version: 66.08
glider: 503
mission: 7
dive: 909
start: 1 29 111 7 0 19
data:
$ID,503
$MISSION,7
$DIVE,909
$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,-20682.369
$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,51
$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
$GPS1,290111,065250,-7614.913,17522.477,16,1.7,17,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-71.4
$GPS2,290111,065949,-7614.984,17522.381,15,1.7,15,123.6
$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,236.7,21006,-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,-170.3,0.0,0.0,0,94,0.00,0.00,-76.05,0.000,2,0.000,0.000,184,2749,3544,0,0,0,0,0,0
$GC,98,-0.71,-170.3,4.2,-11.1,13,120,9.12,1.67,-2.20,0.000,4,0.204,0.058,2558,3764,3660,0,0,1,0,0,0
$GC,349,-0.71,-170.3,52.3,-14.0,57,356,0.00,1.55,0.00,0.000,6,0.000,0.027,2558,2781,3663,0,0,0,0,0,0
$GC,493,-0.71,-170.3,72.0,-14.1,82,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2781,3663,0,0,0,0,0,0
$GC,635,-0.71,-170.3,92.6,-14.7,107,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2781,3663,0,0,0,0,0,0
$GC,775,-0.71,-170.3,112.5,-14.1,124,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2781,3664,0,0,0,0,0,0
$GC,901,-0.71,-170.3,130.0,-13.5,136,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2781,3665,0,0,0,0,0,0
$GC,1028,-0.71,-170.3,147.2,-13.4,148,1031,0.00,1.62,0.00,0.000,4,0.000,0.047,2550,3786,3665,0,0,0,0,0,0
$GC,1077,-0.71,-170.3,154.6,-14.2,152,1084,0.00,1.58,0.00,0.000,6,0.000,0.028,2550,2783,3664,0,0,0,0,0,0
$GC,1212,-0.71,-170.3,173.0,-13.8,165,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3664,0,0,0,0,0,0
$GC,1340,-0.71,-170.3,190.6,-13.9,177,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2783,3665,0,0,0,0,0,0
$GC,1468,-0.71,-170.3,208.1,-13.7,189,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3665,0,0,0,0,0,0
$GC,1594,-0.71,-170.3,225.3,-13.6,201,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3665,0,0,0,0,0,0
$GC,1721,-0.71,-170.3,242.1,-13.1,213,1725,0.00,1.62,0.00,0.000,4,0.000,0.047,2542,3759,3664,0,0,0,0,0,0
$GC,1768,-0.71,-170.3,248.6,-14.3,217,1772,0.00,1.52,0.00,0.000,6,0.000,0.028,2542,2787,3664,0,0,0,0,0,0
$GC,1911,-0.71,-170.3,267.6,-13.5,230,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2787,3665,0,0,0,0,0,0
$GC,2110,-0.71,-170.3,294.6,-13.3,249,2114,0.00,1.62,0.00,0.000,4,0.000,0.047,2534,3791,3664,0,0,0,0,0,0
$GC,2158,-0.71,-170.3,301.4,-14.4,253,2162,0.08,1.55,0.00,0.000,6,0.129,0.028,2577,2803,3664,0,0,0,0,0,0
$GC,2364,-0.71,-170.3,324.4,-11.1,272,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2804,3664,0,0,0,0,0,0
$GC,2564,-0.71,-170.3,346.8,-11.2,291,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2804,3664,0,0,0,0,0,0
$GC,2754,-0.71,-170.3,367.6,-10.8,309,2757,0.00,1.60,0.00,0.000,4,0.000,0.048,2570,3760,3664,0,0,0,0,0,0
$GC,2790,-0.71,-170.3,371.6,-11.6,312,2793,0.00,1.50,0.00,0.000,6,0.000,0.029,2570,2810,3664,0,0,0,0,0,0
$STATE,2854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2854,begin apogee
$GC,2862,-0.16,0.0,379.1,11.2,318,3010,0.50,0.00,140.95,0.981,4,0.112,0.000,2742,2692,2959,0,0,0,0,0,0
$STATE,3010,end apogee,CONTROL_FINISHED_OK
$STATE,3011,begin climb
$GC,3014,0.71,170.3,386.1,0.0,331,3176,0.85,2.35,153.45,0.928,4,0.072,0.033,3029,1305,2265,0,0,0,0,0,0
$GC,3369,0.74,196.3,364.6,9.0,362,3403,0.00,2.38,24.38,0.900,6,0.000,0.041,3029,2704,2159,0,0,0,0,0,0
$GC,3595,0.76,213.0,343.0,9.3,383,3620,0.00,2.33,16.15,0.884,4,0.000,0.034,3040,1306,2091,0,0,1,0,0,0
$GC,3745,0.78,228.1,328.9,9.4,396,3768,0.00,2.33,15.23,0.880,6,0.000,0.041,3040,2722,2029,0,0,0,0,0,0
$GC,3963,0.78,228.1,307.1,10.3,416,3967,0.00,1.67,0.00,0.000,4,0.000,0.048,3040,3760,2029,0,0,0,0,0,0
$GC,4002,0.78,228.1,301.9,12.4,419,4010,0.00,1.65,0.00,0.000,6,0.000,0.031,3047,2701,2028,0,0,0,0,0,0
$GC,4201,0.78,228.1,280.0,11.0,438,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2701,2028,0,0,0,0,0,0
$GC,4392,0.78,228.1,259.1,11.3,456,4396,0.00,1.73,0.00,0.000,4,0.000,0.048,3047,3767,2028,0,0,0,0,0,0
$GC,4432,0.78,228.1,254.1,12.6,459,4440,0.00,1.65,0.00,0.000,6,0.000,0.029,3054,2699,2028,0,0,0,0,0,0
$GC,4631,0.78,228.1,230.8,12.1,478,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2698,2028,0,0,0,0,0,0
$GC,4759,0.78,228.1,215.9,11.9,490,4763,0.00,1.75,0.00,0.000,4,0.000,0.048,3054,3751,2028,0,0,0,0,0,0
$GC,4804,0.78,228.1,209.9,13.2,494,4808,0.00,1.62,0.00,0.000,6,0.000,0.030,3061,2730,2027,0,0,0,0,0,0
$GC,4945,0.78,228.1,192.7,12.3,507,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2728,2027,0,0,0,0,0,0
$GC,5072,0.78,228.1,177.4,11.8,519,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2727,2027,0,0,0,0,0,0
$GC,5200,0.78,228.1,162.2,11.9,531,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2727,2027,0,0,0,0,0,0
$GC,5328,0.78,228.1,147.1,11.6,543,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2727,2027,0,0,0,0,0,0
$GC,5454,0.78,228.1,132.2,11.6,555,5457,0.00,1.67,0.00,0.000,4,0.000,0.048,3061,3764,2027,0,0,0,0,0,0
$GC,5505,0.78,228.1,125.6,12.9,559,5513,0.00,1.65,0.00,0.000,6,0.000,0.029,3070,2725,2026,0,0,0,0,0,0
$GC,5640,0.78,228.1,109.5,11.6,572,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2725,2026,0,0,0,0,0,0
$GC,5769,0.78,228.1,94.2,11.7,588,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2725,2026,0,0,0,0,0,0
$GC,5911,0.78,228.1,77.9,11.7,613,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2726,2026,0,0,0,0,0,0
$GC,6053,0.78,228.1,61.3,11.6,638,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2726,2026,0,0,0,0,0,0
$GC,6196,0.78,228.1,44.5,11.8,663,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2726,2026,0,0,0,0,0,0
$GC,6338,0.78,228.1,27.6,12.8,688,6345,0.00,1.73,0.00,0.000,4,0.000,0.048,3069,3760,2026,0,0,0,0,0,0
$GC,6392,0.78,228.1,20.5,13.8,697,6400,0.00,1.62,0.00,0.000,6,0.000,0.030,3078,2739,2026,0,0,0,0,0,0
$FREEZE,8.86,0.597,-1.890,2,1,0
$FREEZE,8.44,0.600,-1.890,2,1,0
$FREEZE,7.63,0.598,-1.890,2,1,0
$FREEZE,7.11,0.600,-1.889,2,1,0
$FREEZE,6.54,0.596,-1.889,2,1,0
$FREEZE,5.75,0.594,-1.888,2,1,0
$FREEZE,5.13,0.591,-1.888,2,1,0
$FREEZE,4.78,0.600,-1.887,2,1,0
$FREEZE,4.11,0.601,-1.887,2,1,0
$FREEZE,3.52,0.603,-1.886,2,1,0
$GC,6535,0.78,228.1,3.5,10.6,722,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2739,2026,0,0,0,0,0,0
$FREEZE,1.55,0.605,-1.885,2,1,0
$STATE,6547,end climb,SURFACE_DEPTH_REACHED
$STATE,6547,begin surface coast
$FREEZE,0.76,0.603,-1.884,2,1,0
$FREEZE,0.18,0.598,-1.884,2,1,0
$FREEZE,-0.07,0.594,-1.883,2,1,0
$FREEZE,-0.23,0.423,-0.206,2,1,0
$FINISH,-0.2,1.002913
$STATE,6570,end surface coast,CONTROL_FINISHED_OK
$STATE,6570,begin surface
$SM_CCo,6590,9.40,0.102,0,0,1939,250.20
$SM_GC,2.03,0.00,0.00,9.40,0.000,0.000,0.102,175,2796,1939,-8.21,0.42,250.20
$IRIDIUM_FIX,-7554.21,16750.42,290111,040406
$TT8_MAMPS,0.027713
$HUMID,53.34
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.5
$24V_AH,21.6,96.067
$10V_AH,9.8,39.720
$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,18.225,42.175,350.150,9.400,0.000,28.580,43.976,181.619,1.000,0.000,18.013,1813.927,2952.317,441.880,1491.574,323.750,0.000,1141.765,0.000,1187.384,0.000,7.753,0.000
$DEVICE_MAMPS,204.255,114.750,980.730,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.152,922.311,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,47132,728
$CAP_FILE_SIZE,92344,0
$CFSIZE,260165632,209960960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.220,183.6,1
$GPS,290111,085155,-7614.839,17522.648,53,1.0,54,123.6