version: 66.08
glider: 503
mission: 7
dive: 915
start: 1 29 111 19 2 55
data:
$ID,503
$MISSION,7
$DIVE,915
$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,-20689.918
$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,27
$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
$GPS1,290111,185537,-7611.190,17517.812,45,1.1,46,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-75.2
$GPS2,290111,190226,-7611.170,17517.842,15,2.0,15,123.5
$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,177.1,13918,-16.1,-10.000
$D_GRID,394
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,94,0.00,0.00,-75.00,0.000,2,0.000,0.000,153,2744,3495,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.6,-6.8,13,119,9.18,2.17,-3.15,0.000,4,0.202,0.050,2565,1373,3654,0,0,0,0,0,0
$GC,372,-0.71,-170.3,48.8,-12.6,61,379,0.00,2.28,0.00,0.000,6,0.000,0.042,2562,2781,3657,0,0,0,0,0,0
$GC,515,-0.71,-170.3,67.3,-13.2,86,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3657,0,0,0,0,0,0
$GC,656,-0.71,-170.3,85.6,-12.8,111,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3658,0,0,0,0,0,0
$GC,804,-0.71,-170.3,104.9,-13.4,134,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3658,0,0,0,0,0,0
$GC,930,-0.71,-170.3,121.5,-13.2,146,934,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3785,3658,0,0,0,0,0,0
$GC,980,-0.71,-170.3,128.4,-13.8,150,987,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2787,3658,0,0,0,0,0,0
$GC,1116,-0.71,-170.3,145.7,-12.8,163,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3658,0,0,0,0,0,0
$GC,1242,-0.71,-170.3,162.3,-12.7,175,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3658,0,0,0,0,0,0
$GC,1369,-0.71,-170.3,178.4,-12.7,187,1373,0.00,1.62,0.00,0.000,4,0.000,0.047,2555,3763,3658,0,0,0,0,0,0
$GC,1419,-0.71,-170.3,185.2,-13.7,191,1427,0.00,1.52,0.00,0.000,6,0.000,0.028,2555,2788,3658,0,0,0,0,0,0
$GC,1554,-0.71,-170.3,202.8,-13.2,204,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3658,0,0,0,0,0,0
$GC,1682,-0.71,-170.3,219.5,-13.3,216,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3658,0,0,0,0,0,0
$GC,1810,-0.71,-170.3,236.2,-13.2,228,1814,0.00,1.62,0.00,0.000,4,0.000,0.047,2547,3786,3658,0,0,0,0,0,0
$GC,1849,-0.71,-170.3,242.0,-14.4,231,1857,0.00,1.58,0.00,0.000,6,0.000,0.028,2548,2797,3658,0,0,0,0,0,0
$GC,1984,-0.71,-170.3,259.7,-13.0,244,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3658,0,0,0,0,0,0
$GC,2176,-0.71,-170.3,285.3,-12.9,262,2180,0.00,1.62,0.00,0.000,4,0.000,0.047,2540,3765,3658,0,0,0,0,0,0
$GC,2232,-0.71,-170.3,293.3,-14.1,267,2236,0.00,1.52,0.00,0.000,6,0.000,0.028,2540,2807,3657,0,0,0,0,0,0
$GC,2437,-0.71,-170.3,320.9,-13.6,286,2439,0.10,0.00,0.00,0.000,6,0.171,0.000,2568,2807,3658,0,0,0,0,0,0
$GC,2628,-0.71,-170.3,343.8,-11.9,304,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2807,3658,0,0,0,0,0,0
$GC,2819,-0.71,-170.3,365.8,-11.2,322,2822,0.00,1.58,0.00,0.000,4,0.000,0.047,2562,3749,3658,0,0,0,0,0,0
$GC,2870,-0.71,-170.3,372.2,-11.7,326,2877,0.00,1.48,0.00,0.000,6,0.000,0.028,2562,2816,3658,0,0,0,0,0,0
$STATE,3055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3055,begin apogee
$GC,3063,-0.16,0.0,394.0,11.6,344,3211,0.52,0.00,140.00,0.988,4,0.113,0.000,2742,2694,2959,0,0,0,0,0,0
$STATE,3212,end apogee,CONTROL_FINISHED_OK
$STATE,3212,begin climb
$GC,3215,0.71,170.3,400.7,0.0,357,3378,0.85,2.35,154.10,0.938,4,0.073,0.032,3029,1305,2264,0,0,0,0,0,0
$GC,3390,0.78,222.6,394.6,7.9,372,3452,0.00,2.53,51.83,0.901,6,0.000,0.039,3028,2698,2052,0,0,0,0,0,0
$GC,3645,0.78,222.6,368.9,10.2,396,3649,0.00,1.83,0.00,0.000,4,0.000,0.047,3029,3767,2050,0,0,0,0,0,0
$GC,3715,0.78,222.6,360.4,12.8,402,3719,0.00,1.70,0.00,0.000,6,0.000,0.029,3037,2711,2049,0,0,1,0,0,0
$GC,3919,0.78,222.6,337.7,10.9,421,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2711,2048,0,0,0,0,0,0
$GC,4111,0.78,222.6,316.6,11.1,439,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2711,2047,0,0,0,0,0,0
$GC,4301,0.78,222.6,295.6,10.9,457,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2711,2047,0,0,0,0,0,0
$GC,4492,0.78,222.6,274.4,11.4,475,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2711,2046,0,0,0,0,0,0
$GC,4684,0.78,222.6,252.2,11.0,493,4687,0.00,1.73,0.00,0.000,4,0.000,0.047,3037,3771,2046,0,0,0,0,0,0
$GC,4722,0.78,222.6,247.1,12.6,496,4730,0.00,1.70,0.00,0.000,6,0.000,0.029,3044,2709,2045,0,0,0,0,0,0
$GC,4858,0.78,222.6,231.8,11.3,509,4862,0.00,2.25,0.00,0.000,4,0.000,0.034,3054,1293,2045,0,0,0,0,0,0
$GC,4885,0.78,222.6,228.3,11.7,511,4893,0.00,2.30,0.00,0.000,6,0.000,0.042,3054,2709,2045,0,0,0,0,0,0
$GC,5021,0.78,222.6,212.3,12.3,524,5024,0.00,1.70,0.00,0.000,4,0.000,0.048,3054,3766,2045,0,0,0,0,0,0
$GC,5068,0.78,222.6,206.1,14.2,528,5072,0.00,1.65,0.00,0.000,6,0.000,0.029,3063,2706,2045,0,0,0,0,0,0
$GC,5209,0.78,222.6,188.9,11.7,541,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2704,2045,0,0,0,0,0,0
$GC,5335,0.78,222.6,174.2,11.6,553,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2704,2045,0,0,0,0,0,0
$GC,5463,0.78,222.6,159.2,11.8,565,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2704,2044,0,0,0,0,0,0
$GC,5591,0.78,222.6,144.6,11.5,577,5595,0.00,1.73,0.00,0.000,4,0.000,0.047,3062,3767,2044,0,0,0,0,0,0
$GC,5629,0.78,222.6,139.7,12.8,580,5636,0.00,1.67,0.00,0.000,6,0.000,0.029,3071,2718,2044,0,0,0,0,0,0
$GC,5764,0.78,222.6,124.0,11.8,593,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2717,2044,0,0,0,0,0,0
$GC,5892,0.78,222.6,108.7,12.2,605,5896,0.00,1.73,0.00,0.000,4,0.000,0.047,3070,3754,2044,0,0,0,0,0,0
$GC,5942,0.78,222.6,101.7,14.1,609,5949,0.00,1.62,0.00,0.000,6,0.000,0.029,3079,2736,2044,0,0,0,0,0,0
$GC,6083,0.78,222.6,84.3,12.5,633,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2736,2044,0,0,0,0,0,0
$GC,6224,0.78,222.6,67.0,12.3,658,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2736,2043,0,0,0,0,0,0
$GC,6365,0.78,222.6,49.7,11.4,683,6373,0.00,1.70,0.00,0.000,4,0.000,0.047,3078,3759,2043,0,0,0,0,0,0
$GC,6421,0.78,222.6,42.2,14.6,692,6429,0.10,1.65,0.00,0.000,6,0.129,0.029,3050,2730,2043,0,0,0,0,0,0
$GC,6567,0.78,222.6,26.4,10.6,717,6573,0.00,2.28,0.00,0.000,4,0.000,0.034,3060,1299,2043,0,0,0,0,0,0
$GC,6604,0.78,222.6,22.3,10.0,723,6612,0.00,2.33,0.00,0.000,6,0.000,0.042,3060,2735,2043,0,0,0,0,0,0
$FREEZE,8.93,0.392,-1.894,2,1,0
$FREEZE,8.22,0.390,-1.894,2,1,0
$FREEZE,7.60,0.392,-1.893,2,1,0
$FREEZE,6.72,0.401,-1.892,2,1,0
$GC,6750,0.78,222.6,6.7,10.9,748,6757,0.00,1.70,0.00,0.000,4,0.000,0.049,3060,3762,2043,0,0,0,0,0,0
$FREEZE,5.15,0.399,-1.891,2,1,0
$FREEZE,4.45,0.399,-1.891,2,1,0
$FREEZE,3.72,0.388,-1.890,2,1,0
$FREEZE,2.99,0.387,-1.890,2,1,0
$STATE,6778,end climb,SURFACE_DEPTH_REACHED
$STATE,6778,begin surface coast
$FREEZE,2.18,0.388,-1.889,2,1,0
$FREEZE,1.44,0.391,-1.888,2,1,0
$FREEZE,0.77,0.393,-1.888,2,1,0
$FREEZE,0.20,0.398,-1.887,2,1,0
$FINISH,0.2,1.027591
$STATE,6801,end surface coast,CONTROL_FINISHED_OK
$STATE,6805,begin surface
$SM_CCo,6825,11.75,0.101,0,0,1940,250.20
$SM_GC,1.94,0.00,0.00,11.75,0.000,0.000,0.101,184,2766,1940,-8.18,-0.40,250.20
$IRIDIUM_FIX,-7528.04,17520.90,290111,161635
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,19.6
$24V_AH,21.4,96.716
$10V_AH,9.6,40.070
$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,18.300,58.050,345.925,11.750,0.000,28.021,36.392,181.327,1.250,0.000,17.747,1886.129,3076.124,443.862,1506.593,337.742,0.000,1161.936,0.000,1211.382,0.000,7.757,0.000
$DEVICE_MAMPS,201.960,67.320,988.380,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.420,957.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50539,757
$CAP_FILE_SIZE,96639,0
$CFSIZE,260165632,209629184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.132, 44.4,1
$GPS,290111,205816,-7610.267,17515.383,20,3.3,40,123.5