version: 66.08
glider: 503
mission: 7
dive: 707
start: 1 13 111 13 12 25
data:
$ID,503
$MISSION,7
$DIVE,707
$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,-20413.367
$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,50
$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
$GPS1,130111,130525,-7605.994,17504.156,37,2.0,43,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-70.3
$GPS2,130111,131154,-7605.993,17504.137,32,1.5,36,123.5
$SPEED_LIMITS,0.197,0.325
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$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,322.4,51641,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.76,-219.0,0.0,0.0,0,93,0.00,0.00,-75.18,0.000,2,0.000,0.000,131,2778,3475,0,0,0,0,0,0
$GC,97,-0.76,-219.0,3.6,-8.7,13,119,9.48,1.67,-7.40,0.000,4,0.214,0.073,2539,3773,3856,0,0,1,0,0,0
$GC,237,-0.76,-219.0,36.4,-16.6,37,244,0.00,1.58,0.00,0.000,6,0.000,0.030,2539,2777,3860,0,0,0,0,0,0
$GC,379,-0.76,-219.0,59.3,-16.6,62,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2777,3860,0,0,0,0,0,0
$GC,519,-0.76,-219.0,82.0,-15.6,87,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2777,3860,0,0,0,0,0,0
$GC,660,-0.76,-219.0,104.4,-16.1,110,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2777,3860,0,0,0,0,0,0
$GC,787,-0.76,-219.0,125.3,-15.9,122,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2777,3861,0,0,0,0,0,0
$GC,915,-0.76,-219.0,145.1,-15.3,134,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2777,3861,0,0,0,0,0,0
$GC,1042,-0.76,-219.0,164.8,-16.1,146,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2777,3861,0,0,0,0,0,0
$GC,1170,-0.76,-219.0,184.4,-15.5,158,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2777,3861,0,0,0,0,0,0
$GC,1297,-0.76,-219.0,204.2,-16.0,170,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2777,3861,0,0,0,0,0,0
$GC,1425,-0.76,-219.0,223.4,-15.3,182,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2777,3861,0,0,0,0,0,0
$GC,1553,-0.76,-219.0,242.6,-15.1,194,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2777,3861,0,0,0,0,0,0
$GC,1679,-0.76,-219.0,262.0,-15.2,206,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2777,3861,0,0,0,0,0,0
$GC,1871,-0.76,-219.0,291.3,-14.9,224,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2777,3861,0,0,0,0,0,0
$GC,2063,-0.76,-219.0,318.6,-14.1,242,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2777,3861,0,0,0,0,0,0
$GC,2253,-0.76,-219.0,346.0,-14.1,260,2257,0.00,1.62,0.00,0.000,4,0.000,0.048,2531,3791,3861,0,0,0,0,0,0
$GC,2288,-0.76,-219.0,351.2,-15.5,263,2292,0.00,1.58,0.00,0.000,6,0.000,0.028,2531,2779,3861,0,0,0,0,0,0
$GC,2493,-0.76,-219.0,382.1,-15.2,282,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2780,3861,0,0,0,0,0,0
$GC,2685,-0.76,-219.0,411.7,-15.5,300,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2780,3861,0,0,0,0,0,0
$GC,2875,-0.76,-219.0,440.7,-14.8,318,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2780,3861,0,0,0,0,0,0
$STATE,2999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2999,begin apogee
$GC,3005,-0.16,0.0,459.5,14.6,330,3195,0.65,0.00,179.75,1.025,4,0.119,0.000,2746,2695,2959,0,0,0,0,0,0
$STATE,3196,end apogee,CONTROL_FINISHED_OK
$STATE,3196,begin climb
$GC,3199,0.76,219.0,468.4,0.0,347,3407,0.90,2.42,199.70,0.967,4,0.071,0.033,3042,1305,2067,0,0,0,0,0,0
$GC,3474,0.79,243.5,449.8,10.5,371,3504,0.00,2.47,24.30,0.920,6,0.000,0.042,3043,2697,1967,0,0,0,0,0,0
$GC,3695,0.79,243.5,424.2,11.7,392,3699,0.00,2.33,0.00,0.000,4,0.000,0.034,3053,1310,1963,0,0,0,0,0,0
$GC,3818,0.80,252.6,409.9,11.0,402,3837,0.00,2.35,9.02,0.859,6,0.000,0.042,3053,2713,1930,0,0,0,0,0,0
$GC,4031,0.80,252.6,383.9,12.6,422,4035,0.00,1.70,0.00,0.000,4,0.000,0.049,3053,3763,1928,0,0,0,0,0,0
$GC,4100,0.80,252.6,373.8,14.7,428,4104,0.00,1.62,0.00,0.000,6,0.000,0.030,3061,2734,1928,0,0,1,0,0,0
$GC,4304,0.80,252.6,347.6,12.9,447,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2733,1928,0,0,0,0,0,0
$GC,4494,0.80,252.6,323.1,13.3,465,4498,0.00,1.65,0.00,0.000,4,0.000,0.048,3061,3762,1927,0,0,0,0,0,0
$GC,4541,0.80,252.6,316.6,15.2,469,4544,0.00,1.65,0.00,0.000,6,0.000,0.031,3069,2723,1927,0,0,0,0,0,0
$GC,4745,0.80,252.6,288.3,14.2,488,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2722,1927,0,0,0,0,0,0
$GC,4935,0.80,252.6,262.0,13.4,506,4939,0.00,1.67,0.00,0.000,4,0.000,0.048,3069,3768,1926,0,0,0,0,0,0
$GC,4974,0.80,252.6,256.1,15.1,509,4981,0.00,1.65,0.00,0.000,6,0.000,0.030,3077,2726,1926,0,0,0,0,0,0
$GC,5173,0.80,252.6,229.2,13.7,528,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2725,1926,0,0,0,0,0,0
$GC,5300,0.80,252.6,211.6,13.7,540,5304,0.00,1.65,0.00,0.000,4,0.000,0.047,3077,3763,1926,0,0,0,0,0,0
$GC,5349,0.80,252.6,204.3,14.7,544,5356,0.00,1.62,0.00,0.000,6,0.000,0.030,3083,2731,1926,0,0,0,0,0,0
$GC,5484,0.80,252.6,185.4,14.2,557,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2730,1926,0,0,0,0,0,0
$GC,5611,0.80,252.6,168.0,14.0,569,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2730,1926,0,0,0,0,0,0
$GC,5739,0.80,252.6,150.3,14.3,581,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2730,1925,0,0,0,0,0,0
$GC,5867,0.80,252.6,132.1,13.9,593,5871,0.00,1.67,0.00,0.000,4,0.000,0.049,3083,3754,1925,0,0,0,0,0,0
$GC,5916,0.80,252.6,124.5,15.3,597,5923,0.10,1.60,0.00,0.000,6,0.142,0.030,3056,2737,1925,0,0,0,0,0,0
$GC,6051,0.80,252.6,108.3,12.0,610,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2736,1925,0,0,0,0,0,0
$GC,6181,0.80,252.6,92.6,11.4,627,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2736,1925,0,0,0,0,0,0
$GC,6322,0.80,252.6,76.5,11.7,652,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2736,1925,0,0,0,0,0,0
$GC,6464,0.80,252.6,60.5,11.7,677,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2736,1925,0,0,0,0,0,0
$GC,6605,0.80,252.6,44.2,12.8,702,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2736,1925,0,0,0,0,0,0
$GC,6746,0.82,267.8,28.3,10.8,727,6767,0.00,1.67,14.18,0.769,4,0.000,0.048,3055,3761,1869,0,0,0,0,0,0
$GC,6790,0.82,267.8,22.7,12.4,734,6797,0.00,1.60,0.00,0.000,6,0.000,0.031,3061,2755,1869,0,0,0,0,0,0
$FREEZE,8.92,-0.218,-1.892,2,1,0
$FREEZE,8.26,-0.220,-1.892,2,1,0
$FREEZE,7.66,-0.219,-1.891,2,1,0
$FREEZE,6.74,-0.216,-1.891,2,1,0
$FREEZE,6.29,-0.217,-1.890,2,1,0
$FREEZE,5.86,-0.217,-1.890,2,1,0
$FREEZE,4.97,-0.220,-1.889,2,1,0
$FREEZE,3.89,-0.218,-1.889,2,1,0
$GC,6933,0.85,289.3,5.9,10.6,759,6956,0.00,0.00,20.15,0.747,6,0.000,0.000,3061,2754,1779,0,0,0,0,0,0
$FREEZE,2.25,-0.222,-1.887,2,1,0
$STATE,6962,end climb,SURFACE_DEPTH_REACHED
$STATE,6962,begin surface coast
$FREEZE,1.25,-0.222,-1.886,2,1,0
$FREEZE,0.69,-0.222,-1.886,2,1,0
$FREEZE,-0.08,-0.224,-1.885,2,1,0
$FREEZE,-0.02,-0.250,-1.887,2,1,0
$FREEZE,-0.13,-0.263,-1.887,2,1,0
$FINISH,-0.1,1.027630
$STATE,6992,end surface coast,CONTROL_FINISHED_OK
$STATE,6993,begin surface
$SM_CCo,7070,0.00,0.000,0,0,1778,289.94
$SM_GC,0.66,7.68,0.00,0.00,0.047,0.000,0.000,188,2754,1778,-8.08,-0.74,289.94
$IRIDIUM_FIX,-7528.04,17511.94,130111,111100
$TT8_MAMPS,0.026964
$HUMID,52.75
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.1
$24V_AH,21.7,73.675
$10V_AH,9.8,28.668
$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,18.800,35.875,447.100,0.000,0.000,22.388,36.201,164.726,1.750,0.000,39.362,1881.313,3299.586,484.149,1532.204,267.641,0.000,1208.318,0.000,1226.839,0.000,11.187,0.000
$DEVICE_MAMPS,214.200,100.215,1025.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.995,929.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258260
$DATA_FILE_SIZE,50395,768
$CAP_FILE_SIZE,94127,0
$CFSIZE,260165632,219934720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.035, 38.4,1
$GPS,130111,151136,-7605.847,17509.428,42,1.2,43,123.4