version: 66.08
glider: 503
mission: 7
dive: 906
start: 1 29 111 0 58 5
data:
$ID,503
$MISSION,7
$DIVE,906
$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,-20678.592
$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
$GPS1,290111,005020,-7615.036,17522.836,19,1.6,20,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.9
$GPS2,290111,005736,-7615.085,17522.639,33,1.1,37,123.6
$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,238.3,21226,-16.1,-10.000
$D_GRID,379
$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,-75.72,0.000,2,0.000,0.000,177,2806,3505,0,0,0,0,0,0
$GC,99,-0.71,-170.3,3.8,-9.5,13,120,9.45,1.55,-3.03,0.000,4,0.213,0.057,2558,3768,3658,0,0,0,0,0,0
$GC,294,-0.71,-170.3,43.6,-14.7,47,302,0.00,1.58,0.00,0.000,6,0.000,0.028,2558,2766,3661,0,0,0,0,0,0
$GC,439,-0.71,-170.3,63.3,-13.5,72,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2766,3661,0,0,0,0,0,0
$GC,581,-0.71,-170.3,83.1,-13.7,97,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2767,3662,0,0,0,0,0,0
$GC,727,-0.71,-170.3,103.1,-13.8,121,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2766,3662,0,0,0,0,0,0
$GC,854,-0.71,-170.3,120.6,-13.0,133,858,0.00,1.62,0.00,0.000,4,0.000,0.047,2550,3765,3662,0,0,0,0,0,0
$GC,901,-0.71,-170.3,127.2,-14.1,137,904,0.00,1.55,0.00,0.000,6,0.000,0.028,2550,2785,3662,0,0,0,0,0,0
$GC,1042,-0.71,-170.3,147.1,-14.3,150,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2785,3662,0,0,0,0,0,0
$GC,1168,-0.71,-170.3,164.9,-13.8,162,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2785,3662,0,0,0,0,0,0
$GC,1295,-0.71,-170.3,182.8,-14.1,174,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2785,3662,0,0,0,0,0,0
$GC,1424,-0.71,-170.3,200.2,-13.7,186,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2785,3662,0,0,0,0,0,0
$GC,1550,-0.71,-170.3,218.0,-13.8,198,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2785,3662,0,0,0,0,0,0
$GC,1678,-0.71,-170.3,235.3,-13.4,210,1682,0.00,1.60,0.00,0.000,4,0.000,0.047,2542,3744,3661,0,0,0,0,0,0
$GC,1728,-0.71,-170.3,242.9,-14.6,214,1735,0.00,1.52,0.00,0.000,6,0.000,0.028,2543,2766,3661,0,0,1,0,0,0
$GC,1864,-0.71,-170.3,261.8,-14.0,227,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2766,3661,0,0,0,0,0,0
$GC,2053,-0.71,-170.3,288.4,-14.0,245,2057,0.00,1.62,0.00,0.000,4,0.000,0.047,2534,3763,3661,0,0,0,0,0,0
$GC,2090,-0.71,-170.3,293.4,-14.8,248,2094,0.08,1.55,0.00,0.000,6,0.130,0.028,2577,2782,3661,0,0,0,0,0,0
$GC,2296,-0.71,-170.3,317.3,-11.3,267,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2782,3662,0,0,0,0,0,0
$GC,2496,-0.71,-170.3,340.1,-11.4,286,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2782,3662,0,0,0,0,0,0
$GC,2686,-0.71,-170.3,360.9,-11.3,304,2690,0.00,1.60,0.00,0.000,4,0.000,0.048,2570,3740,3661,0,0,0,0,0,0
$GC,2725,-0.71,-170.3,365.7,-11.7,307,2733,0.00,1.48,0.00,0.000,6,0.000,0.029,2571,2792,3661,0,0,1,0,0,0
$STATE,2847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2847,begin apogee
$GC,2855,-0.16,0.0,379.3,11.0,319,3002,0.50,0.00,140.70,0.978,4,0.112,0.000,2742,2693,2959,0,0,0,0,0,0
$STATE,3003,end apogee,CONTROL_FINISHED_OK
$STATE,3003,begin climb
$GC,3006,0.71,170.3,385.4,0.0,332,3168,0.85,2.35,153.50,0.928,4,0.073,0.032,3029,1305,2265,0,0,0,0,0,0
$GC,3360,0.73,187.7,362.2,9.3,363,3382,0.00,2.35,16.38,0.879,6,0.000,0.041,3029,2691,2193,0,0,0,0,0,0
$GC,3584,0.73,187.7,340.2,10.1,384,3588,0.00,2.25,0.00,0.000,4,0.000,0.034,3039,1306,2192,0,0,0,0,0,0
$GC,3751,0.74,194.8,323.6,9.7,398,3769,0.00,2.30,7.50,0.813,6,0.000,0.041,3039,2715,2165,0,0,0,0,0,0
$GC,3963,0.74,194.8,302.1,10.7,418,3966,0.00,1.70,0.00,0.000,4,0.000,0.049,3039,3766,2164,0,0,0,0,0,0
$GC,4021,0.74,194.8,294.8,12.5,423,4025,0.00,1.65,0.00,0.000,6,0.000,0.029,3047,2710,2164,0,0,0,0,0,0
$GC,4227,0.74,194.8,273.0,10.5,442,4230,0.00,1.70,0.00,0.000,4,0.000,0.047,3047,3760,2164,0,0,0,0,0,0
$GC,4273,0.74,194.8,267.4,12.0,446,4277,0.00,1.65,0.00,0.000,6,0.000,0.030,3055,2698,2163,0,0,0,0,0,0
$GC,4478,0.74,194.8,245.2,10.9,465,4482,0.00,1.73,0.00,0.000,4,0.000,0.048,3055,3761,2163,0,0,0,0,0,0
$GC,4539,0.74,194.8,237.3,12.4,470,4546,0.00,1.62,0.00,0.000,6,0.000,0.029,3063,2740,2163,0,0,0,0,0,0
$GC,4675,0.74,194.8,222.4,10.8,483,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2740,2162,0,0,0,0,0,0
$GC,4801,0.74,194.8,208.5,11.3,495,4805,0.00,1.65,0.00,0.000,4,0.000,0.047,3063,3760,2162,0,0,0,0,0,0
$GC,4863,0.74,194.8,200.4,13.7,500,4870,0.08,1.62,0.00,0.000,6,0.142,0.029,3043,2741,2162,0,0,0,0,0,0
$GC,4999,0.75,204.0,187.1,9.6,513,5014,0.00,1.75,9.12,0.825,4,0.000,0.049,3043,3763,2128,0,0,0,0,0,0
$GC,5044,0.75,204.0,182.3,10.8,517,5047,0.00,1.60,0.00,0.000,6,0.000,0.030,3049,2762,2128,0,0,0,0,0,0
$GC,5184,0.76,207.5,168.0,9.9,530,5194,0.00,0.00,5.18,0.713,6,0.000,0.000,3049,2762,2113,0,0,0,0,0,0
$GC,5323,0.76,208.2,154.2,10.0,543,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2762,2113,0,0,0,0,0,0
$GC,5448,0.76,208.2,141.2,10.3,555,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2762,2113,0,0,0,0,0,0
$GC,5576,0.76,208.2,128.0,10.4,567,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2762,2113,0,0,0,0,0,0
$GC,5704,0.76,208.2,115.0,10.3,579,5708,0.00,1.65,0.00,0.000,4,0.000,0.048,3049,3751,2113,0,0,0,0,0,0
$GC,5762,0.76,208.2,108.2,12.4,584,5766,0.00,1.58,0.00,0.000,6,0.000,0.029,3056,2758,2113,0,0,0,0,0,0
$GC,5899,0.76,208.2,93.4,10.6,602,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2758,2113,0,0,0,0,0,0
$GC,6042,0.76,209.9,78.5,9.9,627,6050,0.00,1.70,3.80,0.599,4,0.000,0.048,3056,3769,2104,0,0,1,0,0,0
$GC,6076,0.76,209.9,74.7,11.9,632,6083,0.00,1.60,0.00,0.000,6,0.000,0.029,3064,2763,2104,0,0,0,0,0,0
$GC,6220,0.76,209.9,58.6,11.2,657,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2763,2104,0,0,0,0,0,0
$GC,6363,0.76,209.9,42.1,11.7,682,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2763,2104,0,0,0,0,0,0
$GC,6504,0.76,209.9,26.3,11.2,707,6512,0.00,1.65,0.00,0.000,4,0.000,0.047,3064,3751,2104,0,0,0,0,0,0
$GC,6565,0.76,209.9,18.6,13.0,717,6571,0.00,1.55,0.00,0.000,6,0.000,0.029,3071,2774,2103,0,0,0,0,0,0
$FREEZE,8.83,0.426,-1.891,2,1,0
$FREEZE,8.33,0.426,-1.890,2,1,0
$FREEZE,7.66,0.426,-1.890,2,1,0
$FREEZE,7.24,0.431,-1.889,2,1,0
$FREEZE,6.45,0.430,-1.889,2,1,0
$FREEZE,5.90,0.429,-1.888,2,1,0
$FREEZE,5.45,0.430,-1.888,2,1,0
$FREEZE,4.71,0.431,-1.887,2,1,0
$FREEZE,3.83,0.431,-1.887,2,1,0
$FREEZE,3.15,0.430,-1.886,2,1,0
$FREEZE,2.46,0.430,-1.886,2,1,0
$STATE,6698,end climb,SURFACE_DEPTH_REACHED
$STATE,6698,begin surface coast
$FREEZE,1.76,0.429,-1.885,2,1,0
$FREEZE,1.25,0.428,-1.885,2,1,0
$FREEZE,0.72,0.430,-1.884,2,1,0
$FREEZE,-0.10,0.429,-1.884,2,1,0
$FINISH,-0.1,1.027538
$STATE,6721,end surface coast,CONTROL_FINISHED_OK
$STATE,6721,begin surface
$SM_CCo,6740,19.00,0.100,0,0,1940,250.20
$SM_GC,0.66,0.00,0.00,19.00,0.000,0.000,0.100,184,2773,1940,-8.18,-0.20,250.20
$IRIDIUM_FIX,-7528.04,17518.70,280111,222239
$TT8_MAMPS,0.026964
$HUMID,53.97
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$24V_AH,21.6,95.744
$10V_AH,9.6,39.546
$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,18.575,51.425,336.175,19.000,0.000,28.690,42.719,178.024,1.000,0.000,40.440,1876.717,2996.646,433.027,1558.764,335.474,0.000,1154.386,0.000,1235.878,0.000,7.756,0.000
$DEVICE_MAMPS,212.670,80.325,977.670,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.465,950.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258160
$DATA_FILE_SIZE,50354,745
$CAP_FILE_SIZE,97082,0
$CFSIZE,260165632,210112512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.222,186.3,1
$GPS,290111,025144,-7614.953,17522.652,15,1.8,16,123.6