version: 66.08
glider: 503
mission: 7
dive: 904
start: 1 28 111 21 3 6
data:
$ID,503
$MISSION,7
$DIVE,904
$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,-20676.072
$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,39
$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
$GPS1,280111,205601,-7616.061,17525.518,47,1.0,48,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.0
$GPS2,280111,210238,-7616.084,17525.416,11,1.5,11,123.6
$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,230.0,23442,-16.1,-10.000
$D_GRID,376
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-76.75,0.000,2,0.000,0.000,184,2805,3547,0,0,0,0,0,0
$GC,100,-0.71,-170.3,4.1,-10.6,13,121,9.38,1.60,-2.12,0.000,4,0.212,0.060,2555,3761,3659,0,0,0,0,0,0
$GC,268,-0.71,-170.3,40.6,-14.6,42,275,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2770,3661,0,0,0,0,0,0
$GC,412,-0.71,-170.3,61.3,-13.9,67,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2770,3662,0,0,0,0,0,0
$GC,555,-0.71,-170.3,82.0,-14.5,92,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2770,3662,0,0,0,0,0,0
$GC,695,-0.71,-170.3,102.2,-14.4,116,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2770,3663,0,0,0,0,0,0
$GC,822,-0.71,-170.3,120.3,-14.1,128,825,0.00,1.62,0.00,0.000,4,0.000,0.047,2547,3767,3663,0,0,0,0,0,0
$GC,860,-0.71,-170.3,126.6,-15.7,131,868,0.00,1.55,0.00,0.000,6,0.000,0.028,2547,2788,3662,0,0,0,0,0,0
$GC,997,-0.71,-170.3,146.3,-14.7,144,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2788,3662,0,0,0,0,0,0
$GC,1123,-0.71,-170.3,164.4,-13.9,156,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2788,3662,0,0,0,0,0,0
$GC,1250,-0.71,-170.3,182.6,-14.4,168,1253,0.00,1.60,0.00,0.000,4,0.000,0.047,2539,3745,3663,0,0,0,0,0,0
$GC,1285,-0.71,-170.3,187.8,-15.0,171,1288,0.00,1.50,0.00,0.000,6,0.000,0.028,2539,2785,3662,0,0,1,0,0,0
$GC,1427,-0.71,-170.3,208.7,-15.0,184,1429,0.10,0.00,0.00,0.000,6,0.173,0.000,2566,2784,3662,0,0,0,0,0,0
$GC,1554,-0.71,-170.3,225.3,-12.7,196,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2784,3662,0,0,0,0,0,0
$GC,1681,-0.71,-170.3,241.0,-11.9,208,1685,0.00,1.62,0.00,0.000,4,0.000,0.048,2563,3773,3663,0,0,0,0,0,0
$GC,1721,-0.71,-170.3,246.7,-13.5,211,1728,0.00,1.55,0.00,0.000,6,0.000,0.028,2562,2789,3663,0,0,0,0,0,0
$GC,1856,-0.71,-170.3,263.8,-12.7,224,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2789,3662,0,0,0,0,0,0
$GC,2048,-0.71,-170.3,287.6,-12.5,242,2051,0.00,1.60,0.00,0.000,4,0.000,0.048,2555,3746,3662,0,0,0,0,0,0
$GC,2107,-0.71,-170.3,295.4,-13.1,247,2111,0.00,1.48,0.00,0.000,6,0.000,0.028,2556,2798,3662,0,0,1,0,0,0
$GC,2311,-0.71,-170.3,322.3,-12.9,266,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2798,3662,0,0,0,0,0,0
$GC,2505,-0.71,-170.3,347.2,-13.1,284,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2798,3662,0,0,0,0,0,0
$GC,2704,-0.71,-170.3,372.6,-12.7,303,2707,0.00,1.58,0.00,0.000,4,0.000,0.048,2548,3740,3662,0,0,0,0,0,0
$STATE,2728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2738,-0.16,0.0,376.4,13.1,305,2887,0.60,0.00,140.77,0.975,4,0.116,0.000,2748,2694,2959,0,0,0,0,0,0
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2891,0.71,170.3,383.0,0.0,319,3054,0.82,2.38,153.20,0.926,4,0.071,0.034,3028,1294,2265,0,0,0,0,0,0
$GC,3061,0.78,223.5,376.7,7.9,333,3123,0.00,2.53,52.35,0.889,6,0.000,0.041,3028,2687,2048,0,0,0,0,0,0
$GC,3315,0.78,223.5,350.8,10.6,357,3318,0.00,1.85,0.00,0.000,4,0.000,0.047,3028,3772,2047,0,0,0,0,0,0
$GC,3387,0.78,223.5,342.1,11.5,363,3394,0.00,1.73,0.00,0.000,6,0.000,0.028,3036,2698,2046,0,0,1,0,0,0
$GC,3586,0.78,223.5,320.2,11.0,382,3590,0.00,1.77,0.00,0.000,4,0.000,0.048,3036,3773,2045,0,0,0,0,0,0
$GC,3624,0.78,223.5,315.4,12.8,385,3631,0.00,1.70,0.00,0.000,6,0.000,0.029,3043,2714,2044,0,0,0,0,0,0
$GC,3823,0.78,223.5,293.6,10.9,404,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2714,2044,0,0,0,0,0,0
$GC,4015,0.78,223.5,272.3,11.2,422,4018,0.00,1.73,0.00,0.000,4,0.000,0.047,3043,3771,2043,0,0,0,0,0,0
$GC,4083,0.78,223.5,263.7,12.7,428,4087,0.00,1.65,0.00,0.000,6,0.000,0.029,3050,2711,2042,0,0,0,0,0,0
$GC,4288,0.78,223.5,241.1,10.9,447,4291,0.00,1.73,0.00,0.000,4,0.000,0.047,3050,3773,2042,0,0,0,0,0,0
$GC,4334,0.78,223.5,235.4,12.6,451,4337,0.00,1.65,0.00,0.000,6,0.000,0.029,3057,2712,2041,0,0,0,0,0,0
$GC,4474,0.78,223.5,218.9,11.5,464,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2710,2042,0,0,0,0,0,0
$GC,4602,0.78,223.5,204.3,11.7,476,4606,0.00,1.75,0.00,0.000,4,0.000,0.047,3057,3761,2042,0,0,0,0,0,0
$GC,4641,0.78,223.5,199.0,12.9,479,4648,0.00,1.65,0.00,0.000,6,0.000,0.030,3065,2731,2041,0,0,0,0,0,0
$GC,4777,0.78,223.5,183.4,11.5,492,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2732,2041,0,0,0,0,0,0
$GC,4914,0.78,223.5,167.2,12.1,505,4917,0.00,1.73,0.00,0.000,4,0.000,0.047,3065,3769,2041,0,0,0,0,0,0
$GC,4961,0.78,223.5,160.9,13.9,509,4964,0.00,1.62,0.00,0.000,6,0.000,0.029,3072,2747,2040,0,0,0,0,0,0
$GC,5101,0.78,223.5,143.3,11.9,522,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2745,2040,0,0,0,0,0,0
$GC,5229,0.78,223.5,128.2,12.4,534,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2745,2041,0,0,0,0,0,0
$GC,5355,0.78,223.5,113.3,11.8,546,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2745,2041,0,0,0,0,0,0
$GC,5483,0.78,223.5,98.2,11.6,559,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2745,2041,0,0,0,0,0,0
$GC,5627,0.78,223.5,81.1,11.7,584,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2745,2040,0,0,0,0,0,0
$GC,5770,0.78,223.5,64.3,11.7,609,5776,0.00,1.70,0.00,0.000,4,0.000,0.047,3072,3767,2040,0,0,0,0,0,0
$GC,5806,0.78,223.5,59.7,12.6,615,5812,0.00,1.62,0.00,0.000,6,0.000,0.029,3081,2743,2040,0,0,0,0,0,0
$GC,5952,0.78,223.5,42.2,11.6,640,5960,0.10,0.00,0.00,0.000,6,0.172,0.000,3052,2743,2040,0,0,0,0,0,0
$GC,6095,0.78,223.5,26.1,10.4,665,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2743,2040,0,0,0,0,0,0
$GC,6237,0.78,223.5,10.9,10.7,690,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2743,2039,0,0,0,0,0,0
$FREEZE,8.57,0.426,-1.890,2,1,0
$FREEZE,8.05,0.427,-1.890,2,1,0
$FREEZE,7.54,0.427,-1.890,2,1,0
$FREEZE,7.07,0.428,-1.889,2,1,0
$FREEZE,6.41,0.427,-1.889,2,1,0
$FREEZE,5.83,0.427,-1.888,2,1,0
$FREEZE,5.28,0.427,-1.888,2,1,0
$FREEZE,4.64,0.427,-1.887,2,1,0
$FREEZE,4.12,0.419,-1.887,2,1,0
$FREEZE,3.57,0.423,-1.887,2,1,0
$FREEZE,2.85,0.424,-1.886,2,1,0
$STATE,6308,end climb,SURFACE_DEPTH_REACHED
$STATE,6308,begin surface coast
$FREEZE,2.27,0.427,-1.886,2,1,0
$FREEZE,1.49,0.425,-1.885,2,1,0
$FREEZE,0.90,0.428,-1.885,2,1,0
$FREEZE,0.53,0.428,-1.884,2,1,0
$FREEZE,-0.10,0.423,-1.884,2,1,0
$FINISH,-0.1,1.027541
$STATE,6338,end surface coast,CONTROL_FINISHED_OK
$STATE,6338,begin surface
$SM_CCo,6358,10.90,0.102,0,0,1940,250.20
$SM_GC,1.67,0.00,0.00,10.90,0.000,0.000,0.102,181,2796,1940,-8.19,0.45,250.20
$IRIDIUM_FIX,-7536.68,17648.71,280111,191957
$TT8_MAMPS,0.027713
$HUMID,53.11
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$24V_AH,21.4,95.533
$10V_AH,9.8,39.429
$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,18.600,47.800,346.325,10.900,0.000,24.614,38.193,176.335,1.000,0.000,14.567,1764.174,2822.054,442.498,1422.861,319.334,0.000,1125.371,0.000,1141.977,0.000,7.758,0.000
$DEVICE_MAMPS,211.905,117.810,975.375,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.824,905.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258116
$DATA_FILE_SIZE,46952,708
$CAP_FILE_SIZE,91716,0
$CFSIZE,260165632,210223104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.151,217.4,1
$GPS,280111,225014,-7615.461,17523.699,14,1.5,15,123.6