,000043
$TT8_MAMPS,0.026964
$HUMID,53.03
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.4
$24V_AH,21.8,73.018
$10V_AH,9.8,28.371
$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,18.825,51.725,473.550,0.000,0.000,31.249,53.851,170.553,1.250,0.000,35.126,1880.534,3221.857,514.864,1565.191,275.366,0.000,1254.157,0.000,1231.052,0.000,9.462,0.000
$DEVICE_MAMPS,215.730,69.615,1009.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.584,940.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50262,764
$CAP_FILE_SIZE,99084,0
$CFSIZE,260165632,220200960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.136,172.1,1
$GPS,130111,042949,-7608.823,17509.936,20,1.7,21,123.5