version: 66.08
glider: 503
mission: 7
dive: 908
start: 1 29 111 5 1 30
data:
$ID,503
$MISSION,7
$DIVE,908
$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,-20681.109
$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,52
$R_STBD_OVSHOOT,24
$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
$GPS1,290111,045336,-7614.888,17522.498,44,1.7,45,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.4
$GPS2,290111,050100,-7614.961,17522.338,35,1.3,41,123.6
$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,236.8,20960,-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,-170.3,0.0,0.0,0,90,0.00,0.00,-72.25,0.000,2,0.000,0.000,188,2768,3417,0,0,0,0,0,0
$GC,95,-0.71,-170.3,3.3,-7.3,12,116,9.15,1.70,-5.05,0.000,4,0.207,0.061,2559,3773,3659,0,0,1,0,0,0
$GC,347,-0.71,-170.3,46.9,-13.9,56,354,0.00,1.58,0.00,0.000,6,0.000,0.027,2559,2773,3663,0,0,0,0,0,0
$GC,490,-0.71,-170.3,66.2,-13.4,81,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2773,3663,0,0,0,0,0,0
$GC,632,-0.71,-170.3,85.8,-14.1,106,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2773,3663,0,0,0,0,0,0
$GC,779,-0.71,-170.3,105.7,-13.2,128,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2773,3664,0,0,0,0,0,0
$GC,906,-0.71,-170.3,122.8,-13.1,140,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2773,3664,0,0,0,0,0,0
$GC,1033,-0.71,-170.3,140.3,-13.7,152,1037,0.00,1.62,0.00,0.000,4,0.000,0.047,2551,3769,3664,0,0,0,0,0,0
$GC,1073,-0.71,-170.3,146.3,-15.0,155,1080,0.00,1.58,0.00,0.000,6,0.000,0.028,2551,2771,3664,0,0,0,0,0,0
$GC,1208,-0.71,-170.3,165.2,-13.9,168,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2772,3664,0,0,0,0,0,0
$GC,1335,-0.71,-170.3,182.9,-13.8,180,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2771,3664,0,0,0,0,0,0
$GC,1464,-0.71,-170.3,200.4,-13.9,192,1467,0.00,1.62,0.00,0.000,4,0.000,0.048,2542,3769,3664,0,0,0,0,0,0
$GC,1510,-0.71,-170.3,207.2,-15.1,196,1514,0.00,1.55,0.00,0.000,6,0.000,0.028,2543,2787,3664,0,0,0,0,0,0
$GC,1650,-0.71,-170.3,226.9,-14.0,209,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3664,0,0,0,0,0,0
$GC,1778,-0.71,-170.3,245.0,-14.4,221,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3664,0,0,0,0,0,0
$GC,1905,-0.71,-170.3,262.6,-13.6,233,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2787,3664,0,0,0,0,0,0
$GC,2097,-0.71,-170.3,289.0,-13.7,251,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3664,0,0,0,0,0,0
$GC,2288,-0.71,-170.3,314.9,-13.7,269,2291,0.00,1.62,0.00,0.000,4,0.000,0.047,2535,3781,3664,0,0,0,0,0,0
$GC,2334,-0.71,-170.3,321.7,-14.1,273,2339,0.05,1.58,0.00,0.000,6,0.138,0.028,2570,2787,3663,0,0,0,0,0,0
$GC,2542,-0.71,-170.3,345.7,-11.4,292,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2787,3663,0,0,0,0,0,0
$GC,2740,-0.71,-170.3,369.1,-11.5,311,2744,0.00,1.62,0.00,0.000,4,0.000,0.047,2563,3760,3663,0,0,0,0,0,0
$GC,2776,-0.71,-170.3,373.4,-12.6,314,2779,0.00,1.55,0.00,0.000,6,0.000,0.028,2563,2783,3663,0,0,0,0,0,0
$STATE,2830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2830,begin apogee
$GC,2839,-0.16,0.0,379.9,11.7,319,2985,0.52,0.00,140.73,0.979,4,0.113,0.000,2742,2682,2959,0,0,0,0,0,0
$STATE,2986,end apogee,CONTROL_FINISHED_OK
$STATE,2986,begin climb
$GC,2989,0.71,170.3,387.1,0.0,332,3151,0.85,2.33,153.30,0.929,4,0.072,0.034,3030,1307,2265,0,0,0,0,0,0
$GC,3344,0.76,207.9,365.0,8.5,363,3389,0.00,2.38,34.95,0.908,6,0.000,0.041,3030,2707,2112,0,0,0,0,0,0
$GC,3581,0.76,207.9,340.9,10.5,385,3585,0.00,2.28,0.00,0.000,4,0.000,0.034,3040,1313,2111,0,0,0,0,0,0
$GC,3729,0.78,223.6,326.4,9.4,397,3751,0.00,2.28,15.30,0.885,6,0.000,0.041,3040,2710,2048,0,0,0,0,0,0
$GC,3953,0.78,223.6,302.0,10.9,418,3956,0.00,1.70,0.00,0.000,4,0.000,0.048,3040,3758,2048,0,0,0,0,0,0
$GC,4024,0.78,223.6,293.0,12.7,424,4028,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2707,2047,0,0,1,0,0,0
$GC,4229,0.78,223.6,268.7,12.1,443,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2707,2047,0,0,0,0,0,0
$GC,4419,0.78,223.6,247.0,10.9,461,4423,0.00,1.75,0.00,0.000,4,0.000,0.048,3048,3750,2047,0,0,0,0,0,0
$GC,4457,0.78,223.6,241.9,13.6,464,4464,0.00,1.65,0.00,0.000,6,0.000,0.031,3054,2709,2047,0,0,1,0,0,0
$GC,4592,0.78,223.6,226.2,11.6,477,4596,0.00,1.75,0.00,0.000,4,0.000,0.047,3054,3757,2047,0,0,0,0,0,0
$GC,4630,0.78,223.6,221.1,13.4,480,4637,0.00,1.62,0.00,0.000,6,0.000,0.031,3062,2730,2047,0,0,1,0,0,0
$GC,4767,0.78,223.6,204.7,12.2,493,4771,0.00,2.25,0.00,0.000,4,0.000,0.034,3073,1303,2046,0,0,0,0,0,0
$GC,4800,0.78,223.6,200.4,12.1,495,4807,0.00,2.30,0.00,0.000,6,0.000,0.042,3073,2728,2046,0,0,0,0,0,0
$GC,4935,0.78,223.6,183.8,12.6,508,4939,0.00,1.70,0.00,0.000,4,0.000,0.048,3073,3758,2046,0,0,0,0,0,0
$GC,5008,0.78,223.6,173.5,13.8,514,5015,0.08,1.62,0.00,0.000,6,0.139,0.030,3052,2742,2046,0,0,0,0,0,0
$GC,5143,0.78,223.6,158.2,11.3,527,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2742,2046,0,0,0,0,0,0
$GC,5271,0.78,223.6,144.5,10.8,539,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2742,2046,0,0,0,0,0,0
$GC,5397,0.78,223.6,131.0,10.5,551,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2742,2046,0,0,0,0,0,0
$GC,5524,0.78,223.6,117.7,10.2,563,5528,0.00,1.65,0.00,0.000,4,0.000,0.048,3053,3761,2045,0,0,0,0,0,0
$GC,5560,0.78,223.6,113.6,12.2,566,5564,0.00,1.62,0.00,0.000,6,0.000,0.030,3059,2742,2045,0,0,0,0,0,0
$GC,5696,0.78,223.6,98.3,10.9,580,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2741,2045,0,0,0,0,0,0
$GC,5837,0.78,223.6,82.4,10.6,605,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2741,2045,0,0,0,0,0,0
$GC,5982,0.78,223.6,66.5,11.4,630,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2741,2045,0,0,0,0,0,0
$GC,6123,0.78,229.0,51.4,9.8,655,6135,0.00,0.00,5.78,0.707,6,0.000,0.000,3059,2742,2026,0,0,0,0,0,0
$GC,6274,0.78,229.0,35.8,10.6,681,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2742,2026,0,0,0,0,0,0
$GC,6419,0.78,229.0,19.4,12.5,706,6426,0.00,1.70,0.00,0.000,4,0.000,0.047,3059,3755,2026,0,0,0,0,0,0
$GC,6484,0.78,229.0,11.2,13.4,717,6492,0.00,1.60,0.00,0.000,6,0.000,0.030,3067,2750,2026,0,0,0,0,0,0
$FREEZE,8.81,0.509,-1.890,2,1,0
$FREEZE,8.32,0.498,-1.890,2,1,0
$FREEZE,7.63,0.508,-1.889,2,1,0
$FREEZE,7.10,0.502,-1.890,2,1,0
$FREEZE,6.40,0.530,-1.889,2,1,0
$FREEZE,5.73,0.531,-1.888,2,1,0
$FREEZE,5.15,0.524,-1.888,2,1,0
$FREEZE,4.59,0.524,-1.887,2,1,0
$FREEZE,4.14,0.528,-1.887,2,1,0
$FREEZE,3.68,0.527,-1.887,2,1,0
$FREEZE,3.08,0.527,-1.886,2,1,0
$FREEZE,2.40,0.529,-1.886,2,1,0
$STATE,6563,end climb,SURFACE_DEPTH_REACHED
$STATE,6563,begin surface coast
$FREEZE,1.42,0.529,-1.885,2,1,0
$FREEZE,0.80,0.527,-1.885,2,1,0
$FREEZE,0.32,0.526,-1.884,2,1,0
$FREEZE,-0.18,0.520,-0.979,2,1,0
$FREEZE,-0.23,0.399,-1.887,2,1,0
$FINISH,-0.2,1.027588
$STATE,6590,end surface coast,CONTROL_FINISHED_OK
$STATE,6591,begin surface
$SM_CCo,6609,9.50,0.103,0,0,1940,250.20
$SM_GC,1.93,0.00,0.00,9.50,0.000,0.000,0.103,189,2749,1940,-8.16,-0.88,250.20
$IRIDIUM_FIX,-7528.04,17520.17,290111,020216
$TT8_MAMPS,0.027713
$HUMID,53.15
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$24V_AH,21.6,95.960
$10V_AH,9.8,39.663
$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,18.275,49.950,350.050,9.500,0.000,27.747,42.179,184.900,1.000,0.000,44.017,1844.864,2906.603,434.327,1549.586,333.521,0.000,1149.180,0.000,1217.375,0.000,7.756,0.000
$DEVICE_MAMPS,206.550,80.325,979.200,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.971,941.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47099,736
$CAP_FILE_SIZE,95038,0
$CFSIZE,260165632,210010112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.255,183.1,1
$GPS,290111,065250,-7614.913,17522.477,16,1.7,17,123.6