version: 66.08
glider: 503
mission: 7
dive: 921
start: 1 30 111 8 33 36
data:
$ID,503
$MISSION,7
$DIVE,921
$N_DIVES,922
$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,-20699.717
$T_RSLEEP,5
$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,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
$GPS1,300111,082537,-7607.393,17506.793,45,1.7,46,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.7
$GPS2,300111,083306,-7607.407,17506.939,15,1.0,25,123.5
$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,195.9,5425,-16.1,-10.000
$D_GRID,459
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-76.50,0.000,2,0.000,0.000,187,2745,3535,0,0,0,0,0,0
$GC,100,-0.71,-170.3,4.0,-9.8,13,121,9.07,2.20,-2.45,0.000,4,0.202,0.044,2562,1364,3660,0,0,0,0,0,0
$GC,373,-0.71,-170.3,52.5,-13.5,61,380,0.00,2.30,0.00,0.000,6,0.000,0.041,2552,2786,3662,0,0,0,0,0,0
$GC,515,-0.71,-170.3,73.2,-16.2,86,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2786,3663,0,0,0,0,0,0
$GC,658,-0.71,-170.3,92.9,-14.0,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3663,0,0,0,0,0,0
$GC,797,-0.71,-170.3,112.3,-13.3,128,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,924,-0.71,-170.3,130.0,-14.0,140,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,1055,-0.71,-170.3,148.3,-14.2,152,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,1190,-0.71,-170.3,168.1,-14.2,165,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2786,3664,0,0,0,0,0,0
$GC,1316,-0.71,-170.3,186.2,-14.2,177,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,1444,-0.71,-170.3,204.3,-14.1,189,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3665,0,0,0,0,0,0
$GC,1572,-0.71,-170.3,221.8,-13.4,201,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,1698,-0.71,-170.3,238.3,-13.2,213,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3665,0,0,0,0,0,0
$GC,1826,-0.71,-170.3,255.1,-12.9,225,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3665,0,0,0,0,0,0
$GC,2018,-0.71,-170.3,280.1,-13.4,243,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,2208,-0.71,-170.3,305.7,-13.4,261,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,2400,-0.71,-170.3,331.0,-13.0,279,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,2590,-0.71,-170.3,355.7,-12.9,297,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,2782,-0.71,-170.3,380.2,-12.7,315,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,2973,-0.71,-170.3,404.0,-12.7,333,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,3164,-0.71,-170.3,428.0,-12.6,351,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3664,0,0,0,0,0,0
$GC,3354,-0.71,-170.3,451.6,-12.1,369,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3663,0,0,0,0,0,0
$STATE,3414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3414,begin apogee
$GC,3423,-0.16,0.0,459.3,11.9,375,3570,0.57,0.00,142.02,1.034,4,0.114,0.000,2745,2680,2960,0,0,0,0,0,0
$STATE,3571,end apogee,CONTROL_FINISHED_OK
$STATE,3571,begin climb
$GC,3575,0.71,170.3,465.4,0.0,388,3741,0.85,2.38,156.75,0.978,4,0.070,0.033,3032,1305,2264,0,0,0,0,0,0
$GC,3917,0.71,170.4,442.0,10.0,418,3922,0.00,2.38,0.00,0.000,6,0.000,0.039,3033,2697,2259,0,0,0,0,0,0
$GC,4116,0.72,178.1,422.3,9.7,436,4129,0.00,2.35,6.62,0.818,4,0.000,0.034,3043,1302,2234,0,0,1,0,0,0
$GC,4287,0.74,194.2,405.8,9.4,451,4311,0.00,2.30,16.23,0.933,6,0.000,0.041,3043,2714,2168,0,0,0,0,0,0
$GC,4505,0.74,194.2,383.5,10.7,471,4509,0.00,1.70,0.00,0.000,4,0.000,0.048,3043,3761,2168,0,0,0,0,0,0
$GC,4564,0.74,194.2,376.3,12.3,476,4567,0.00,1.65,0.00,0.000,6,0.000,0.030,3052,2713,2168,0,0,0,0,0,0
$GC,4769,0.74,194.2,353.6,11.4,495,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2712,2168,0,0,0,0,0,0
$GC,4959,0.74,194.2,332.3,11.2,513,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2712,2167,0,0,0,0,0,0
$GC,5149,0.74,194.2,311.0,11.1,531,5153,0.00,1.75,0.00,0.000,4,0.000,0.047,3052,3758,2166,0,0,0,0,0,0
$GC,5210,0.74,194.2,303.2,12.7,536,5216,0.00,1.67,0.00,0.000,6,0.000,0.030,3060,2717,2166,0,0,0,0,0,0
$GC,5410,0.74,194.2,280.3,11.7,555,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2716,2166,0,0,0,0,0,0
$GC,5609,0.74,194.2,257.1,11.8,574,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2717,2166,0,0,0,0,0,0
$GC,5801,0.74,194.2,235.6,11.5,592,5805,0.00,1.70,0.00,0.000,4,0.000,0.047,3059,3763,2166,0,0,0,0,0,0
$GC,5852,0.74,194.2,228.7,13.3,596,5858,0.00,1.67,0.00,0.000,6,0.000,0.028,3068,2717,2165,0,0,0,0,0,0
$GC,5986,0.74,194.2,212.5,12.0,609,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2717,2165,0,0,0,0,0,0
$GC,6115,0.74,194.2,197.3,12.1,621,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2717,2165,0,0,0,0,0,0
$GC,6241,0.74,194.2,182.5,11.5,633,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2717,2165,0,0,0,0,0,0
$GC,6370,0.74,194.2,167.9,11.5,645,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2717,2164,0,0,0,0,0,0
$GC,6496,0.74,194.2,153.4,11.8,657,6499,0.00,1.70,0.00,0.000,4,0.000,0.047,3068,3761,2164,0,0,0,0,0,0
$GC,6531,0.74,194.2,149.0,13.1,660,6536,0.12,1.62,0.00,0.000,6,0.155,0.030,3040,2702,2164,0,0,1,0,0,0
$GC,6672,0.74,194.2,134.5,10.3,673,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2702,2165,0,0,0,0,0,0
$GC,6800,0.74,194.8,121.7,10.0,685,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2702,2164,0,0,0,0,0,0
$GC,6926,0.74,194.8,108.8,10.1,697,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2702,2165,0,0,0,0,0,0
$GC,7055,0.74,194.8,95.8,10.2,712,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2702,2164,0,0,0,0,0,0
$GC,7197,0.75,199.1,81.9,9.8,737,7211,0.00,1.77,5.40,0.709,4,0.000,0.049,3040,3753,2148,0,0,1,0,0,0
$GC,7258,0.75,199.1,75.3,10.7,747,7265,0.00,1.65,0.00,0.000,6,0.000,0.030,3046,2729,2147,0,0,0,0,0,0
$GC,7402,0.75,205.0,61.0,9.8,772,7416,0.00,0.00,7.10,0.742,6,0.000,0.000,3046,2730,2123,0,0,0,0,0,0
$GC,7554,0.75,205.0,45.7,10.1,798,7561,0.00,1.73,0.00,0.000,4,0.000,0.049,3046,3758,2123,0,0,0,0,0,0
$GC,7591,0.75,205.0,41.5,11.1,804,7598,0.00,1.62,0.00,0.000,6,0.000,0.031,3054,2746,2123,0,0,0,0,0,0
$GC,7737,0.75,205.0,26.8,10.3,829,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2746,2123,0,0,0,0,0,0
$GC,7881,0.75,205.0,11.0,10.9,854,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2745,2123,0,0,0,0,0,0
$FREEZE,8.97,0.747,-1.891,2,1,0
$FREEZE,8.42,0.747,-1.891,2,1,0
$FREEZE,7.76,0.748,-1.890,2,1,0
$FREEZE,7.16,0.745,-1.890,2,1,0
$FREEZE,6.71,0.750,-1.890,2,1,0
$FREEZE,6.19,0.750,-1.889,2,1,0
$FREEZE,5.59,0.751,-1.889,2,1,0
$FREEZE,5.09,0.751,-1.888,2,1,0
$FREEZE,4.57,0.752,-1.888,2,1,0
$FREEZE,4.04,0.752,-1.888,2,1,0
$FREEZE,3.47,0.752,-1.887,2,1,0
$FREEZE,2.87,0.754,-1.887,2,1,0
$STATE,7956,end climb,SURFACE_DEPTH_REACHED
$STATE,7956,begin surface coast
$FREEZE,2.07,0.749,-1.886,2,1,0
$FREEZE,1.60,0.753,-1.886,2,1,0
$FREEZE,1.00,0.750,-1.885,2,1,0
$FREEZE,0.40,0.738,-1.886,2,1,0
$FREEZE,-0.08,0.741,-1.885,2,1,0
$FINISH,-0.1,1.027536
$STATE,7986,end surface coast,CONTROL_FINISHED_OK
$STATE,7987,begin surface
$SM_CCo,8005,21.42,0.100,0,0,1940,250.20
$SM_GC,0.43,0.00,0.00,21.42,0.000,0.000,0.100,184,2746,1940,-8.18,-0.99,250.20
$IRIDIUM_FIX,-7528.04,17512.69,300111,060628
$TT8_MAMPS,0.027713
$HUMID,54.01
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.7
$24V_AH,21.3,97.399
$10V_AH,9.7,40.457
$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,18.150,34.275,334.125,21.425,0.000,27.775,40.791,194.139,1.500,0.000,30.725,2173.211,3815.950,430.773,1695.630,362.159,0.000,1200.217,0.000,1368.397,0.000,11.186,0.000
$DEVICE_MAMPS,201.960,70.380,1034.280,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.474,1055.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,57008,873
$CAP_FILE_SIZE,101970,0
$CFSIZE,260165632,209276928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.093,133.6,1
$GPS,300111,104852,-7606.833,17504.932,24,2.1,44,123.5