version: 66.08
glider: 503
mission: 7
dive: 907
start: 1 29 111 2 59 20
data:
$ID,503
$MISSION,7
$DIVE,907
$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,-20679.85
$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,49
$R_STBD_OVSHOOT,30
$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
$GPS1,290111,025144,-7614.953,17522.652,15,1.8,16,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.6
$GPS2,290111,025850,-7615.017,17522.471,12,1.9,12,123.6
$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,235.1,21079,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,93,0.00,0.00,-74.50,0.000,2,0.000,0.000,178,2773,3483,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.7,-8.9,13,118,9.15,1.62,-3.45,0.000,4,0.206,0.057,2555,3767,3658,0,0,0,0,0,0
$GC,354,-0.71,-170.3,50.1,-13.7,58,361,0.00,1.58,0.00,0.000,6,0.000,0.027,2554,2770,3661,0,0,0,0,0,0
$GC,497,-0.71,-170.3,68.8,-15.0,83,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2771,3661,0,0,0,0,0,0
$GC,640,-0.71,-170.3,87.8,-12.7,108,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2771,3662,0,0,0,0,0,0
$GC,786,-0.71,-170.3,107.0,-13.5,129,790,0.00,1.62,0.00,0.000,4,0.000,0.047,2546,3769,3662,0,0,0,0,0,0
$GC,822,-0.71,-170.3,112.0,-14.3,132,826,0.00,1.55,0.00,0.000,6,0.000,0.028,2547,2788,3662,0,0,0,0,0,0
$GC,963,-0.71,-170.3,131.7,-14.0,145,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2788,3662,0,0,0,0,0,0
$GC,1091,-0.71,-170.3,149.6,-14.1,157,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2788,3662,0,0,0,0,0,0
$GC,1217,-0.71,-170.3,167.8,-14.2,169,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2788,3662,0,0,0,0,0,0
$GC,1344,-0.71,-170.3,185.7,-13.9,181,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2788,3662,0,0,0,0,0,0
$GC,1473,-0.71,-170.3,203.7,-14.0,193,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2788,3662,0,0,0,0,0,0
$GC,1600,-0.71,-170.3,221.2,-13.9,205,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2788,3662,0,0,0,0,0,0
$GC,1735,-0.71,-170.3,240.0,-13.5,218,1739,0.00,1.62,0.00,0.000,4,0.000,0.047,2539,3764,3662,0,0,0,0,0,0
$GC,1782,-0.71,-170.3,246.6,-14.8,222,1786,0.08,1.55,0.00,0.000,6,0.130,0.028,2582,2780,3662,0,0,0,0,0,0
$GC,1922,-0.71,-170.3,263.1,-11.2,235,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2780,3662,0,0,0,0,0,0
$GC,2113,-0.71,-170.3,284.7,-11.4,253,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2780,3662,0,0,0,0,0,0
$GC,2305,-0.71,-170.3,306.0,-11.3,271,2309,0.00,1.62,0.00,0.000,4,0.000,0.048,2574,3754,3662,0,0,1,0,0,0
$GC,2365,-0.71,-170.3,313.5,-12.0,276,2372,0.00,1.52,0.00,0.000,6,0.000,0.028,2574,2787,3662,0,0,0,0,0,0
$GC,2566,-0.71,-170.3,336.3,-11.3,295,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2786,3661,0,0,0,0,0,0
$GC,2765,-0.71,-170.3,359.5,-11.5,314,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2787,3662,0,0,0,0,0,0
$STATE,2943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2943,begin apogee
$GC,2951,-0.16,0.0,379.9,11.3,331,3098,0.50,0.00,140.52,0.979,4,0.112,0.000,2745,2678,2959,0,0,0,0,0,0
$STATE,3099,end apogee,CONTROL_FINISHED_OK
$STATE,3099,begin climb
$GC,3102,0.71,170.3,386.8,0.0,344,3265,0.85,2.30,153.20,0.928,4,0.072,0.033,3033,1310,2265,0,0,0,0,0,0
$GC,3290,0.76,208.5,379.6,8.5,360,3336,0.00,2.45,37.83,0.889,6,0.000,0.041,3033,2695,2109,0,0,1,0,0,0
$GC,3529,0.76,212.2,356.2,9.9,382,3541,0.00,1.88,4.45,0.648,4,0.000,0.047,3033,3757,2095,0,0,0,0,0,0
$GC,3589,0.76,212.2,349.5,11.3,387,3593,0.00,1.65,0.00,0.000,6,0.000,0.030,3041,2721,2095,0,0,1,0,0,0
$GC,3795,0.76,212.2,327.9,10.6,406,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2720,2093,0,0,0,0,0,0
$GC,3985,0.76,212.2,308.0,10.4,424,3989,0.00,1.70,0.00,0.000,4,0.000,0.047,3041,3766,2092,0,0,0,0,0,0
$GC,4024,0.76,212.2,302.9,12.8,427,4031,0.00,1.67,0.00,0.000,6,0.000,0.028,3049,2692,2092,0,0,0,0,0,0
$GC,4223,0.76,212.2,281.0,11.1,446,4227,0.00,1.75,0.00,0.000,4,0.000,0.047,3049,3770,2092,0,0,0,0,0,0
$GC,4270,0.76,212.2,275.0,13.1,450,4274,0.00,1.67,0.00,0.000,6,0.000,0.029,3057,2721,2091,0,0,0,0,0,0
$GC,4475,0.76,212.2,251.2,11.6,469,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2719,2091,0,0,0,0,0,0
$GC,4666,0.76,212.2,229.7,11.2,487,4670,0.00,1.73,0.00,0.000,4,0.000,0.047,3057,3758,2090,0,0,0,0,0,0
$GC,4724,0.76,212.2,222.2,13.5,492,4727,0.00,1.65,0.00,0.000,6,0.000,0.030,3065,2724,2090,0,0,0,0,0,0
$GC,4865,0.76,212.2,205.2,12.1,505,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2721,2090,0,0,0,0,0,0
$GC,4991,0.76,212.2,190.3,11.8,517,4994,0.00,1.70,0.00,0.000,4,0.000,0.048,3065,3771,2090,0,0,0,0,0,0
$GC,5052,0.76,212.2,182.0,13.3,522,5059,0.00,1.65,0.00,0.000,6,0.000,0.028,3073,2724,2090,0,0,0,0,0,0
$GC,5188,0.76,212.2,165.8,12.1,535,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2723,2090,0,0,0,0,0,0
$GC,5314,0.76,212.2,150.7,12.0,547,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2724,2089,0,0,0,0,0,0
$GC,5441,0.76,212.2,135.8,11.7,559,5445,0.00,1.73,0.00,0.000,4,0.000,0.047,3073,3764,2090,0,0,0,0,0,0
$GC,5492,0.76,212.2,129.0,13.2,563,5500,0.10,1.62,0.00,0.000,6,0.134,0.029,3045,2742,2090,0,0,0,0,0,0
$GC,5627,0.77,215.2,115.3,9.9,576,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2742,2089,0,0,0,0,0,0
$GC,5754,0.77,221.2,102.8,9.8,588,5764,0.00,0.00,8.30,0.782,6,0.000,0.000,3045,2742,2058,0,0,0,0,0,0
$GC,5899,0.78,225.1,88.6,9.8,611,5913,0.00,1.70,5.55,0.703,4,0.000,0.049,3045,3760,2042,0,0,1,0,0,0
$GC,5948,0.78,225.1,82.9,11.6,619,5955,0.00,1.62,0.00,0.000,6,0.000,0.030,3052,2739,2041,0,0,0,0,0,0
$GC,6093,0.78,225.1,68.4,10.8,644,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2739,2041,0,0,0,0,0,0
$GC,6236,0.78,225.1,53.6,10.1,669,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2739,2042,0,0,0,0,0,0
$GC,6379,0.79,232.3,39.5,9.7,694,6393,0.00,1.75,7.93,0.743,4,0.000,0.048,3051,3772,2013,0,0,1,0,0,0
$GC,6444,0.79,232.3,32.0,12.2,705,6452,0.00,1.65,0.00,0.000,6,0.000,0.028,3059,2738,2013,0,0,0,0,0,0
$GC,6594,0.79,232.3,16.7,10.6,730,6601,0.00,1.73,0.00,0.000,4,0.000,0.048,3059,3769,2013,0,0,0,0,0,0
$GC,6636,0.79,232.3,11.9,11.3,737,6644,0.00,1.60,0.00,0.000,6,0.000,0.031,3064,2769,2013,0,0,0,0,0,0
$FREEZE,8.67,0.434,-1.890,2,1,0
$FREEZE,8.13,0.434,-1.890,2,1,0
$FREEZE,7.48,0.433,-1.889,2,1,0
$FREEZE,6.84,0.434,-1.889,2,1,0
$FREEZE,6.30,0.435,-1.889,2,1,0
$FREEZE,5.66,0.436,-1.888,2,1,0
$FREEZE,5.03,0.437,-1.888,2,1,0
$FREEZE,4.46,0.436,-1.887,2,1,0
$FREEZE,3.84,0.437,-1.887,2,1,0
$FREEZE,3.26,0.438,-1.886,2,1,0
$FREEZE,2.52,0.438,-1.886,2,1,0
$STATE,6717,end climb,SURFACE_DEPTH_REACHED
$STATE,6718,begin surface coast
$FREEZE,1.52,0.436,-1.885,2,1,0
$FREEZE,0.89,0.437,-1.884,2,1,0
$FREEZE,0.23,0.438,-1.884,2,1,0
$FREEZE,-0.17,0.429,-1.884,2,1,0
$FINISH,-0.2,1.027545
$STATE,6740,end surface coast,CONTROL_FINISHED_OK
$STATE,6740,begin surface
$SM_CCo,6759,7.90,0.103,0,0,1939,250.20
$SM_GC,2.04,0.00,0.00,7.90,0.000,0.000,0.103,191,2767,1939,-8.16,-0.37,250.20
$IRIDIUM_FIX,-7554.21,16755.62,290111,000050
$TT8_MAMPS,0.027713
$HUMID,53.66
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$24V_AH,21.6,95.852
$10V_AH,9.7,39.604
$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,18.300,48.000,357.775,7.900,0.000,31.210,40.792,192.906,1.000,0.000,14.668,1882.751,3027.566,443.138,1512.533,332.036,0.000,1152.675,0.000,1199.187,0.000,7.757,0.000
$DEVICE_MAMPS,205.785,80.325,979.200,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.110,961.940,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,50310,755
$CAP_FILE_SIZE,95768,0
$CFSIZE,260165632,210059264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.245,184.7,1
$GPS,290111,045336,-7614.888,17522.498,44,1.7,45,123.6