version: 66.08
glider: 503
mission: 7
dive: 871
start: 1 26 111 3 34 13
data:
$ID,503
$MISSION,7
$DIVE,871
$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,-20634.385
$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,48
$R_STBD_OVSHOOT,37
$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
$GPS1,260111,032631,-7637.991,17614.225,50,1.0,51,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-74.8
$GPS2,260111,033344,-7638.033,17614.365,14,0.9,14,123.9
$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,226.7,69568,-16.1,-10.000
$D_GRID,427
$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,-170.3,0.0,0.0,0,92,0.00,0.00,-73.25,0.000,2,0.000,0.000,172,2796,3431,0,0,0,0,0,0
$GC,96,-0.71,-170.3,3.3,-7.2,12,119,9.20,2.25,-4.80,0.000,4,0.205,0.045,2567,1373,3659,0,0,1,0,0,0
$GC,171,-0.71,-170.3,21.9,-13.9,24,178,0.00,2.28,0.00,0.000,6,0.000,0.043,2563,2772,3661,0,0,0,0,0,0
$GC,314,-0.71,-170.3,42.1,-14.4,49,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2772,3663,0,0,0,0,0,0
$GC,458,-0.71,-170.3,62.3,-12.9,74,464,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3753,3662,0,0,0,0,0,0
$GC,494,-0.71,-170.3,67.4,-14.2,80,501,0.00,1.52,0.00,0.000,6,0.000,0.028,2563,2786,3663,0,0,0,0,0,0
$GC,637,-0.71,-170.3,86.9,-15.2,105,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2786,3663,0,0,0,0,0,0
$GC,778,-0.71,-170.3,105.0,-12.4,127,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2786,3663,0,0,0,0,0,0
$GC,905,-0.71,-170.3,121.1,-13.0,139,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3663,0,0,0,0,0,0
$GC,1033,-0.71,-170.3,137.6,-12.9,151,1037,0.00,1.62,0.00,0.000,4,0.000,0.048,2555,3789,3664,0,0,0,0,0,0
$GC,1072,-0.71,-170.3,143.3,-13.8,154,1079,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2786,3663,0,0,0,0,0,0
$GC,1207,-0.71,-170.3,160.8,-13.3,167,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2786,3664,0,0,0,0,0,0
$GC,1335,-0.71,-170.3,177.5,-13.0,179,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2787,3664,0,0,0,0,0,0
$GC,1462,-0.71,-170.3,194.0,-12.9,191,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2787,3664,0,0,0,0,0,0
$GC,1589,-0.71,-170.3,210.7,-13.2,203,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2787,3664,0,0,0,0,0,0
$GC,1718,-0.71,-170.3,227.2,-12.8,215,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2787,3664,0,0,0,0,0,0
$GC,1844,-0.71,-170.3,243.8,-12.9,227,1848,0.00,1.60,0.00,0.000,4,0.000,0.047,2549,3753,3664,0,0,0,0,0,0
$GC,1883,-0.71,-170.3,249.3,-13.3,230,1891,0.00,1.50,0.00,0.000,6,0.000,0.028,2548,2798,3663,0,0,0,0,0,0
$GC,2019,-0.71,-170.3,267.6,-13.8,243,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2798,3663,0,0,0,0,0,0
$GC,2210,-0.71,-170.3,292.9,-13.3,261,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2798,3663,0,0,0,0,0,0
$GC,2409,-0.71,-170.3,319.5,-13.4,280,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$GC,2601,-0.71,-170.3,345.1,-13.8,298,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2799,3663,0,0,0,0,0,0
$STATE,2767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2767,begin apogee
$GC,2775,-0.16,0.0,367.9,13.3,314,2921,0.57,0.00,140.07,0.973,4,0.116,0.000,2740,2681,2959,0,0,0,0,0,0
$STATE,2922,end apogee,CONTROL_FINISHED_OK
$STATE,2922,begin climb
$GC,2925,0.71,170.3,374.3,0.0,327,3085,0.85,2.33,152.25,0.925,4,0.074,0.033,3025,1305,2265,0,0,0,0,0,0
$GC,3114,0.78,222.2,368.1,7.9,343,3169,0.00,2.50,50.33,0.894,6,0.000,0.041,3025,2700,2054,0,0,0,0,0,0
$GC,3363,0.80,239.0,343.7,9.3,366,3386,0.00,1.83,16.38,0.865,4,0.000,0.046,3025,3768,1986,0,0,0,0,0,0
$GC,3459,0.80,239.0,333.0,11.0,374,3466,0.00,1.73,0.00,0.000,6,0.000,0.028,3033,2719,1986,0,0,1,0,0,0
$GC,3660,0.80,239.0,312.6,10.5,393,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2718,1986,0,0,0,0,0,0
$GC,3858,0.80,239.0,291.9,10.5,412,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2718,1986,0,0,0,0,0,0
$GC,4050,0.80,239.0,272.7,10.0,430,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2718,1985,0,0,0,0,0,0
$GC,4243,0.80,239.0,253.4,10.1,448,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2718,1985,0,0,0,0,0,0
$GC,4442,0.81,249.2,233.6,9.6,467,4457,0.00,1.77,10.32,0.848,4,0.000,0.049,3033,3766,1942,0,0,0,0,0,0
$GC,4501,0.81,249.2,227.4,10.8,472,4505,0.00,1.65,0.00,0.000,6,0.000,0.030,3040,2704,1942,0,0,0,0,0,0
$GC,4642,0.81,249.2,212.8,10.3,485,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2702,1943,0,0,0,0,0,0
$GC,4769,0.81,253.2,200.1,9.8,497,4779,0.00,0.00,5.18,0.721,6,0.000,0.000,3040,2702,1927,0,0,0,0,0,0
$GC,4908,0.82,259.6,186.8,9.7,510,4917,0.00,0.00,7.47,0.789,6,0.000,0.000,3040,2702,1901,0,0,0,0,0,0
$GC,5044,0.83,263.6,173.4,9.8,523,5053,0.00,0.00,5.45,0.717,6,0.000,0.000,3040,2702,1885,0,0,0,0,0,0
$GC,5181,0.83,265.6,159.7,9.9,536,5185,0.00,1.73,0.00,0.000,4,0.000,0.048,3040,3764,1885,0,0,0,0,0,0
$GC,5229,0.83,265.6,154.6,11.7,540,5232,0.00,1.67,0.00,0.000,6,0.000,0.031,3048,2711,1885,0,0,0,0,0,0
$GC,5369,0.83,265.6,139.4,10.7,553,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2710,1885,0,0,0,0,0,0
$GC,5496,0.83,265.6,125.9,10.6,565,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2711,1885,0,0,0,0,0,0
$GC,5625,0.83,265.6,112.2,10.9,577,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2711,1885,0,0,0,0,0,0
$GC,5752,0.83,265.6,98.4,10.7,590,5759,0.00,1.75,0.00,0.000,4,0.000,0.047,3048,3781,1885,0,0,0,0,0,0
$GC,5794,0.83,265.6,93.3,12.5,597,5802,0.00,1.70,0.00,0.000,6,0.000,0.029,3054,2720,1885,0,0,0,0,0,0
$GC,5941,0.83,265.6,76.9,11.1,622,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2720,1885,0,0,0,0,0,0
$GC,6081,0.83,265.6,60.0,12.0,647,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2720,1885,0,0,0,0,0,0
$GC,6222,0.83,265.6,43.7,11.6,672,6229,0.00,1.75,0.00,0.000,4,0.000,0.048,3054,3766,1885,0,0,0,0,0,0
$GC,6260,0.83,265.6,38.9,13.6,678,6268,0.00,1.65,3.53,0.550,6,0.000,0.029,3061,2736,1877,0,0,0,0,0,0
$GC,6405,0.83,265.6,21.7,12.5,703,6412,0.00,2.30,0.00,0.000,4,0.000,0.034,3072,1290,1877,0,0,0,0,0,0
$GC,6442,0.83,265.6,17.0,11.9,709,6450,0.00,2.33,0.00,0.000,6,0.000,0.042,3072,2724,1877,0,0,0,0,0,0
$FREEZE,8.74,0.077,-1.897,2,1,0
$FREEZE,8.08,0.078,-1.897,2,1,0
$FREEZE,7.48,0.103,-1.896,2,1,0
$FREEZE,6.72,0.103,-1.895,2,1,0
$FREEZE,6.01,0.111,-1.895,2,1,0
$FREEZE,5.50,0.107,-1.895,2,1,0
$FREEZE,4.79,0.115,-1.894,2,1,0
$FREEZE,4.08,0.118,-1.893,2,1,0
$FREEZE,3.41,0.117,-1.893,2,1,0
$FREEZE,2.41,0.089,-1.892,2,1,0
$STATE,6553,end climb,SURFACE_DEPTH_REACHED
$STATE,6553,begin surface coast
$FREEZE,1.66,0.108,-1.891,2,1,0
$FREEZE,0.87,0.115,-1.891,2,1,0
$FREEZE,0.23,0.121,-1.890,2,1,0
$FREEZE,-0.04,0.138,-0.923,2,1,0
$FINISH,-0.0,1.013644
$STATE,6576,end surface coast,CONTROL_FINISHED_OK
$STATE,6576,begin surface
$SM_CCo,6656,0.00,0.000,0,0,1875,266.15
$SM_GC,0.85,7.62,0.00,0.00,0.044,0.000,0.000,183,2794,1875,-8.08,0.40,266.15
$IRIDIUM_FIX,-7554.21,17617.32,260111,010155
$TT8_MAMPS,0.026964
$HUMID,52.83
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.0
$ALTIM_BOTTOM_PING,350.7,32.1
$24V_AH,21.6,91.882
$10V_AH,9.6,37.543
$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,18.250,40.850,390.975,0.000,0.000,29.116,38.542,200.719,1.250,0.000,16.573,1804.156,3044.742,465.391,1464.548,311.978,0.000,1149.574,0.000,1144.521,0.000,10.545,0.000
$DEVICE_MAMPS,205.020,114.750,973.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.231,946.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,47028,733
$CAP_FILE_SIZE,92170,0
$CFSIZE,260165632,211935232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.130,176.7,1
$GPS,260111,052621,-7637.438,17613.748,18,1.2,32,123.9