version: 66.08
glider: 503
mission: 7
dive: 704
start: 1 13 111 6 47 41
data:
$ID,503
$MISSION,7
$DIVE,704
$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,220
$T_MISSION,200
$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,225
$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,-20409.596
$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,46
$R_STBD_OVSHOOT,30
$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
$GPS1,130111,064001,-7608.206,17508.740,56,2.0,57,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-68.3
$GPS2,130111,064710,-7608.234,17508.686,15,2.1,34,123.5
$SPEED_LIMITS,0.197,0.325
$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,210.6,7130,-15.8,-11.364
$D_GRID,447
$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,-0.76,-219.0,0.0,0.0,0,91,0.00,0.00,-72.45,0.000,2,0.000,0.000,129,2788,3361,0,0,0,0,0,0
$GC,95,-0.76,-219.0,3.1,-6.5,12,122,9.70,2.28,-10.70,0.000,4,0.224,0.043,2551,1371,3857,0,0,0,0,0,0
$GC,374,-0.76,-219.0,50.2,-14.9,61,381,0.00,2.28,0.00,0.000,6,0.000,0.043,2540,2777,3860,0,0,0,0,0,0
$GC,517,-0.76,-219.0,72.8,-15.7,86,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2777,3860,0,0,0,0,0,0
$GC,661,-0.76,-219.0,95.3,-15.9,111,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2778,3860,0,0,0,0,0,0
$GC,804,-0.76,-219.0,116.8,-14.9,127,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2777,3861,0,0,0,0,0,0
$GC,930,-0.76,-219.0,135.7,-14.8,139,934,0.00,1.60,0.00,0.000,4,0.000,0.050,2533,3760,3861,0,0,0,0,0,0
$GC,965,-0.76,-219.0,141.2,-16.2,142,969,0.00,1.55,0.00,0.000,6,0.000,0.029,2533,2774,3861,0,0,0,0,0,0
$GC,1106,-0.76,-219.0,163.2,-15.9,155,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2774,3862,0,0,0,0,0,0
$GC,1232,-0.76,-219.0,183.1,-15.9,167,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2774,3861,0,0,0,0,0,0
$GC,1360,-0.76,-219.0,202.8,-15.6,179,1363,0.00,1.62,0.00,0.000,4,0.000,0.049,2525,3791,3862,0,0,0,0,0,0
$GC,1407,-0.76,-219.0,210.3,-16.3,183,1411,0.00,1.58,0.00,0.000,6,0.000,0.028,2525,2781,3861,0,0,0,0,0,0
$GC,1547,-0.76,-219.0,232.5,-15.2,196,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2781,3862,0,0,0,0,0,0
$GC,1674,-0.76,-219.0,252.5,-15.3,208,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2781,3862,0,0,0,0,0,0
$GC,1866,-0.76,-219.0,282.2,-15.7,226,1870,0.00,1.62,0.00,0.000,4,0.000,0.050,2518,3794,3861,0,0,0,0,0,0
$GC,1904,-0.76,-219.0,288.7,-16.2,229,1912,0.10,1.55,0.00,0.000,6,0.126,0.029,2553,2804,3862,0,0,0,0,0,0
$GC,2105,-0.76,-219.0,314.9,-13.0,248,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2804,3861,0,0,0,0,0,0
$GC,2304,-0.76,-219.0,340.6,-12.8,267,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2804,3861,0,0,0,0,0,0
$GC,2494,-0.76,-219.0,365.1,-12.8,285,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2804,3861,0,0,0,0,0,0
$GC,2687,-0.76,-219.0,389.0,-12.4,303,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2804,3861,0,0,0,0,0,0
$GC,2876,-0.76,-219.0,413.0,-12.7,321,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2804,3861,0,0,0,0,0,0
$GC,3068,-0.76,-219.0,436.6,-12.2,339,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2804,3861,0,0,0,0,0,0
$STATE,3160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3160,begin apogee
$GC,3167,-0.16,0.0,448.1,12.1,348,3351,0.55,0.00,178.80,1.018,4,0.115,0.000,2741,2684,2960,0,0,0,0,0,0
$STATE,3352,end apogee,CONTROL_FINISHED_OK
$STATE,3352,begin climb
$GC,3355,0.76,219.0,456.6,0.0,364,3559,0.88,0.00,198.48,0.959,6,0.074,0.000,3038,2683,2067,0,0,0,0,0,0
$GC,3749,0.76,219.0,423.3,11.5,400,3753,0.00,1.85,0.00,0.000,4,0.000,0.047,3038,3760,2060,0,0,0,0,0,0
$GC,3822,0.76,219.0,413.7,13.3,406,3830,0.00,1.70,0.00,0.000,6,0.000,0.030,3044,2729,2059,0,0,1,0,0,0
$GC,4021,0.76,219.0,390.3,11.9,425,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2730,2057,0,0,0,0,0,0
$GC,4212,0.76,219.0,368.0,11.8,443,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2730,2056,0,0,0,0,0,0
$GC,4404,0.76,219.0,345.6,11.7,461,4408,0.00,1.67,0.00,0.000,4,0.000,0.049,3044,3767,2056,0,0,0,0,0,0
$GC,4443,0.76,219.0,340.1,13.4,464,4450,0.00,1.65,0.00,0.000,6,0.000,0.031,3052,2711,2056,0,0,1,0,0,0
$GC,4642,0.76,219.0,315.8,12.4,483,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2712,2055,0,0,0,0,0,0
$GC,4834,0.76,219.0,293.2,11.5,501,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2711,2054,0,0,0,0,0,0
$GC,5033,0.77,224.9,270.2,11.2,520,5045,0.00,1.75,4.43,0.702,4,0.000,0.050,3052,3758,2042,0,0,0,0,0,0
$GC,5084,0.77,224.9,263.3,14.0,524,5091,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2714,2042,0,0,0,0,0,0
$GC,5284,0.77,224.9,239.3,11.8,543,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2715,2042,0,0,0,0,0,0
$GC,5410,0.77,224.9,224.3,11.8,555,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2714,2042,0,0,0,0,0,0
$GC,5537,0.77,224.9,209.1,12.1,567,5541,0.00,1.67,0.00,0.000,4,0.000,0.049,3059,3763,2042,0,0,0,0,0,0
$GC,5586,0.77,224.9,202.7,13.3,571,5590,0.00,1.65,0.00,0.000,6,0.000,0.031,3067,2691,2042,0,0,0,0,0,0
$GC,5726,0.77,224.9,184.5,12.8,584,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2688,2042,0,0,0,0,0,0
$GC,5854,0.77,224.9,168.7,12.5,596,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2688,2041,0,0,0,0,0,0
$GC,5982,0.77,224.9,152.8,12.9,608,5986,0.00,1.75,0.00,0.000,4,0.000,0.049,3067,3755,2041,0,0,0,0,0,0
$GC,6039,0.77,224.9,144.9,14.0,613,6042,0.00,1.60,0.00,0.000,6,0.000,0.031,3075,2737,2041,0,0,0,0,0,0
$GC,6178,0.77,224.9,126.7,12.8,626,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2736,2041,0,0,0,0,0,0
$GC,6306,0.77,224.9,110.9,12.2,638,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2735,2041,0,0,0,0,0,0
$GC,6434,0.77,224.9,95.1,12.6,653,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2735,2041,0,0,0,0,0,0
$GC,6576,0.77,224.9,77.4,12.8,678,6583,0.00,1.67,0.00,0.000,4,0.000,0.049,3075,3756,2041,0,0,0,0,0,0
$GC,6624,0.77,224.9,70.4,14.2,686,6632,0.10,1.60,0.00,0.000,6,0.139,0.031,3047,2742,2040,0,0,0,0,0,0
$GC,6770,0.83,278.3,55.6,9.5,711,6826,0.00,0.00,49.30,0.786,6,0.000,0.000,3047,2742,1825,0,0,0,0,0,0
$GC,6962,0.83,278.3,33.1,12.2,744,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2742,1824,0,0,0,0,0,0
$GC,7103,0.83,278.3,16.2,11.4,769,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2742,1823,0,0,0,0,0,0
$FREEZE,8.66,-0.216,-1.895,2,1,0
$FREEZE,8.02,-0.223,-1.894,2,1,0
$FREEZE,7.32,-0.218,-1.894,2,1,0
$FREEZE,6.70,-0.224,-1.893,2,1,0
$FREEZE,5.92,-0.216,-1.893,2,1,0
$FREEZE,5.39,-0.214,-1.892,2,1,0
$FREEZE,4.70,-0.217,-1.892,2,1,0
$FREEZE,4.05,-0.191,-1.891,2,1,0
$FREEZE,3.37,-0.201,-1.891,2,1,0
$FREEZE,2.99,-0.203,-1.891,2,1,0
$STATE,7215,end climb,SURFACE_DEPTH_REACHED
$STATE,7215,begin surface coast
$FREEZE,1.79,-0.205,-1.890,2,1,0
$FREEZE,1.39,-0.206,-1.889,2,1,0
$FREEZE,1.03,-0.206,-1.889,2,1,0
$FREEZE,0.62,-0.204,-1.889,2,1,0
$FINISH,0.6,1.027637
$STATE,7239,end surface coast,CONTROL_FINISHED_OK
$STATE,7239,begin surface
$SM_CCo,7318,0.00,0.000,0,0,1819,279.64
$SM_GC,0.71,7.57,0.00,0.00,0.044,0.000,0.000,182,2790,1819,-8.08,0.25,279.64
$IRIDIUM_FIX,-7519.49,17503.76,130111,040404
$TT8_MAMPS,0.026964
$HUMID,53.15
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.7
$24V_AH,21.7,73.277
$10V_AH,9.8,28.492
$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,18.900,34.475,431.000,0.000,0.000,30.291,37.482,185.512,1.250,0.000,38.259,1941.779,3474.417,476.778,1571.835,286.223,0.000,1207.787,0.000,1245.878,0.000,9.471,0.000
$DEVICE_MAMPS,224.145,144.585,1018.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.582,958.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258208
$DATA_FILE_SIZE,53732,793
$CAP_FILE_SIZE,94797,0
$CFSIZE,260165632,220086272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.121,149.3,1
$GPS,130111,085106,-7607.551,17507.416,47,1.1,48,123.5