version: 66.08
glider: 503
mission: 7
dive: 911
start: 1 29 111 11 0 14
data:
$ID,503
$MISSION,7
$DIVE,911
$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,-20684.885
$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,28
$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
$GPS1,290111,105237,-7614.690,17522.262,39,1.3,40,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.4
$GPS2,290111,105944,-7614.745,17522.111,11,1.3,11,123.6
$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,233.2,20560,-16.1,-10.000
$D_GRID,378
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-77.28,0.000,2,0.000,0.000,177,2753,3556,0,0,0,0,0,0
$GC,99,-0.71,-170.3,4.1,-10.2,13,120,9.07,1.67,-2.00,0.000,4,0.201,0.058,2560,3760,3659,0,0,0,0,0,0
$GC,306,-0.71,-170.3,45.2,-14.3,49,313,0.00,1.55,0.00,0.000,6,0.000,0.028,2560,2780,3662,0,0,0,0,0,0
$GC,449,-0.71,-170.3,65.2,-13.5,74,456,0.00,2.20,0.00,0.000,4,0.000,0.032,2560,1378,3662,0,0,0,0,0,0
$GC,487,-0.71,-170.3,70.4,-12.5,80,494,0.00,2.28,0.00,0.000,6,0.000,0.042,2550,2782,3662,0,0,0,0,0,0
$GC,629,-0.71,-170.3,90.8,-14.2,105,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2782,3662,0,0,0,0,0,0
$GC,773,-0.71,-170.3,111.5,-14.4,124,777,0.00,1.62,0.00,0.000,4,0.000,0.048,2541,3792,3663,0,0,0,0,0,0
$GC,808,-0.71,-170.3,116.5,-14.6,127,812,0.00,1.60,0.00,0.000,6,0.000,0.028,2542,2777,3663,0,0,0,0,0,0
$GC,950,-0.71,-170.3,137.2,-14.8,140,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2777,3663,0,0,0,0,0,0
$GC,1076,-0.71,-170.3,155.2,-14.2,152,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2777,3663,0,0,0,0,0,0
$GC,1204,-0.71,-170.3,173.6,-14.3,164,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2777,3663,0,0,0,0,0,0
$GC,1332,-0.71,-170.3,191.5,-13.8,176,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2777,3663,0,0,0,0,0,0
$GC,1458,-0.71,-170.3,209.5,-14.2,188,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2777,3663,0,0,0,0,0,0
$GC,1585,-0.71,-170.3,227.8,-14.4,200,1589,0.00,1.62,0.00,0.000,4,0.000,0.047,2534,3783,3663,0,0,0,0,0,0
$GC,1644,-0.71,-170.3,236.5,-15.0,205,1649,0.08,1.58,0.00,0.000,6,0.128,0.028,2570,2785,3663,0,0,0,0,0,0
$GC,1786,-0.71,-170.3,253.6,-11.4,218,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2785,3663,0,0,0,0,0,0
$GC,1976,-0.71,-170.3,275.6,-11.3,236,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2784,3663,0,0,0,0,0,0
$GC,2167,-0.71,-170.3,297.2,-11.5,254,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2784,3664,0,0,0,0,0,0
$GC,2358,-0.71,-170.3,319.3,-11.8,272,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2784,3663,0,0,0,0,0,0
$GC,2550,-0.71,-170.3,341.5,-11.8,290,2554,0.00,1.62,0.00,0.000,4,0.000,0.048,2563,3787,3663,0,0,0,0,0,0
$GC,2598,-0.71,-170.3,347.3,-12.5,294,2602,0.00,1.58,0.00,0.000,6,0.000,0.028,2563,2787,3662,0,0,0,0,0,0
$GC,2802,-0.71,-170.3,371.6,-11.8,313,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3662,0,0,0,0,0,0
$STATE,2863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2863,begin apogee
$GC,2871,-0.16,0.0,379.0,11.6,319,3018,0.52,0.00,140.57,0.979,4,0.113,0.000,2743,2681,2959,0,0,0,0,0,0
$STATE,3019,end apogee,CONTROL_FINISHED_OK
$STATE,3019,begin climb
$GC,3022,0.71,170.3,385.7,0.0,332,3185,0.85,2.33,153.25,0.929,4,0.071,0.033,3031,1312,2265,0,0,0,0,0,0
$GC,3191,0.76,212.9,379.6,8.3,346,3244,0.00,2.50,42.30,0.887,6,0.000,0.041,3031,2697,2092,0,0,1,0,0,0
$GC,3435,0.76,213.2,354.9,10.0,369,3438,0.00,1.83,0.00,0.000,4,0.000,0.047,3031,3764,2090,0,0,0,0,0,0
$GC,3530,0.76,213.2,343.4,12.5,377,3537,0.00,1.65,0.00,0.000,6,0.000,0.029,3039,2728,2088,0,0,1,0,0,0
$GC,3730,0.76,213.2,321.9,10.8,396,3733,0.00,1.70,0.00,0.000,4,0.000,0.047,3039,3765,2087,0,0,0,0,0,0
$GC,3768,0.76,213.2,316.9,12.7,399,3776,0.00,1.65,0.00,0.000,6,0.000,0.029,3047,2718,2087,0,0,0,0,0,0
$GC,3967,0.76,213.2,294.6,11.4,418,3971,0.00,1.75,0.00,0.000,4,0.000,0.047,3047,3764,2086,0,0,0,0,0,0
$GC,4014,0.76,213.2,289.0,12.7,422,4017,0.00,1.62,0.00,0.000,6,0.000,0.029,3054,2711,2086,0,0,1,0,0,0
$GC,4218,0.76,213.2,265.7,11.4,441,4221,0.00,1.73,0.00,0.000,4,0.000,0.047,3054,3771,2085,0,0,0,0,0,0
$GC,4255,0.76,213.2,261.1,13.1,444,4258,0.00,1.65,0.00,0.000,6,0.000,0.028,3062,2711,2085,0,0,0,0,0,0
$GC,4459,0.76,213.2,236.4,12.0,463,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2711,2085,0,0,0,0,0,0
$GC,4586,0.76,213.2,221.0,12.3,475,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2711,2085,0,0,0,0,0,0
$GC,4715,0.76,213.2,206.2,11.6,487,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2711,2085,0,0,0,0,0,0
$GC,4840,0.76,213.2,192.0,10.8,499,4844,0.00,1.73,0.00,0.000,4,0.000,0.047,3062,3774,2084,0,0,0,0,0,0
$GC,4890,0.76,213.2,185.5,13.6,503,4898,0.00,1.65,0.00,0.000,6,0.000,0.029,3070,2741,2084,0,0,0,0,0,0
$GC,5026,0.76,213.2,170.4,11.5,516,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2741,2084,0,0,0,0,0,0
$GC,5152,0.76,213.2,156.2,11.4,528,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2741,2084,0,0,0,0,0,0
$GC,5281,0.76,213.2,141.8,11.2,540,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2741,2083,0,0,0,0,0,0
$GC,5416,0.76,213.2,126.5,11.5,553,5420,0.00,1.70,0.00,0.000,4,0.000,0.047,3070,3764,2083,0,0,0,0,0,0
$GC,5463,0.76,213.2,120.7,13.3,557,5467,0.08,1.60,0.00,0.000,6,0.135,0.029,3041,2758,2083,0,0,0,0,0,0
$GC,5603,0.77,216.8,106.2,9.9,570,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2758,2083,0,0,0,0,0,0
$GC,5734,0.77,219.5,93.7,9.9,587,5742,0.00,0.00,5.50,0.710,6,0.000,0.000,3041,2759,2065,0,0,0,0,0,0
$GC,5880,0.78,226.7,80.0,9.7,612,5892,0.00,0.00,8.18,0.762,6,0.000,0.000,3041,2758,2035,0,0,0,0,0,0
$GC,6030,0.80,240.5,65.3,9.5,638,6049,0.00,0.00,13.82,0.779,6,0.000,0.000,3041,2759,1980,0,0,0,0,0,0
$GC,6187,0.80,240.5,49.0,10.6,665,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2759,1979,0,0,0,0,0,0
$GC,6329,0.80,240.5,34.1,10.6,690,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2758,1979,0,0,0,0,0,0
$GC,6473,0.80,240.5,19.5,10.4,715,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2759,1979,0,0,0,0,0,0
$FREEZE,8.86,0.634,-1.891,2,1,0
$FREEZE,8.32,0.633,-1.891,2,1,0
$FREEZE,7.76,0.635,-1.891,2,1,0
$FREEZE,7.25,0.635,-1.890,2,1,0
$FREEZE,6.68,0.636,-1.890,2,1,0
$FREEZE,6.06,0.637,-1.889,2,1,0
$FREEZE,5.54,0.638,-1.889,2,1,0
$FREEZE,5.07,0.639,-1.889,2,1,0
$GC,6617,0.80,240.5,5.1,10.4,740,6624,0.00,1.67,0.00,0.000,4,0.000,0.048,3041,3761,1979,0,0,0,0,0,0
$FREEZE,3.03,0.639,-1.887,2,1,0
$FREEZE,2.60,0.638,-1.887,2,1,0
$STATE,6635,end climb,SURFACE_DEPTH_REACHED
$STATE,6635,begin surface coast
$FREEZE,1.86,0.638,-1.886,2,1,0
$FREEZE,1.30,0.637,-1.886,2,1,0
$FINISH,1.3,1.027542
$STATE,6647,end surface coast,CONTROL_FINISHED_OK
$STATE,6647,begin surface
$SM_CCo,6667,4.12,0.103,0,0,1940,250.20
$SM_GC,2.48,0.00,0.00,4.12,0.000,0.000,0.103,180,2783,1940,-8.19,0.08,250.20
$IRIDIUM_FIX,-7528.04,17520.17,290111,080825
$TT8_MAMPS,0.027713
$HUMID,53.46
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.8
$24V_AH,21.5,96.286
$10V_AH,9.8,39.837
$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,18.125,45.750,363.625,4.125,0.000,24.873,45.045,187.769,1.000,0.000,14.502,1850.943,2995.829,433.632,1475.134,347.719,0.000,1131.526,0.000,1183.398,0.000,7.758,0.000
$DEVICE_MAMPS,201.195,81.855,979.200,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.038,953.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258204
$DATA_FILE_SIZE,50331,745
$CAP_FILE_SIZE,94221,0
$CFSIZE,260165632,209842176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.142,193.6,1
$GPS,290111,125237,-7614.195,17521.592,21,1.3,27,123.6