version: 66.08
glider: 503
mission: 7
dive: 902
start: 1 28 111 17 7 49
data:
$ID,503
$MISSION,7
$DIVE,902
$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,250
$T_MISSION,300
$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,175
$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,-20673.561
$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,40
$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
$GPS1,280111,170036,-7617.711,17529.732,43,0.9,50,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.7
$GPS2,280111,170720,-7617.712,17529.729,10,1.7,10,123.7
$SPEED_LIMITS,0.173,0.278
$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,221.4,27010,-16.1,-10.000
$D_GRID,375
$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,-0.71,-170.3,0.0,0.0,0,94,0.00,0.00,-74.93,0.000,2,0.000,0.000,187,2807,3478,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.6,-9.2,13,120,9.50,1.55,-3.55,0.000,4,0.217,0.056,2561,3762,3657,0,0,0,0,0,0
$GC,244,-0.71,-170.3,35.4,-14.4,38,251,0.00,1.58,0.00,0.000,6,0.000,0.028,2561,2768,3660,0,0,0,0,0,0
$GC,387,-0.71,-170.3,54.8,-12.7,63,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2768,3660,0,0,0,0,0,0
$GC,532,-0.71,-170.3,73.7,-13.4,88,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2768,3660,0,0,0,0,0,0
$GC,674,-0.71,-170.3,92.6,-13.5,113,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2768,3661,0,0,0,0,0,0
$GC,817,-0.71,-170.3,111.5,-13.2,131,820,0.00,1.62,0.00,0.000,4,0.000,0.048,2553,3763,3660,0,0,0,0,0,0
$GC,855,-0.71,-170.3,117.0,-14.5,134,862,0.00,1.55,0.00,0.000,6,0.000,0.029,2553,2788,3661,0,0,0,0,0,0
$GC,991,-0.71,-170.3,135.0,-13.7,147,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2788,3661,0,0,0,0,0,0
$GC,1117,-0.71,-170.3,152.3,-13.2,159,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2788,3661,0,0,0,0,0,0
$GC,1244,-0.71,-170.3,169.7,-13.6,171,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2788,3661,0,0,0,0,0,0
$GC,1373,-0.71,-170.3,187.1,-13.8,183,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2788,3661,0,0,0,0,0,0
$GC,1499,-0.71,-170.3,204.4,-13.4,195,1503,0.00,1.60,0.00,0.000,4,0.000,0.048,2547,3745,3660,0,0,0,0,0,0
$GC,1538,-0.71,-170.3,210.3,-14.8,198,1545,0.00,1.52,0.00,0.000,6,0.000,0.028,2547,2777,3660,0,0,0,0,0,0
$GC,1673,-0.71,-170.3,228.8,-13.7,211,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2777,3660,0,0,0,0,0,0
$GC,1801,-0.71,-170.3,246.1,-13.3,223,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2777,3660,0,0,0,0,0,0
$GC,1927,-0.71,-170.3,263.2,-13.2,235,1931,0.00,1.62,0.00,0.000,4,0.000,0.047,2540,3751,3661,0,0,0,0,0,0
$GC,1965,-0.71,-170.3,268.9,-14.4,238,1972,0.08,1.52,0.00,0.000,6,0.135,0.028,2566,2786,3661,0,0,0,0,0,0
$GC,2164,-0.71,-170.3,293.0,-12.1,257,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2786,3661,0,0,0,0,0,0
$GC,2354,-0.71,-170.3,316.1,-12.0,275,2358,0.00,1.60,0.00,0.000,4,0.000,0.047,2560,3745,3661,0,0,0,0,0,0
$GC,2401,-0.71,-170.3,321.9,-12.9,279,2405,0.00,1.50,0.00,0.000,6,0.000,0.028,2560,2793,3661,0,0,0,0,0,0
$GC,2605,-0.71,-170.3,346.6,-11.6,298,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2793,3660,0,0,0,0,0,0
$GC,2798,-0.71,-170.3,369.8,-12.6,316,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2793,3660,0,0,0,0,0,0
$STATE,2845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2846,begin apogee
$GC,2854,-0.16,0.0,376.2,12.3,321,3000,0.55,0.00,140.18,0.981,4,0.116,0.000,2744,2692,2960,0,0,0,0,0,0
$STATE,3001,end apogee,CONTROL_FINISHED_OK
$STATE,3001,begin climb
$GC,3004,0.71,170.3,383.2,0.0,334,3166,0.85,2.33,153.20,0.931,4,0.073,0.032,3031,1309,2264,0,0,0,0,0,0
$GC,3179,0.77,219.7,377.2,8.0,349,3237,0.00,2.45,48.47,0.892,6,0.000,0.040,3031,2685,2064,0,0,1,0,0,0
$GC,3428,0.77,219.7,352.5,10.2,372,3432,0.00,1.85,0.00,0.000,4,0.000,0.048,3031,3769,2062,0,0,0,0,0,0
$GC,3520,0.77,219.7,341.4,12.5,380,3524,0.00,1.67,0.00,0.000,6,0.000,0.029,3039,2717,2060,0,0,1,0,0,0
$GC,3728,0.77,219.7,319.2,11.1,399,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2716,2059,0,0,0,0,0,0
$GC,3926,0.77,219.7,297.9,10.7,418,3930,0.00,1.73,0.00,0.000,4,0.000,0.047,3039,3772,2058,0,0,0,0,0,0
$GC,3973,0.77,219.7,292.3,13.1,422,3976,0.00,1.65,0.00,0.000,6,0.000,0.030,3047,2716,2057,0,0,0,0,0,0
$GC,4177,0.77,219.7,269.4,10.9,441,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2715,2057,0,0,0,0,0,0
$GC,4368,0.77,219.7,248.4,11.2,459,4371,0.00,1.70,0.00,0.000,4,0.000,0.048,3047,3764,2057,0,0,0,0,0,0
$GC,4415,0.77,219.7,242.8,12.6,463,4418,0.00,1.65,0.00,0.000,6,0.000,0.029,3053,2733,2056,0,0,0,0,0,0
$GC,4556,0.77,219.7,226.5,11.0,476,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2731,2056,0,0,0,0,0,0
$GC,4683,0.77,219.7,212.3,11.4,488,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2731,2056,0,0,0,0,0,0
$GC,4811,0.77,219.7,198.4,10.6,500,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2731,2056,0,0,0,0,0,0
$GC,4937,0.77,219.7,184.8,10.7,512,4940,0.00,1.67,0.00,0.000,4,0.000,0.047,3054,3766,2056,0,0,0,0,0,0
$GC,4984,0.77,219.7,179.1,12.6,516,4988,0.00,1.65,0.00,0.000,6,0.000,0.029,3061,2700,2056,0,0,0,0,0,0
$GC,5125,0.77,219.7,163.0,11.3,529,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2698,2056,0,0,0,0,0,0
$GC,5251,0.77,219.7,148.6,11.0,541,5255,0.00,1.73,0.00,0.000,4,0.000,0.048,3061,3766,2056,0,0,0,0,0,0
$GC,5287,0.77,219.7,144.2,12.8,544,5290,0.00,1.62,0.00,0.000,6,0.000,0.030,3069,2745,2055,0,0,0,0,0,0
$GC,5428,0.77,219.7,127.4,11.6,557,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2744,2055,0,0,0,0,0,0
$GC,5554,0.77,219.7,112.7,11.2,569,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2744,2055,0,0,0,0,0,0
$GC,5682,0.77,219.7,98.2,11.4,582,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2744,2055,0,0,0,0,0,0
$GC,5824,0.77,219.7,82.5,11.1,607,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2744,2055,0,0,0,0,0,0
$GC,5966,0.77,219.7,66.9,10.9,632,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2744,2055,0,0,0,0,0,0
$GC,6108,0.77,219.7,51.4,11.2,657,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2744,2055,0,0,0,0,0,0
$GC,6250,0.77,219.7,34.9,11.7,682,6257,0.00,1.70,0.00,0.000,4,0.000,0.047,3069,3767,2054,0,0,0,0,0,0
$GC,6288,0.77,219.7,30.2,12.7,688,6295,0.08,1.62,0.00,0.000,6,0.145,0.030,3049,2743,2054,0,0,0,0,0,0
$GC,6432,0.77,219.7,14.5,10.6,713,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2743,2054,0,0,0,0,0,0
$FREEZE,8.65,0.304,-1.890,2,1,0
$FREEZE,8.00,0.302,-1.890,2,1,0
$FREEZE,7.48,0.302,-1.890,2,1,0
$FREEZE,7.02,0.304,-1.889,2,1,0
$FREEZE,6.43,0.305,-1.889,2,1,0
$FREEZE,5.92,0.304,-1.888,2,1,0
$FREEZE,5.49,0.304,-1.888,2,1,0
$FREEZE,4.89,0.302,-1.888,2,1,0
$FREEZE,4.31,0.303,-1.887,2,1,0
$FREEZE,3.77,0.303,-1.887,2,1,0
$FREEZE,3.21,0.302,-1.886,2,1,0
$FREEZE,2.53,0.303,-1.886,2,1,0
$STATE,6549,end climb,SURFACE_DEPTH_REACHED
$STATE,6549,begin surface coast
$FREEZE,1.98,0.302,-1.886,2,1,0
$FREEZE,1.36,0.301,-1.885,2,1,0
$FREEZE,0.96,0.303,-1.885,2,1,0
$FREEZE,0.41,0.304,-1.884,2,1,0
$FREEZE,-0.11,0.298,-1.884,2,1,0
$FINISH,-0.1,1.027551
$STATE,6576,end surface coast,CONTROL_FINISHED_OK
$STATE,6576,begin surface
$SM_CCo,6597,12.85,0.102,0,0,1939,250.20
$SM_GC,1.49,0.00,0.00,12.85,0.000,0.000,0.102,180,2799,1939,-8.19,0.54,250.20
$IRIDIUM_FIX,-7536.68,17536.77,280111,151528
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.9
$24V_AH,21.5,95.317
$10V_AH,9.8,39.317
$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,18.575,40.875,341.850,12.850,0.000,27.769,40.175,179.738,1.000,0.000,13.320,1839.115,2962.749,428.480,1463.859,324.874,0.000,1120.804,0.000,1172.583,0.000,7.757,0.000
$DEVICE_MAMPS,217.260,113.985,980.730,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.472,948.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,47044,739
$CAP_FILE_SIZE,92888,0
$CFSIZE,260165632,210325504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.081,239.5,1
$GPS,280111,185914,-7616.832,17527.766,31,1.7,32,123.6