version: 66.08
glider: 503
mission: 7
dive: 912
start: 1 29 111 13 0 37
data:
$ID,503
$MISSION,7
$DIVE,912
$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,-20686.145
$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,45
$R_STBD_OVSHOOT,25
$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
$GPS1,290111,125237,-7614.195,17521.592,21,1.3,27,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-74.8
$GPS2,290111,130007,-7614.245,17521.395,43,0.9,43,123.6
$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,227.5,19594,-16.1,-10.000
$D_GRID,377
$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,-75.80,0.000,2,0.000,0.000,172,2783,3550,0,0,0,0,0,0
$GC,99,-0.71,-170.3,4.1,-9.9,13,120,9.12,1.62,-2.10,0.000,4,0.203,0.058,2555,3771,3659,0,0,1,0,0,0
$GC,353,-0.71,-170.3,52.5,-13.8,58,360,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2777,3663,0,0,0,0,0,0
$GC,498,-0.71,-170.3,72.4,-13.9,83,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2777,3663,0,0,0,0,0,0
$GC,642,-0.71,-170.3,92.4,-13.5,108,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2777,3663,0,0,0,0,0,0
$GC,787,-0.71,-170.3,112.2,-13.5,126,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2777,3663,0,0,0,0,0,0
$GC,913,-0.71,-170.3,130.2,-13.9,138,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2777,3664,0,0,0,0,0,0
$GC,1041,-0.71,-170.3,147.6,-13.5,150,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2777,3664,0,0,0,0,0,0
$GC,1169,-0.71,-170.3,164.8,-13.8,162,1172,0.00,1.62,0.00,0.000,4,0.000,0.046,2547,3783,3664,0,0,0,0,0,0
$GC,1208,-0.71,-170.3,170.7,-14.7,165,1215,0.00,1.58,0.00,0.000,6,0.000,0.028,2547,2786,3664,0,0,0,0,0,0
$GC,1343,-0.71,-170.3,189.0,-13.7,178,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2785,3664,0,0,0,0,0,0
$GC,1471,-0.71,-170.3,206.0,-13.2,190,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2786,3664,0,0,0,0,0,0
$GC,1597,-0.71,-170.3,222.8,-13.5,202,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2786,3664,0,0,0,0,0,0
$GC,1724,-0.71,-170.3,240.0,-13.4,214,1728,0.00,1.62,0.00,0.000,4,0.000,0.046,2539,3766,3664,0,0,0,0,0,0
$GC,1764,-0.71,-170.3,245.8,-14.2,217,1772,0.08,1.55,0.00,0.000,6,0.131,0.028,2566,2781,3664,0,0,0,0,0,0
$GC,1899,-0.71,-170.3,262.0,-11.6,230,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2781,3664,0,0,0,0,0,0
$GC,2092,-0.71,-170.3,284.8,-11.7,248,2096,0.00,1.62,0.00,0.000,4,0.000,0.047,2562,3786,3664,0,0,0,0,0,0
$GC,2139,-0.71,-170.3,290.8,-12.8,252,2142,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2787,3664,0,0,0,0,0,0
$GC,2343,-0.71,-170.3,316.0,-12.3,271,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3664,0,0,0,0,0,0
$GC,2534,-0.71,-170.3,339.2,-11.9,289,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,2726,-0.71,-170.3,362.1,-11.6,307,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$STATE,2849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2849,begin apogee
$GC,2857,-0.16,0.0,377.2,12.1,319,3005,0.52,0.00,140.73,0.974,4,0.115,0.000,2741,2680,2959,0,0,0,0,0,0
$STATE,3005,end apogee,CONTROL_FINISHED_OK
$STATE,3006,begin climb
$GC,3009,0.71,170.3,384.1,0.0,332,3171,0.85,2.30,153.12,0.926,4,0.073,0.032,3028,1310,2265,0,0,0,0,0,0
$GC,3197,0.76,212.5,376.8,8.3,348,3245,0.00,2.47,41.85,0.888,6,0.000,0.040,3028,2706,2092,0,0,1,0,0,0
$GC,3446,0.76,212.5,351.8,10.2,371,3449,0.00,1.80,0.00,0.000,4,0.000,0.048,3028,3768,2090,0,0,0,0,0,0
$GC,3515,0.76,212.5,343.6,12.0,377,3519,0.00,1.70,0.00,0.000,6,0.000,0.029,3037,2729,2089,0,0,1,0,0,0
$GC,3720,0.76,212.5,322.0,10.4,396,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2727,2088,0,0,0,0,0,0
$GC,3911,0.76,213.0,302.9,10.0,414,3914,0.00,1.70,0.00,0.000,4,0.000,0.048,3037,3771,2087,0,0,0,0,0,0
$GC,3961,0.76,213.0,297.0,11.8,418,3967,0.00,1.70,0.00,0.000,6,0.000,0.030,3044,2714,2087,0,0,0,0,0,0
$GC,4161,0.76,213.0,276.3,10.6,437,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2714,2087,0,0,0,0,0,0
$GC,4350,0.76,213.0,256.2,10.8,455,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2714,2086,0,0,0,0,0,0
$GC,4542,0.76,213.0,235.7,10.8,473,4545,0.00,1.70,0.00,0.000,4,0.000,0.047,3044,3765,2085,0,0,0,0,0,0
$GC,4581,0.76,213.0,230.6,12.4,476,4589,0.00,1.70,0.00,0.000,6,0.000,0.028,3052,2705,2085,0,0,0,0,0,0
$GC,4717,0.76,213.0,215.5,11.1,489,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2705,2085,0,0,0,0,0,0
$GC,4844,0.76,213.0,201.5,11.4,501,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2705,2085,0,0,0,0,0,0
$GC,4972,0.76,213.0,187.5,11.1,513,4975,0.00,1.73,0.00,0.000,4,0.000,0.047,3052,3770,2085,0,0,0,0,0,0
$GC,5011,0.76,213.0,182.3,13.0,516,5019,0.00,1.67,0.00,0.000,6,0.000,0.028,3061,2717,2085,0,0,0,0,0,0
$GC,5146,0.76,213.0,166.8,11.4,529,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2717,2085,0,0,0,0,0,0
$GC,5274,0.76,213.0,152.4,11.2,541,5278,0.00,1.73,0.00,0.000,4,0.000,0.047,3061,3755,2084,0,0,0,0,0,0
$GC,5314,0.76,213.0,147.2,12.3,544,5323,0.00,1.60,0.00,0.000,6,0.000,0.029,3068,2739,2084,0,0,1,0,0,0
$GC,5449,0.76,213.0,132.2,10.8,557,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2739,2084,0,0,0,0,0,0
$GC,5577,0.76,213.0,118.4,11.0,569,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2738,2084,0,0,0,0,0,0
$GC,5704,0.76,213.0,104.3,10.7,581,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2739,2084,0,0,0,0,0,0
$GC,5836,0.76,213.0,89.3,11.7,601,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2739,2084,0,0,0,0,0,0
$GC,5978,0.76,213.0,73.1,11.4,626,5985,0.00,1.73,0.00,0.000,4,0.000,0.047,3069,3770,2083,0,0,0,0,0,0
$GC,6059,0.76,213.0,62.5,14.0,640,6067,0.08,1.67,0.00,0.000,6,0.138,0.029,3039,2724,2083,0,0,0,0,0,0
$GC,6207,0.79,238.0,48.5,9.0,665,6232,0.00,0.00,21.80,0.786,6,0.000,0.000,3039,2724,1989,0,0,0,0,0,0
$GC,6373,0.79,238.0,32.4,10.4,693,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2724,1989,0,0,0,0,0,0
$GC,6516,0.79,238.0,18.3,10.1,718,6522,0.00,1.75,0.00,0.000,4,0.000,0.049,3038,3786,1989,0,0,0,0,0,0
$GC,6558,0.79,238.0,13.7,11.2,725,6565,0.00,1.70,0.00,0.000,6,0.000,0.030,3045,2733,1989,0,0,0,0,0,0
$FREEZE,8.51,0.465,-1.893,2,1,0
$FREEZE,7.89,0.466,-1.892,2,1,0
$FREEZE,7.21,0.463,-1.892,2,1,0
$FREEZE,6.54,0.463,-1.891,2,1,0
$FREEZE,6.08,0.465,-1.891,2,1,0
$FREEZE,5.39,0.466,-1.890,2,1,0
$FREEZE,4.95,0.467,-1.890,2,1,0
$FREEZE,4.55,0.465,-1.890,2,1,0
$FREEZE,3.94,0.467,-1.889,2,1,0
$FREEZE,3.53,0.465,-1.889,2,1,0
$FREEZE,3.05,0.465,-1.889,2,1,0
$FREEZE,2.25,0.466,-1.888,2,1,0
$STATE,6663,end climb,SURFACE_DEPTH_REACHED
$STATE,6663,begin surface coast
$FREEZE,1.59,0.466,-1.888,2,1,0
$FREEZE,0.98,0.467,-1.887,2,1,0
$FREEZE,0.57,0.463,-1.887,2,1,0
$FREEZE,0.16,0.459,-1.886,2,1,0
$FREEZE,-0.08,0.422,-1.003,2,1,0
$FREEZE,-0.11,0.341,-0.953,2,1,0
$FINISH,-0.1,1.014091
$STATE,6697,end surface coast,CONTROL_FINISHED_OK
$STATE,6698,begin surface
$SM_CCo,6717,5.05,0.103,0,0,1939,250.20
$SM_GC,2.30,0.00,0.00,5.05,0.000,0.000,0.103,180,2801,1939,-8.19,0.62,250.20
$IRIDIUM_FIX,-7528.04,17546.48,290111,101018
$TT8_MAMPS,0.027713
$HUMID,53.38
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.6
$24V_AH,21.6,96.394
$10V_AH,9.7,39.895
$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,18.200,41.625,357.500,5.050,0.000,29.847,40.202,188.412,1.000,0.000,45.641,1862.224,3045.164,430.291,1511.919,328.037,0.000,1123.748,0.000,1179.581,0.000,7.759,0.000
$DEVICE_MAMPS,203.490,99.450,973.845,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.301,958.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,50369,750
$CAP_FILE_SIZE,93141,0
$CFSIZE,260165632,209793024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.038,205.7,1
$GPS,290111,145344,-7613.366,17521.045,20,1.8,21,123.6