version: 66.08
glider: 503
mission: 7
dive: 913
start: 1 29 111 15 1 31
data:
$ID,503
$MISSION,7
$DIVE,913
$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,-20687.402
$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,48
$R_STBD_OVSHOOT,35
$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
$GPS1,290111,145344,-7613.366,17521.045,20,1.8,21,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.9
$GPS2,290111,150101,-7613.396,17520.902,13,1.8,30,123.6
$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,212.0,18123,-16.1,-10.000
$D_GRID,376
$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,-170.3,0.0,0.0,0,91,0.00,0.00,-72.47,0.000,2,0.000,0.000,178,2802,3428,0,0,0,0,0,0
$GC,95,-0.71,-170.3,3.3,-6.9,12,117,9.18,2.35,-4.78,0.000,4,0.206,0.044,2565,1368,3659,0,0,1,0,0,0
$GC,370,-0.71,-170.3,48.1,-13.4,60,377,0.00,2.28,0.00,0.000,6,0.000,0.042,2562,2774,3662,0,0,0,0,0,0
$GC,515,-0.71,-170.3,67.2,-13.2,85,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2773,3662,0,0,0,0,0,0
$GC,657,-0.71,-170.3,85.8,-13.2,110,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2773,3663,0,0,0,0,0,0
$GC,799,-0.71,-170.3,104.8,-13.7,132,803,0.00,1.62,0.00,0.000,4,0.000,0.049,2562,3751,3662,0,0,0,0,0,0
$GC,872,-0.71,-170.3,115.1,-13.2,138,880,0.00,1.52,0.00,0.000,6,0.000,0.028,2562,2786,3662,0,0,0,0,0,0
$GC,1008,-0.71,-170.3,132.4,-13.1,151,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1134,-0.71,-170.3,148.6,-12.8,163,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1262,-0.71,-170.3,164.7,-12.7,175,1266,0.00,1.62,0.00,0.000,4,0.000,0.049,2563,3758,3664,0,0,0,0,0,0
$GC,1334,-0.71,-170.3,174.5,-12.5,181,1341,0.00,1.55,0.00,0.000,6,0.000,0.028,2562,2784,3664,0,0,0,0,0,0
$GC,1470,-0.71,-170.3,191.1,-12.4,194,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3663,0,0,0,0,0,0
$GC,1596,-0.71,-170.3,207.2,-12.8,206,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3663,0,0,0,0,0,0
$GC,1723,-0.71,-170.3,223.7,-12.9,218,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3663,0,0,0,0,0,0
$GC,1851,-0.71,-170.3,239.8,-12.9,230,1855,0.00,1.62,0.00,0.000,4,0.000,0.048,2562,3783,3663,0,0,0,0,0,0
$GC,1897,-0.71,-170.3,245.9,-13.2,234,1902,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2789,3663,0,0,0,0,0,0
$GC,2038,-0.71,-170.3,263.5,-12.2,247,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2789,3663,0,0,0,0,0,0
$GC,2231,-0.71,-170.3,286.9,-12.6,265,2235,0.00,1.62,0.00,0.000,4,0.000,0.048,2556,3791,3663,0,0,0,0,0,0
$GC,2289,-0.71,-170.3,294.4,-12.6,270,2293,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2789,3663,0,0,0,0,0,0
$GC,2494,-0.71,-170.3,320.5,-12.4,289,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2789,3663,0,0,0,0,0,0
$GC,2684,-0.71,-170.3,344.7,-12.6,307,2688,0.00,1.62,0.00,0.000,4,0.000,0.047,2548,3793,3663,0,0,0,0,0,0
$GC,2724,-0.71,-170.3,350.2,-13.6,310,2732,0.00,1.58,0.00,0.000,6,0.000,0.028,2547,2789,3662,0,0,0,0,0,0
$GC,2925,-0.71,-170.3,375.7,-12.7,329,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3662,0,0,0,0,0,0
$STATE,2941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2941,begin apogee
$GC,2948,-0.16,0.0,378.3,12.6,331,3095,0.57,0.00,140.62,0.978,4,0.116,0.000,2741,2694,2959,0,0,0,0,0,0
$STATE,3096,end apogee,CONTROL_FINISHED_OK
$STATE,3096,begin climb
$GC,3099,0.71,170.3,384.9,0.0,344,3261,0.85,2.35,153.27,0.926,4,0.073,0.033,3029,1311,2265,0,0,0,0,0,0
$GC,3276,0.77,216.0,378.6,8.2,359,3332,0.00,2.47,45.33,0.888,6,0.000,0.041,3029,2696,2078,0,0,1,0,0,0
$GC,3524,0.79,232.8,354.5,9.3,382,3547,0.00,1.85,16.23,0.869,4,0.000,0.048,3029,3770,2011,0,0,0,0,0,0
$GC,3617,0.79,232.8,344.1,11.7,390,3621,0.00,1.70,0.00,0.000,6,0.000,0.029,3037,2722,2011,0,0,0,0,0,0
$GC,3821,0.79,232.8,322.0,11.2,409,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2721,2012,0,0,0,0,0,0
$GC,4014,0.79,232.8,301.5,10.8,427,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2721,2011,0,0,0,0,0,0
$GC,4203,0.79,232.8,281.2,10.9,445,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2721,2011,0,0,0,0,0,0
$GC,4395,0.79,232.8,260.9,10.5,463,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2721,2010,0,0,0,0,0,0
$GC,4586,0.79,232.8,241.5,10.2,481,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2721,2010,0,0,0,0,0,0
$GC,4712,0.79,232.8,228.4,10.3,493,4716,0.00,1.70,0.00,0.000,4,0.000,0.048,3037,3771,2009,0,0,0,0,0,0
$GC,4760,0.79,232.8,223.0,12.1,497,4763,0.00,1.65,0.00,0.000,6,0.000,0.029,3044,2706,2009,0,0,0,0,0,0
$GC,4901,0.79,232.8,207.5,10.5,510,4905,0.00,2.20,0.00,0.000,4,0.000,0.035,3054,1302,2009,0,0,0,0,0,0
$GC,4935,0.79,232.8,203.7,10.5,513,4939,0.00,2.28,0.00,0.000,6,0.000,0.042,3054,2715,2009,0,0,0,0,0,0
$GC,5076,0.79,232.8,188.4,10.8,526,5079,0.00,1.73,0.00,0.000,4,0.000,0.049,3054,3762,2009,0,0,0,0,0,0
$GC,5111,0.79,232.8,184.2,12.2,529,5115,0.00,1.67,0.00,0.000,6,0.000,0.030,3062,2712,2009,0,0,0,0,0,0
$GC,5251,0.79,232.8,168.1,11.6,542,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2711,2009,0,0,0,0,0,0
$GC,5378,0.79,232.8,153.7,11.2,554,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2711,2008,0,0,0,0,0,0
$GC,5506,0.79,232.8,139.4,11.2,566,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2711,2009,0,0,0,0,0,0
$GC,5633,0.79,232.8,124.8,11.5,578,5636,0.00,1.70,0.00,0.000,4,0.000,0.047,3062,3764,2008,0,0,0,0,0,0
$GC,5672,0.79,232.8,119.5,13.1,581,5678,0.00,1.67,0.00,0.000,6,0.000,0.029,3071,2714,2008,0,0,0,0,0,0
$GC,5807,0.79,232.8,103.3,11.8,594,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2714,2008,0,0,0,0,0,0
$GC,5938,0.79,232.8,88.1,11.7,615,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2714,2008,0,0,0,0,0,0
$GC,6080,0.79,232.8,71.9,11.3,640,6087,0.00,1.75,0.00,0.000,4,0.000,0.047,3071,3786,2008,0,0,0,0,0,0
$GC,6127,0.79,232.8,65.8,13.4,648,6134,0.00,1.70,0.00,0.000,6,0.000,0.029,3079,2719,2007,0,0,0,0,0,0
$GC,6273,0.79,232.8,47.5,13.0,673,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2719,2007,0,0,0,0,0,0
$GC,6416,0.79,232.8,29.5,12.0,698,6423,0.00,1.73,0.00,0.000,4,0.000,0.048,3079,3753,2007,0,0,0,0,0,0
$GC,6488,0.79,232.8,19.6,16.1,710,6496,0.08,1.65,0.00,0.000,6,0.145,0.030,3059,2724,2007,0,0,0,0,0,0
$FREEZE,8.86,0.383,-1.896,2,1,0
$FREEZE,8.25,0.384,-1.896,2,1,0
$FREEZE,7.77,0.383,-1.895,2,1,0
$FREEZE,7.12,0.383,-1.895,2,1,0
$FREEZE,6.45,0.385,-1.894,2,1,0
$FREEZE,5.81,0.384,-1.894,2,1,0
$FREEZE,4.96,0.381,-1.893,2,1,0
$FREEZE,4.24,0.382,-1.892,2,1,0
$FREEZE,3.69,0.382,-1.892,2,1,0
$FREEZE,3.04,0.382,-1.892,2,1,0
$FREEZE,2.45,0.381,-1.891,2,1,0
$STATE,6623,end climb,SURFACE_DEPTH_REACHED
$STATE,6623,begin surface coast
$FREEZE,1.85,0.380,-1.891,2,1,0
$FREEZE,1.33,0.380,-1.890,2,1,0
$FREEZE,0.98,0.379,-1.890,2,1,0
$FREEZE,0.43,0.376,-1.890,2,1,0
$FREEZE,-0.10,0.375,-1.889,2,1,0
$FINISH,-0.1,1.027620
$STATE,6651,end surface coast,CONTROL_FINISHED_OK
$STATE,6652,begin surface
$SM_CCo,6671,7.15,0.103,0,0,1940,250.20
$SM_GC,2.32,0.00,0.00,7.15,0.000,0.000,0.103,185,2796,1940,-8.17,0.42,250.20
$IRIDIUM_FIX,-7528.04,17528.45,290111,121205
$TT8_MAMPS,0.027713
$HUMID,53.89
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,21.5,96.503
$10V_AH,9.7,39.953
$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,18.275,50.525,355.450,7.150,0.000,29.451,43.874,185.527,1.000,0.000,33.264,1852.610,3000.747,431.207,1508.826,328.827,0.000,1135.065,0.000,1187.536,0.000,7.756,0.000
$DEVICE_MAMPS,205.785,97.920,977.670,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,517.966,942.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258152
$DATA_FILE_SIZE,47134,739
$CAP_FILE_SIZE,94553,0
$CFSIZE,260165632,209739776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.077, 44.7,1
$GPS,290111,165406,-7612.260,17519.910,15,1.2,32,123.5