version: 66.08
glider: 503
mission: 7
dive: 916
start: 1 29 111 21 6 0
data:
$ID,503
$MISSION,7
$DIVE,916
$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,-20691.178
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,290111,205816,-7610.267,17515.383,20,3.3,40,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.8
$GPS2,290111,210531,-7610.261,17515.432,39,1.1,39,123.5
$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,173.5,11923,-16.1,-10.000
$D_GRID,396
$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,17,-0.71,-170.3,0.0,0.0,0,90,0.00,0.00,-71.43,0.000,2,0.000,0.000,180,2766,3391,0,0,0,0,0,0
$GC,95,-0.71,-170.3,3.0,-6.0,12,117,9.18,2.28,-5.75,0.000,4,0.203,0.044,2563,1377,3659,0,0,0,0,0,0
$GC,368,-0.71,-170.3,49.3,-14.0,60,375,0.00,2.28,0.00,0.000,6,0.000,0.041,2560,2779,3662,0,0,0,0,0,0
$GC,511,-0.71,-170.3,69.4,-14.3,85,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2780,3663,0,0,0,0,0,0
$GC,652,-0.71,-170.3,89.0,-14.4,110,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2779,3663,0,0,0,0,0,0
$GC,797,-0.71,-170.3,108.7,-13.1,130,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2779,3663,0,0,0,0,0,0
$GC,923,-0.71,-170.3,125.2,-13.2,142,927,0.00,1.62,0.00,0.000,4,0.000,0.048,2556,3786,3663,0,0,0,0,0,0
$GC,973,-0.71,-170.3,132.1,-13.7,146,981,0.00,1.60,0.00,0.000,6,0.000,0.028,2556,2781,3663,0,0,0,0,0,0
$GC,1109,-0.71,-170.3,149.3,-12.6,159,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2781,3663,0,0,0,0,0,0
$GC,1236,-0.71,-170.3,164.9,-12.1,171,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2781,3664,0,0,0,0,0,0
$GC,1363,-0.71,-170.3,180.6,-12.3,183,1367,0.00,1.62,0.00,0.000,4,0.000,0.047,2549,3782,3663,0,0,0,0,0,0
$GC,1414,-0.71,-170.3,187.6,-13.7,187,1421,0.00,1.58,0.00,0.000,6,0.000,0.028,2548,2789,3663,0,0,0,0,0,0
$GC,1549,-0.71,-170.3,205.5,-13.6,200,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2789,3663,0,0,0,0,0,0
$GC,1676,-0.71,-170.3,222.3,-13.1,212,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2789,3663,0,0,0,0,0,0
$GC,1805,-0.71,-170.3,238.5,-12.3,224,1808,0.00,1.62,0.00,0.000,4,0.000,0.047,2541,3763,3663,0,0,0,0,0,0
$GC,1855,-0.71,-170.3,245.7,-13.7,228,1862,0.00,1.52,0.00,0.000,6,0.000,0.028,2541,2799,3663,0,0,0,0,0,0
$GC,1990,-0.71,-170.3,262.6,-12.8,241,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2798,3663,0,0,0,0,0,0
$GC,2182,-0.71,-170.3,287.2,-12.8,259,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2799,3663,0,0,0,0,0,0
$GC,2371,-0.71,-170.3,312.4,-13.4,277,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2798,3663,0,0,0,0,0,0
$GC,2565,-0.71,-170.3,338.0,-13.3,295,2569,0.00,1.60,0.00,0.000,4,0.000,0.047,2533,3758,3663,0,0,0,0,0,0
$GC,2627,-0.71,-170.3,347.4,-13.9,300,2635,0.10,1.50,0.00,0.000,6,0.125,0.028,2569,2810,3662,0,0,0,0,0,0
$GC,2828,-0.71,-170.3,369.9,-11.5,319,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2811,3662,0,0,0,0,0,0
$GC,3028,-0.71,-170.3,392.4,-11.1,338,3031,0.00,1.58,0.00,0.000,4,0.000,0.047,2562,3758,3662,0,0,0,0,0,0
$STATE,3059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3060,begin apogee
$GC,3068,-0.16,0.0,396.6,11.9,341,3217,0.52,0.00,141.60,0.992,4,0.112,0.000,2742,2693,2958,0,0,0,0,0,0
$STATE,3218,end apogee,CONTROL_FINISHED_OK
$STATE,3218,begin climb
$GC,3221,0.71,170.3,403.1,0.0,354,3384,0.85,2.35,154.20,0.939,4,0.072,0.032,3029,1290,2265,0,0,0,0,0,0
$GC,3570,0.71,170.3,379.8,10.1,384,3577,0.00,2.42,0.00,0.000,6,0.000,0.041,3029,2706,2259,0,0,0,0,0,0
$GC,3770,0.71,171.1,360.0,10.0,403,3774,0.00,2.33,0.00,0.000,4,0.000,0.034,3040,1286,2256,0,0,0,0,0,0
$GC,3964,0.73,184.9,341.1,9.5,420,3981,0.00,2.30,12.15,0.886,6,0.000,0.041,3040,2707,2206,0,0,0,0,0,0
$GC,4178,0.73,184.9,319.3,10.2,439,4181,0.00,1.70,0.00,0.000,4,0.000,0.048,3040,3761,2206,0,0,0,0,0,0
$GC,4251,0.73,184.9,310.1,11.7,445,4259,0.00,1.65,0.00,0.000,6,0.000,0.028,3048,2703,2206,0,0,0,0,0,0
$GC,4451,0.73,185.5,289.6,10.0,464,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2703,2205,0,0,0,0,0,0
$GC,4651,0.73,185.5,268.8,10.1,483,4655,0.00,1.73,0.00,0.000,4,0.000,0.048,3048,3762,2205,0,0,0,0,0,0
$GC,4709,0.73,185.5,261.9,11.9,488,4713,0.00,1.62,0.00,0.000,6,0.000,0.030,3056,2705,2204,0,0,1,0,0,0
$GC,4914,0.73,185.5,240.0,10.6,507,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2705,2204,0,0,0,0,0,0
$GC,5040,0.73,185.5,226.5,10.5,519,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2705,2204,0,0,0,0,0,0
$GC,5168,0.73,185.5,212.8,11.1,531,5171,0.00,1.73,0.00,0.000,4,0.000,0.047,3056,3765,2204,0,0,0,0,0,0
$GC,5230,0.73,185.5,204.9,12.6,536,5237,0.00,1.67,0.00,0.000,6,0.000,0.028,3064,2717,2204,0,0,0,0,0,0
$GC,5365,0.73,185.5,189.8,11.2,549,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2718,2203,0,0,0,0,0,0
$GC,5492,0.73,185.5,176.2,10.4,561,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2718,2203,0,0,0,0,0,0
$GC,5620,0.73,185.5,162.9,10.6,573,5624,0.00,1.70,0.00,0.000,4,0.000,0.047,3064,3766,2203,0,0,0,0,0,0
$GC,5682,0.73,185.5,155.3,12.3,578,5689,0.10,1.65,0.00,0.000,6,0.131,0.029,3027,2732,2203,0,0,0,0,0,0
$GC,5817,0.79,233.7,143.7,8.1,591,5867,0.00,0.00,45.15,0.839,6,0.000,0.000,3027,2732,2007,0,0,0,0,0,0
$GC,5996,0.81,251.4,127.7,9.3,608,6015,0.10,0.00,17.23,0.800,6,0.101,0.000,3087,2731,1934,0,0,0,0,0,0
$GC,6142,0.81,251.4,109.0,13.1,622,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2730,1935,0,0,0,0,0,0
$GC,6272,0.81,251.4,91.9,12.9,639,6280,0.00,1.73,0.00,0.000,4,0.000,0.047,3088,3761,1934,0,0,0,0,0,0
$GC,6331,0.81,251.4,83.1,14.8,649,6339,0.10,1.65,0.00,0.000,6,0.128,0.029,3048,2737,1935,0,0,0,0,0,0
$GC,6476,0.81,251.4,67.7,10.9,674,6483,0.00,2.30,0.00,0.000,4,0.000,0.034,3058,1290,1934,0,0,0,0,0,0
$GC,6502,0.81,251.4,64.8,10.1,678,6509,0.00,2.35,0.00,0.000,6,0.000,0.043,3058,2737,1934,0,0,0,0,0,0
$GC,6645,0.81,251.4,49.5,11.0,703,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2737,1935,0,0,0,0,0,0
$GC,6790,0.81,251.4,33.6,11.6,728,6796,0.00,1.70,0.00,0.000,4,0.000,0.048,3058,3761,1934,0,0,0,0,0,0
$GC,6848,0.81,251.4,26.2,13.1,738,6855,0.00,1.67,0.00,0.000,6,0.000,0.030,3064,2718,1934,0,0,0,0,0,0
$GC,6992,0.81,251.4,9.6,12.1,763,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2717,1934,0,0,0,0,0,0
$FREEZE,7.69,0.371,-1.894,2,1,0
$FREEZE,7.16,0.370,-1.893,2,1,0
$FREEZE,6.60,0.374,-1.893,2,1,0
$FREEZE,5.89,0.375,-1.892,2,1,0
$FREEZE,5.28,0.375,-1.892,2,1,0
$FREEZE,4.52,0.376,-1.891,2,1,0
$FREEZE,3.85,0.376,-1.891,2,1,0
$FREEZE,3.20,0.379,-1.890,2,1,0
$FREEZE,2.43,0.376,-1.890,2,1,0
$STATE,7047,end climb,SURFACE_DEPTH_REACHED
$STATE,7047,begin surface coast
$FREEZE,1.78,0.377,-1.889,2,1,0
$FREEZE,1.19,0.376,-1.889,2,1,0
$FREEZE,0.69,0.378,-1.888,2,1,0
$FREEZE,-0.01,0.378,-1.888,2,1,0
$FINISH,-0.0,1.027601
$STATE,7071,end surface coast,CONTROL_FINISHED_OK
$STATE,7071,begin surface
$SM_CCo,7151,0.00,0.000,0,0,1930,252.41
$SM_GC,1.10,7.60,0.00,0.00,0.044,0.000,0.000,180,2797,1930,-8.09,0.51,252.41
$IRIDIUM_FIX,-7528.04,17520.90,290111,181803
$TT8_MAMPS,0.027713
$HUMID,53.50
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.8
$24V_AH,21.5,96.828
$10V_AH,9.7,40.131
$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,18.550,54.850,370.325,0.000,0.000,29.670,35.674,177.954,1.000,0.000,42.314,1933.999,3252.815,461.151,1599.198,340.422,0.000,1201.584,0.000,1274.662,0.000,7.756,0.000
$DEVICE_MAMPS,202.725,94.860,992.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.148,980.442,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258156
$DATA_FILE_SIZE,50380,777
$CAP_FILE_SIZE,98431,0
$CFSIZE,260165632,209571840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.128, 50.4,1
$GPS,290111,230619,-7609.529,17513.555,16,1.2,28,123.5