version: 66.08
glider: 503
mission: 7
dive: 920
start: 1 30 111 6 10 23
data:
$ID,503
$MISSION,7
$DIVE,920
$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,-20696.209
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,300111,060007,-7607.866,17508.184,48,0.8,49,123.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-74.5
$GPS2,300111,060956,-7607.904,17508.408,9,1.2,9,123.5
$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,192.3,6554,-16.1,-10.000
$D_GRID,458
$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,-170.3,0.0,0.0,0,94,0.00,0.00,-74.95,0.000,2,0.000,0.000,170,2745,3499,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.6,-6.2,13,119,9.12,2.20,-3.22,0.000,4,0.199,0.041,2563,1360,3658,0,0,0,0,0,0
$GC,372,-0.71,-170.3,51.1,-13.7,61,379,0.00,2.30,0.00,0.000,6,0.000,0.042,2552,2785,3661,0,0,0,0,0,0
$GC,514,-0.71,-170.3,71.3,-14.4,86,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3662,0,0,0,0,0,0
$GC,658,-0.71,-170.3,91.5,-13.9,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2785,3662,0,0,0,0,0,0
$GC,797,-0.71,-170.3,110.7,-13.8,129,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2785,3663,0,0,0,0,0,0
$GC,925,-0.71,-170.3,129.4,-14.1,141,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2785,3663,0,0,0,0,0,0
$GC,1053,-0.71,-170.3,147.9,-14.3,153,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3663,0,0,0,0,0,0
$GC,1179,-0.71,-170.3,165.6,-13.4,165,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3663,0,0,0,0,0,0
$GC,1306,-0.71,-170.3,182.6,-13.2,177,1310,0.00,1.60,0.00,0.000,4,0.000,0.048,2545,3751,3663,0,0,0,0,0,0
$GC,1345,-0.71,-170.3,188.2,-13.8,180,1352,0.00,1.55,0.00,0.000,6,0.000,0.028,2545,2767,3662,0,0,0,0,0,0
$GC,1481,-0.71,-170.3,206.4,-13.5,193,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2767,3662,0,0,0,0,0,0
$GC,1608,-0.71,-170.3,224.3,-14.1,205,1612,0.00,1.62,0.00,0.000,4,0.000,0.047,2537,3767,3663,0,0,0,0,0,0
$GC,1647,-0.71,-170.3,230.6,-15.6,208,1655,0.08,1.55,0.00,0.000,6,0.132,0.028,2565,2783,3662,0,0,0,0,0,0
$GC,1783,-0.71,-170.3,247.4,-12.5,221,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2783,3663,0,0,0,0,0,0
$GC,1909,-0.71,-170.3,263.1,-12.4,233,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2783,3662,0,0,0,0,0,0
$GC,2101,-0.71,-170.3,286.6,-12.8,251,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2783,3663,0,0,0,0,0,0
$GC,2291,-0.71,-170.3,310.4,-12.2,269,2294,0.00,1.62,0.00,0.000,4,0.000,0.047,2557,3785,3663,0,0,0,0,0,0
$GC,2340,-0.71,-170.3,317.0,-12.2,273,2347,0.00,1.58,0.00,0.000,6,0.000,0.028,2557,2789,3662,0,0,0,0,0,0
$GC,2542,-0.71,-170.3,341.9,-12.3,292,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2790,3662,0,0,0,0,0,0
$GC,2740,-0.71,-170.3,366.6,-12.4,311,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2790,3662,0,0,0,0,0,0
$GC,2934,-0.71,-170.3,390.2,-12.3,329,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2790,3662,0,0,0,0,0,0
$GC,3133,-0.71,-170.3,415.4,-12.3,348,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2790,3661,0,0,0,0,0,0
$GC,3323,-0.71,-170.3,439.0,-12.4,366,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2790,3662,0,0,0,0,0,0
$STATE,3479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3479,begin apogee
$GC,3488,-0.16,0.0,458.3,12.2,381,3635,0.55,0.00,142.25,1.031,4,0.115,0.000,2743,2684,2960,0,0,0,0,0,0
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3636,begin climb
$GC,3639,0.71,170.3,464.8,0.0,394,3805,0.85,2.33,156.77,0.978,4,0.071,0.033,3029,1312,2264,0,0,0,0,0,0
$GC,4004,0.73,186.9,440.3,9.3,426,4028,0.00,2.35,15.50,0.913,6,0.000,0.041,3029,2699,2198,0,0,0,0,0,0
$GC,4223,0.73,186.9,418.6,10.5,446,4227,0.00,2.25,0.00,0.000,4,0.000,0.034,3039,1313,2197,0,0,0,0,0,0
$GC,4379,0.73,186.9,402.4,10.5,459,4383,0.00,2.28,0.00,0.000,6,0.000,0.041,3039,2712,2196,0,0,0,0,0,0
$GC,4583,0.73,186.9,380.4,10.9,478,4586,0.00,1.70,0.00,0.000,4,0.000,0.047,3039,3761,2195,0,0,0,0,0,0
$GC,4653,0.73,186.9,372.0,12.5,484,4657,0.00,1.65,0.00,0.000,6,0.000,0.028,3047,2707,2194,0,0,0,0,0,0
$GC,4859,0.73,186.9,349.0,10.8,503,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2706,2194,0,0,0,0,0,0
$GC,5058,0.73,186.9,327.1,11.1,522,5062,0.00,1.73,0.00,0.000,4,0.000,0.047,3047,3763,2193,0,0,0,0,0,0
$GC,5104,0.73,186.9,321.5,12.9,526,5107,0.00,1.65,0.00,0.000,6,0.000,0.029,3056,2707,2193,0,0,0,0,0,0
$GC,5308,0.73,186.9,298.2,11.3,545,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2705,2192,0,0,0,0,0,0
$GC,5500,0.73,186.9,276.2,11.4,563,5503,0.00,1.73,0.00,0.000,4,0.000,0.048,3056,3764,2192,0,0,0,0,0,0
$GC,5580,0.73,186.9,265.6,13.7,570,5584,0.00,1.65,0.00,0.000,6,0.000,0.029,3065,2704,2191,0,0,0,0,0,0
$GC,5785,0.73,186.9,240.7,11.9,589,5789,0.00,1.73,0.00,0.000,4,0.000,0.048,3064,3763,2192,0,0,0,0,0,0
$GC,5823,0.73,186.9,235.3,13.5,592,5831,0.10,1.65,0.00,0.000,6,0.135,0.029,3026,2735,2192,0,0,0,0,0,0
$GC,5959,0.74,195.8,221.8,9.6,605,5969,0.00,0.00,8.43,0.839,6,0.000,0.000,3026,2735,2161,0,0,0,0,0,0
$GC,6097,0.75,201.4,208.6,9.8,618,6106,0.00,0.00,7.00,0.798,6,0.000,0.000,3026,2735,2138,0,0,0,0,0,0
$GC,6233,0.75,204.0,195.1,9.9,631,6243,0.00,0.00,4.12,0.651,6,0.000,0.000,3026,2734,2128,0,0,0,0,0,0
$GC,6371,0.76,210.9,181.6,9.7,644,6384,0.00,1.75,7.90,0.802,4,0.000,0.049,3026,3766,2100,0,0,1,0,0,0
$GC,6435,0.76,210.9,174.6,11.2,649,6442,0.00,1.62,0.00,0.000,6,0.000,0.029,3032,2737,2100,0,0,1,0,0,0
$GC,6570,0.77,213.9,161.0,9.9,662,6580,0.00,0.00,4.82,0.692,6,0.000,0.000,3032,2738,2086,0,0,0,0,0,0
$GC,6709,0.77,219.4,147.4,9.8,675,6718,0.00,0.00,6.65,0.760,6,0.000,0.000,3032,2738,2065,0,0,0,0,0,0
$GC,6846,0.79,232.4,134.2,9.5,688,6870,0.00,1.75,13.73,0.819,4,0.000,0.048,3032,3769,2012,0,0,1,0,0,0
$GC,6906,0.79,232.4,127.8,11.2,693,6910,0.00,1.62,0.00,0.000,6,0.000,0.030,3039,2745,2012,0,0,1,0,0,0
$GC,7047,0.79,237.5,114.1,9.8,706,7060,0.00,2.33,6.05,0.715,4,0.000,0.034,3050,1303,1993,0,0,0,0,0,0
$GC,7088,0.81,248.7,109.7,9.6,709,7106,0.00,2.35,12.10,0.786,6,0.000,0.043,3050,2750,1945,0,0,0,0,0,0
$GC,7238,0.81,248.7,93.5,11.2,728,7244,0.00,1.67,0.00,0.000,4,0.000,0.048,3050,3752,1946,0,0,0,0,0,0
$GC,7280,0.81,248.7,88.2,12.6,735,7288,0.00,1.62,0.00,0.000,6,0.000,0.030,3057,2745,1945,0,0,0,0,0,0
$GC,7426,0.81,248.7,71.8,10.9,760,7433,0.00,2.30,0.00,0.000,4,0.000,0.035,3067,1298,1946,0,0,0,0,0,0
$GC,7458,0.81,248.7,68.2,10.7,765,7465,0.00,2.33,0.00,0.000,6,0.000,0.042,3067,2735,1946,0,0,0,0,0,0
$GC,7604,0.81,248.7,50.9,12.5,790,7611,0.00,1.70,0.00,0.000,4,0.000,0.049,3067,3761,1945,0,0,0,0,0,0
$GC,7668,0.81,248.7,41.7,13.6,801,7675,0.00,1.62,0.00,0.000,6,0.000,0.030,3075,2746,1945,0,0,0,0,0,0
$GC,7813,0.81,248.7,23.4,12.9,826,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2746,1945,0,0,0,0,0,0
$FREEZE,8.64,0.318,-1.894,2,1,0
$FREEZE,7.87,0.317,-1.894,2,1,0
$FREEZE,7.34,0.317,-1.893,2,1,0
$FREEZE,6.61,0.318,-1.893,2,1,0
$FREEZE,5.91,0.317,-1.892,2,1,0
$FREEZE,5.04,0.318,-1.892,2,1,0
$GC,7958,0.81,248.7,5.0,12.4,851,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2746,1945,0,0,0,0,0,0
$FREEZE,3.02,0.317,-1.890,2,1,0
$FREEZE,2.42,0.315,-1.890,2,1,0
$STATE,7977,end climb,SURFACE_DEPTH_REACHED
$STATE,7978,begin surface coast
$FREEZE,1.71,0.317,-1.889,2,1,0
$FREEZE,1.00,0.311,-1.889,2,1,0
$FREEZE,0.34,0.314,-1.888,2,1,0
$FREEZE,-0.13,0.316,-1.887,2,1,0
$FREEZE,-0.12,0.127,-0.936,2,1,0
$FINISH,-0.1,1.013845
$STATE,8005,end surface coast,CONTROL_FINISHED_OK
$STATE,8005,begin surface
$SM_CCo,8024,0.03,0.334,0,0,1940,250.20
$SM_GC,1.85,0.00,0.00,0.03,0.000,0.000,0.334,190,2745,1940,-8.16,-0.99,250.20
$IRIDIUM_FIX,-7519.49,17503.76,300111,060640
$TT8_MAMPS,0.027713
$HUMID,53.38
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,20.6
$24V_AH,21.3,97.291
$10V_AH,9.7,40.391
$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,18.300,59.475,385.325,0.025,0.000,54.794,112.581,187.920,1.750,0.000,12.363,2147.604,3808.347,480.126,1803.430,374.429,0.000,1291.352,0.000,1397.183,0.000,11.189,0.000
$DEVICE_MAMPS,198.900,81.090,1031.220,333.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.124,1034.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258188
$DATA_FILE_SIZE,57064,859
$CAP_FILE_SIZE,110114,0
$CFSIZE,260165632,209330176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.112,130.5,1
$GPS,300111,082537,-7607.393,17506.793,45,1.7,46,123.5