version: 66.08
glider: 503
mission: 7
dive: 910
start: 1 29 111 8 59 8
data:
$ID,503
$MISSION,7
$DIVE,910
$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,-20683.627
$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,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
$GPS1,290111,085155,-7614.839,17522.648,53,1.0,54,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.1
$GPS2,290111,085838,-7614.897,17522.578,12,1.0,12,123.6
$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,232.8,20907,-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,-75.90,0.000,2,0.000,0.000,173,2797,3537,0,0,0,0,0,0
$GC,98,-0.71,-170.3,4.1,-10.8,13,119,9.20,1.60,-2.35,0.000,4,0.205,0.060,2555,3763,3659,0,0,0,0,0,0
$GC,371,-0.71,-170.3,55.6,-14.7,61,378,0.00,1.55,0.00,0.000,6,0.000,0.028,2555,2776,3661,0,0,0,0,0,0
$GC,515,-0.71,-170.3,76.0,-13.9,86,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2776,3662,0,0,0,0,0,0
$GC,655,-0.71,-170.3,95.8,-13.6,111,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2776,3662,0,0,0,0,0,0
$GC,794,-0.71,-170.3,114.6,-13.5,126,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2776,3663,0,0,0,0,0,0
$GC,920,-0.71,-170.3,132.0,-13.6,138,923,0.00,1.62,0.00,0.000,4,0.000,0.047,2547,3786,3663,0,0,0,0,0,0
$GC,955,-0.71,-170.3,137.0,-14.0,141,958,0.00,1.58,0.00,0.000,6,0.000,0.028,2547,2784,3662,0,0,0,0,0,0
$GC,1096,-0.71,-170.3,156.8,-14.0,154,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3662,0,0,0,0,0,0
$GC,1222,-0.71,-170.3,174.6,-13.8,166,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2783,3662,0,0,0,0,0,0
$GC,1350,-0.71,-170.3,192.1,-13.8,178,1353,0.00,1.62,0.00,0.000,4,0.000,0.047,2539,3754,3663,0,0,0,0,0,0
$GC,1378,-0.71,-170.3,196.4,-14.1,180,1386,0.08,1.52,0.00,0.000,6,0.136,0.028,2566,2785,3663,0,0,0,0,0,0
$GC,1513,-0.71,-170.3,213.3,-12.6,193,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2786,3663,0,0,0,0,0,0
$GC,1640,-0.71,-170.3,229.2,-12.5,205,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2786,3662,0,0,0,0,0,0
$GC,1769,-0.71,-170.3,245.1,-12.3,217,1772,0.00,1.60,0.00,0.000,4,0.000,0.047,2559,3745,3662,0,0,0,0,0,0
$GC,1819,-0.71,-170.3,252.3,-13.5,221,1826,0.00,1.50,0.00,0.000,6,0.000,0.028,2559,2788,3663,0,0,0,0,0,0
$GC,2018,-0.71,-170.3,277.7,-12.9,240,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2788,3662,0,0,0,0,0,0
$GC,2210,-0.71,-170.3,301.7,-12.6,258,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2788,3662,0,0,0,0,0,0
$GC,2402,-0.71,-170.3,325.6,-12.8,276,2405,0.00,1.60,0.00,0.000,4,0.000,0.048,2551,3749,3662,0,0,0,0,0,0
$GC,2441,-0.71,-170.3,331.1,-13.4,279,2448,0.00,1.48,0.00,0.000,6,0.000,0.028,2552,2808,3662,0,0,0,0,0,0
$GC,2640,-0.71,-170.3,356.3,-12.5,298,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2808,3662,0,0,0,0,0,0
$STATE,2829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2829,begin apogee
$GC,2837,-0.16,0.0,379.9,12.6,316,2984,0.57,0.00,140.55,0.980,4,0.117,0.000,2744,2685,2960,0,0,0,0,0,0
$STATE,2985,end apogee,CONTROL_FINISHED_OK
$STATE,2985,begin climb
$GC,2988,0.71,170.3,386.7,0.0,329,3149,0.85,2.30,153.35,0.929,4,0.072,0.033,3031,1310,2265,0,0,0,0,0,0
$GC,3357,0.74,193.9,362.5,9.1,361,3387,0.00,2.33,21.98,0.894,6,0.000,0.040,3030,2689,2169,0,0,0,0,0,0
$GC,3577,0.74,193.9,340.3,10.1,382,3581,0.00,2.22,0.00,0.000,4,0.000,0.034,3042,1315,2167,0,0,0,0,0,0
$GC,3741,0.75,197.6,324.1,9.9,396,3754,0.00,2.25,4.60,0.692,6,0.000,0.041,3041,2703,2154,0,0,0,0,0,0
$GC,3949,0.75,197.6,302.5,10.5,415,3952,0.00,1.70,0.00,0.000,4,0.000,0.047,3041,3762,2153,0,0,0,0,0,0
$GC,4033,0.75,197.6,291.6,12.8,422,4039,0.00,1.65,0.00,0.000,6,0.000,0.028,3048,2726,2153,0,0,0,0,0,0
$GC,4232,0.75,197.6,269.7,11.4,441,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2726,2152,0,0,0,0,0,0
$GC,4423,0.75,197.6,248.4,11.3,459,4427,0.00,1.70,0.00,0.000,4,0.000,0.047,3048,3770,2152,0,0,0,0,0,0
$GC,4485,0.75,197.6,240.2,12.8,464,4492,0.00,1.67,0.00,0.000,6,0.000,0.028,3055,2718,2152,0,0,0,0,0,0
$GC,4620,0.75,197.6,224.3,11.9,477,4623,0.00,1.70,0.00,0.000,4,0.000,0.047,3055,3769,2152,0,0,0,0,0,0
$GC,4677,0.75,197.6,216.9,14.1,482,4681,0.00,1.62,0.00,0.000,6,0.000,0.029,3064,2746,2151,0,0,0,0,0,0
$GC,4818,0.75,197.6,200.1,11.6,495,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2744,2151,0,0,0,0,0,0
$GC,4944,0.75,197.6,185.5,11.3,507,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2744,2151,0,0,0,0,0,0
$GC,5072,0.75,197.6,171.1,11.5,519,5075,0.00,1.65,0.00,0.000,4,0.000,0.048,3063,3764,2151,0,0,0,0,0,0
$GC,5132,0.75,197.6,163.6,13.5,524,5137,0.12,1.62,0.00,0.000,6,0.158,0.029,3035,2742,2150,0,0,0,0,0,0
$GC,5273,0.75,202.7,149.0,9.8,537,5284,0.00,0.00,5.65,0.735,6,0.000,0.000,3035,2742,2132,0,0,0,0,0,0
$GC,5410,0.76,208.2,135.8,9.8,550,5420,0.00,0.00,6.45,0.752,6,0.000,0.000,3035,2742,2111,0,0,0,0,0,0
$GC,5549,0.76,208.6,122.5,10.0,563,5552,0.00,1.65,0.00,0.000,4,0.000,0.047,3035,3763,2111,0,0,0,0,0,0
$GC,5588,0.76,208.6,118.0,10.8,566,5594,0.00,1.60,0.00,0.000,6,0.000,0.030,3041,2761,2111,0,0,0,0,0,0
$GC,5723,0.76,208.6,104.3,10.1,579,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2761,2111,0,0,0,0,0,0
$GC,5855,0.76,213.6,91.2,9.8,598,5869,0.00,0.00,6.43,0.737,6,0.000,0.000,3041,2761,2090,0,0,0,0,0,0
$GC,6007,0.78,222.7,76.6,9.6,624,6026,0.00,1.67,10.15,0.776,4,0.000,0.048,3041,3760,2051,0,0,1,0,0,0
$GC,6062,0.78,222.7,70.6,11.0,633,6069,0.00,1.60,0.00,0.000,6,0.000,0.030,3048,2764,2052,0,0,0,0,0,0
$GC,6205,0.78,229.5,56.5,9.7,658,6220,0.00,2.40,8.10,0.744,4,0.000,0.034,3059,1305,2024,0,0,0,0,0,0
$GC,6257,0.80,242.6,51.3,9.5,666,6277,0.00,2.35,13.45,0.763,6,0.000,0.041,3059,2754,1970,0,0,0,0,0,0
$GC,6413,0.80,242.6,34.4,11.5,693,6419,0.00,1.67,0.00,0.000,4,0.000,0.048,3059,3758,1971,0,0,0,0,0,0
$GC,6457,0.80,242.6,29.2,11.9,700,6463,0.00,1.60,0.00,0.000,6,0.000,0.029,3065,2765,1970,0,0,0,0,0,0
$GC,6601,0.80,242.6,12.2,13.5,725,6608,0.00,2.33,0.00,0.000,4,0.000,0.035,3076,1305,1970,0,0,0,0,0,0
$FREEZE,8.89,0.647,-1.890,2,1,0
$FREEZE,8.37,0.647,-1.890,2,1,0
$GC,6632,0.80,242.6,8.4,10.8,730,6639,0.00,2.35,0.00,0.000,6,0.000,0.044,3076,2751,1970,0,0,0,0,0,0
$FREEZE,6.70,0.649,-1.889,2,1,0
$FREEZE,6.08,0.645,-1.888,2,1,0
$FREEZE,5.46,0.650,-1.888,2,1,0
$FREEZE,4.76,0.650,-1.887,2,1,0
$FREEZE,4.19,0.651,-1.887,2,1,0
$FREEZE,3.39,0.650,-1.886,2,1,0
$FREEZE,2.63,0.651,-1.886,2,1,0
$STATE,6677,end climb,SURFACE_DEPTH_REACHED
$STATE,6677,begin surface coast
$FREEZE,1.95,0.648,-1.885,2,1,0
$FREEZE,1.24,0.649,-1.885,2,1,0
$FREEZE,0.58,0.645,-1.884,2,1,0
$FREEZE,-0.05,0.643,-1.884,2,1,0
$FINISH,-0.1,1.027527
$STATE,6704,end surface coast,CONTROL_FINISHED_OK
$STATE,6704,begin surface
$SM_CCo,6723,3.05,0.105,0,0,1940,250.20
$SM_GC,2.28,0.00,0.00,3.05,0.000,0.000,0.105,188,2752,1940,-8.16,-0.79,250.20
$IRIDIUM_FIX,-7528.04,17520.17,290111,060619
$TT8_MAMPS,0.027713
$HUMID,53.78
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$24V_AH,21.6,96.176
$10V_AH,9.7,39.779
$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,18.400,57.450,370.700,3.050,0.000,24.165,44.390,173.856,1.000,0.000,14.862,1854.705,2972.539,453.504,1507.179,346.237,0.000,1173.866,0.000,1223.457,0.000,7.756,0.000
$DEVICE_MAMPS,205.020,68.085,979.965,104.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.424,949.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50291,742
$CAP_FILE_SIZE,97630,0
$CFSIZE,260165632,209899520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.209,186.2,1
$GPS,290111,105237,-7614.690,17522.262,39,1.3,40,123.6