version: 66.08
glider: 503
mission: 7
dive: 705
start: 1 13 111 8 58 3
data:
$ID,503
$MISSION,7
$DIVE,705
$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,-20410.852
$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,45
$R_STBD_OVSHOOT,35
$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
$GPS1,130111,085106,-7607.551,17507.416,47,1.1,48,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-70.8
$GPS2,130111,085732,-7607.573,17507.438,12,1.5,12,123.5
$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,203.3,5803,-15.8,-11.364
$D_GRID,459
$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,-219.0,0.0,0.0,0,97,0.00,0.00,-79.18,0.000,2,0.000,0.000,129,2790,3405,0,0,0,0,0,0
$GC,101,-0.76,-219.0,3.4,-7.0,13,128,9.48,2.28,-9.18,0.000,4,0.216,0.046,2550,1365,3856,0,0,1,0,0,0
$GC,370,-0.76,-219.0,50.3,-12.9,60,377,0.00,2.28,0.00,0.000,6,0.000,0.043,2540,2772,3860,0,0,0,0,0,0
$GC,513,-0.76,-219.0,71.1,-15.5,85,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2772,3859,0,0,0,0,0,0
$GC,654,-0.76,-219.0,93.3,-15.0,110,662,0.00,1.60,0.00,0.000,4,0.000,0.049,2531,3762,3860,0,0,0,0,0,0
$GC,716,-0.76,-219.0,102.9,-16.7,119,720,0.00,1.52,0.00,0.000,6,0.000,0.029,2532,2779,3859,0,0,0,0,0,0
$GC,856,-0.76,-219.0,125.1,-15.4,132,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2780,3861,0,0,0,0,0,0
$GC,983,-0.76,-219.0,144.5,-15.5,144,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2780,3861,0,0,0,0,0,0
$GC,1112,-0.76,-219.0,164.4,-15.8,156,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2780,3861,0,0,0,0,0,0
$GC,1238,-0.76,-219.0,184.2,-15.6,168,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2780,3861,0,0,0,0,0,0
$GC,1366,-0.76,-219.0,203.2,-14.9,180,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2780,3861,0,0,0,0,0,0
$GC,1494,-0.76,-219.0,222.3,-14.6,192,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2780,3861,0,0,0,0,0,0
$GC,1622,-0.76,-219.0,241.3,-14.4,204,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2780,3861,0,0,0,0,0,0
$GC,1748,-0.76,-219.0,259.9,-14.6,216,1751,0.00,1.60,0.00,0.000,4,0.000,0.050,2524,3756,3861,0,0,1,0,0,0
$GC,1784,-0.76,-219.0,265.3,-16.5,219,1787,0.00,1.50,0.00,0.000,6,0.000,0.030,2524,2796,3861,0,0,0,0,0,0
$GC,1987,-0.76,-219.0,296.6,-15.8,238,1989,0.10,0.00,0.00,0.000,6,0.175,0.000,2552,2794,3861,0,0,0,0,0,0
$GC,2178,-0.76,-219.0,322.8,-13.4,256,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2794,3861,0,0,0,0,0,0
$GC,2372,-0.76,-219.0,348.2,-13.5,274,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2794,3861,0,0,0,0,0,0
$GC,2570,-0.76,-219.0,374.3,-12.9,293,2574,0.00,1.58,0.00,0.000,4,0.000,0.049,2545,3760,3861,0,0,0,0,0,0
$GC,2616,-0.76,-219.0,380.4,-13.2,297,2620,0.00,1.52,0.00,0.000,6,0.000,0.030,2545,2778,3861,0,0,0,0,0,0
$GC,2820,-0.76,-219.0,408.2,-13.6,316,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2778,3860,0,0,0,0,0,0
$GC,3011,-0.76,-219.0,434.3,-13.5,334,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2777,3860,0,0,0,0,0,0
$STATE,3200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3200,begin apogee
$GC,3207,-0.16,0.0,460.1,13.3,352,3396,0.60,0.00,179.12,1.027,4,0.116,0.000,2746,2686,2959,0,0,0,0,0,0
$STATE,3397,end apogee,CONTROL_FINISHED_OK
$STATE,3397,begin climb
$GC,3400,0.76,219.0,469.5,0.0,369,3608,0.90,2.38,199.05,0.969,4,0.072,0.033,3042,1318,2067,0,0,0,0,0,0
$GC,3719,0.80,248.4,446.6,10.3,397,3752,0.00,2.38,28.23,0.927,6,0.000,0.041,3042,2699,1947,0,0,1,0,0,0
$GC,3945,0.80,248.4,420.8,11.6,418,3950,0.00,2.30,0.00,0.000,4,0.000,0.034,3052,1314,1945,0,0,0,0,0,0
$GC,4088,0.81,256.9,404.7,11.1,430,4102,0.00,2.30,8.90,0.858,6,0.000,0.042,3052,2705,1912,0,0,0,0,0,0
$GC,4294,0.81,256.9,378.9,12.6,449,4297,0.00,1.70,0.00,0.000,4,0.000,0.049,3052,3763,1911,0,0,0,0,0,0
$GC,4362,0.81,256.9,369.0,14.2,455,4366,0.00,1.65,0.00,0.000,6,0.000,0.031,3060,2730,1911,0,0,0,0,0,0
$GC,4567,0.81,256.9,341.7,13.1,474,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2730,1910,0,0,0,0,0,0
$GC,4758,0.81,256.9,316.7,12.8,492,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2730,1910,0,0,0,0,0,0
$GC,4948,0.81,256.9,292.2,12.5,510,4952,0.00,1.67,0.00,0.000,4,0.000,0.049,3060,3771,1910,0,0,0,0,0,0
$GC,4998,0.81,256.9,285.1,14.0,514,5006,0.00,1.67,0.00,0.000,6,0.000,0.031,3068,2711,1909,0,0,0,0,0,0
$GC,5197,0.81,256.9,259.3,13.4,533,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2711,1909,0,0,0,0,0,0
$GC,5388,0.81,256.9,234.3,13.1,551,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2711,1909,0,0,0,0,0,0
$GC,5516,0.81,256.9,218.0,12.5,563,5520,0.00,1.67,0.00,0.000,4,0.000,0.048,3068,3763,1909,0,0,0,0,0,0
$GC,5551,0.81,256.9,212.9,14.1,566,5555,0.00,1.65,0.00,0.000,6,0.000,0.031,3076,2694,1909,0,0,0,0,0,0
$GC,5692,0.81,256.9,193.7,13.7,579,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2692,1909,0,0,0,0,0,0
$GC,5820,0.81,256.9,176.7,13.2,591,5824,0.00,1.70,0.00,0.000,4,0.000,0.049,3076,3763,1909,0,0,0,0,0,0
$GC,5859,0.81,256.9,170.6,15.2,594,5867,0.00,1.62,0.00,0.000,6,0.000,0.031,3085,2733,1909,0,0,0,0,0,0
$GC,5994,0.81,256.9,152.5,13.5,607,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2733,1909,0,0,0,0,0,0
$GC,6122,0.81,256.9,136.0,13.0,619,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2733,1909,0,0,0,0,0,0
$GC,6248,0.81,256.9,119.4,13.3,631,6252,0.00,1.65,0.00,0.000,4,0.000,0.048,3084,3767,1908,0,0,0,0,0,0
$GC,6283,0.81,256.9,114.3,14.7,634,6287,0.12,1.62,0.00,0.000,6,0.168,0.030,3057,2736,1908,0,0,0,0,0,0
$GC,6419,0.81,256.9,98.7,11.5,647,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2736,1908,0,0,0,0,0,0
$GC,6562,0.84,286.3,83.1,10.3,672,6592,0.00,0.00,26.77,0.806,6,0.000,0.000,3056,2735,1793,0,0,0,0,0,0
$GC,6728,0.84,286.3,64.5,11.6,701,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,1793,0,0,0,0,0,0
$GC,6871,0.86,296.9,48.4,11.0,726,6885,0.00,0.00,11.30,0.760,6,0.000,0.000,3057,2736,1749,0,0,0,0,0,0
$GC,7022,0.86,301.2,31.8,11.2,752,7035,0.00,1.70,5.85,0.677,4,0.000,0.050,3056,3778,1732,0,0,1,0,0,0
$GC,7088,0.86,301.2,24.0,12.0,763,7095,0.00,1.65,0.00,0.000,6,0.000,0.031,3063,2745,1732,0,0,0,0,0,0
$FREEZE,8.70,-0.135,-1.895,2,1,0
$FREEZE,8.14,-0.128,-1.894,2,1,0
$FREEZE,7.28,-0.117,-1.894,2,1,0
$FREEZE,6.55,-0.117,-1.893,2,1,0
$GC,7232,0.86,301.2,6.6,12.0,788,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2745,1732,0,0,0,0,0,0
$FREEZE,4.61,-0.103,-1.892,2,1,0
$FREEZE,3.90,-0.105,-1.891,2,1,0
$FREEZE,3.28,-0.108,-1.891,2,1,0
$FREEZE,2.53,-0.115,-1.890,2,1,0
$STATE,7260,end climb,SURFACE_DEPTH_REACHED
$STATE,7260,begin surface coast
$FREEZE,1.71,-0.109,-1.890,2,1,0
$FREEZE,1.19,-0.112,-1.889,2,1,0
$FREEZE,0.61,-0.105,-1.889,2,1,0
$FREEZE,-0.08,-0.112,-1.888,2,1,0
$FINISH,-0.1,1.027634
$STATE,7283,end surface coast,CONTROL_FINISHED_OK
$STATE,7283,begin surface
$SM_CCo,7360,0.00,0.000,0,0,1729,301.71
$SM_GC,0.73,7.57,0.00,0.00,0.044,0.000,0.000,176,2745,1729,-8.07,-0.99,301.71
$IRIDIUM_FIX,-7519.49,17503.76,130111,060620
$TT8_MAMPS,0.026964
$HUMID,53.58
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.0
$24V_AH,21.7,73.415
$10V_AH,9.8,28.552
$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,18.775,43.275,459.225,0.000,0.000,28.644,37.922,176.179,1.500,0.000,14.955,1957.534,3431.543,498.149,1584.385,279.306,0.000,1253.862,0.000,1283.938,0.000,11.188,0.000
$DEVICE_MAMPS,216.495,100.980,1026.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.365,962.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,53754,797
$CAP_FILE_SIZE,98202,0
$CFSIZE,260165632,220033024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.088,132.9,1
$GPS,130111,110150,-7606.808,17505.967,28,1.8,29,123.5