version: 66.08
glider: 503
mission: 7
dive: 873
start: 1 26 111 7 34 49
data:
$ID,503
$MISSION,7
$DIVE,873
$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,-20636.898
$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,49
$R_STBD_OVSHOOT,25
$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
$GPS1,260111,072743,-7636.918,17612.758,14,1.1,20,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.9
$GPS2,260111,073419,-7636.941,17612.834,9,1.0,14,123.9
$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,212.7,67467,-16.1,-10.000
$D_GRID,415
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,93,0.00,0.00,-75.00,0.000,2,0.000,0.000,184,2748,3488,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.6,-8.5,13,119,9.12,2.20,-3.47,0.000,4,0.203,0.043,2565,1368,3658,0,0,0,0,0,0
$GC,176,-0.71,-170.3,23.6,-12.8,26,183,0.00,2.30,0.00,0.000,6,0.000,0.044,2562,2782,3660,0,0,0,0,0,0
$GC,319,-0.71,-170.3,43.1,-13.5,51,327,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3764,3661,0,0,0,0,0,0
$GC,357,-0.71,-170.3,48.8,-14.4,57,364,0.00,1.55,0.00,0.000,6,0.000,0.028,2562,2787,3662,0,0,0,0,0,0
$GC,499,-0.71,-170.3,68.4,-13.9,82,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3662,0,0,0,0,0,0
$GC,641,-0.71,-170.3,87.8,-13.6,107,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3662,0,0,0,0,0,0
$GC,787,-0.71,-170.3,107.4,-13.1,128,791,0.00,1.62,0.00,0.000,4,0.000,0.048,2555,3792,3662,0,0,0,0,0,0
$GC,834,-0.71,-170.3,114.0,-14.0,132,838,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2788,3662,0,0,0,0,0,0
$GC,976,-0.71,-170.3,133.4,-13.5,145,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3662,0,0,0,0,0,0
$GC,1102,-0.71,-170.3,150.6,-13.5,157,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3663,0,0,0,0,0,0
$GC,1230,-0.71,-170.3,167.7,-13.4,169,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3662,0,0,0,0,0,0
$GC,1358,-0.71,-170.3,184.6,-12.8,181,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3662,0,0,0,0,0,0
$GC,1484,-0.71,-170.3,201.5,-13.1,193,1488,0.00,1.62,0.00,0.000,4,0.000,0.049,2548,3795,3662,0,0,0,0,0,0
$GC,1530,-0.71,-170.3,207.8,-14.2,197,1533,0.00,1.58,0.00,0.000,6,0.000,0.028,2547,2790,3662,0,0,0,0,0,0
$GC,1671,-0.71,-170.3,227.4,-14.3,210,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2790,3662,0,0,0,0,0,0
$GC,1797,-0.71,-170.3,245.1,-13.9,222,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2790,3662,0,0,0,0,0,0
$GC,1925,-0.71,-170.3,263.1,-14.2,234,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2790,3662,0,0,0,0,0,0
$GC,2118,-0.71,-170.3,289.3,-13.7,252,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2790,3662,0,0,0,0,0,0
$GC,2317,-0.71,-170.3,316.0,-13.1,271,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2790,3662,0,0,0,0,0,0
$GC,2509,-0.71,-170.3,341.2,-13.1,289,2513,0.00,1.62,0.00,0.000,4,0.000,0.048,2540,3764,3661,0,0,0,0,0,0
$GC,2566,-0.71,-170.3,349.4,-13.8,294,2575,0.00,1.52,0.00,0.000,6,0.000,0.028,2540,2804,3661,0,0,0,0,0,0
$GC,2774,-0.71,-170.3,377.7,-13.7,313,2778,0.10,2.28,0.00,0.000,4,0.171,0.032,2568,1369,3661,0,0,0,0,0,0
$GC,2816,-0.71,-170.3,382.7,-11.8,316,2820,0.00,2.30,0.00,0.000,6,0.000,0.042,2563,2796,3662,0,0,0,0,0,0
$GC,3016,-0.71,-170.3,389.5,0.0,334,3019,0.00,1.58,0.00,0.000,4,0.000,0.050,2563,3756,3662,0,0,0,0,0,0
$STATE,3037,end dive,NO_VERTICAL_VELOCITY
$STATE,3037,begin apogee
$GC,3046,-0.16,0.0,389.7,0.0,336,3192,0.50,0.00,140.15,0.985,4,0.078,0.000,2749,2696,2960,0,0,0,0,0,0
$STATE,3193,end apogee,CONTROL_FINISHED_OK
$STATE,3193,begin climb
$GC,3196,0.71,170.3,389.4,0.0,349,3358,0.82,2.40,152.80,0.934,4,0.067,0.033,3030,1289,2265,0,0,0,0,0,0
$GC,3443,0.79,231.1,375.9,7.6,370,3508,0.00,2.47,57.88,0.906,6,0.000,0.041,3030,2700,2017,0,0,0,0,0,0
$GC,3698,0.79,237.0,351.2,9.8,394,3710,0.00,2.42,7.30,0.783,4,0.000,0.034,3040,1292,1992,0,0,1,0,0,0
$GC,3831,0.79,237.0,338.0,10.1,405,3838,0.00,2.38,0.00,0.000,6,0.000,0.042,3040,2720,1992,0,0,0,0,0,0
$GC,4031,0.79,237.0,316.2,10.9,424,4035,0.00,1.70,0.00,0.000,4,0.000,0.049,3040,3770,1992,0,0,0,0,0,0
$GC,4100,0.79,237.0,307.5,12.7,430,4104,0.00,1.70,0.00,0.000,6,0.000,0.028,3047,2713,1991,0,0,0,0,0,0
$GC,4304,0.79,237.0,284.4,11.3,449,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2713,1991,0,0,0,0,0,0
$GC,4494,0.79,237.0,263.4,10.8,467,4497,0.00,1.70,0.00,0.000,4,0.000,0.047,3047,3766,1991,0,0,0,0,0,0
$GC,4529,0.79,237.0,259.3,12.1,470,4533,0.00,1.65,0.00,0.000,6,0.000,0.029,3053,2700,1990,0,0,0,0,0,0
$GC,4734,0.79,237.0,237.1,10.5,489,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2700,1990,0,0,0,0,0,0
$GC,4861,0.79,237.0,223.4,10.6,501,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2699,1990,0,0,0,0,0,0
$GC,4988,0.79,237.0,210.0,10.9,513,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2700,1990,0,0,0,0,0,0
$GC,5114,0.79,237.0,196.6,10.5,525,5118,0.00,1.73,0.00,0.000,4,0.000,0.049,3053,3763,1989,0,0,0,0,0,0
$GC,5153,0.79,237.0,191.8,11.8,528,5160,0.00,1.65,0.00,0.000,6,0.000,0.031,3061,2734,1989,0,0,0,0,0,0
$GC,5288,0.79,237.0,177.4,10.7,541,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,1989,0,0,0,0,0,0
$GC,5415,0.79,237.0,163.8,10.6,553,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,1989,0,0,0,0,0,0
$GC,5542,0.79,237.0,150.4,10.5,565,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,1989,0,0,0,0,0,0
$GC,5669,0.79,237.0,136.6,11.0,577,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,1989,0,0,0,0,0,0
$GC,5798,0.79,237.0,122.7,11.2,589,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,1988,0,0,0,0,0,0
$GC,5926,0.79,237.0,108.1,11.4,601,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,1989,0,0,0,0,0,0
$GC,6064,0.79,237.0,91.9,11.7,620,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,1988,0,0,0,0,0,0
$GC,6207,0.79,237.0,75.5,11.6,645,6214,0.00,1.70,0.00,0.000,4,0.000,0.047,3061,3757,1988,0,0,0,0,0,0
$GC,6244,0.79,237.0,70.9,13.3,651,6252,0.00,1.65,0.00,0.000,6,0.000,0.029,3066,2721,1988,0,0,0,0,0,0
$GC,6389,0.79,237.0,53.9,11.5,676,6396,0.00,2.25,0.00,0.000,4,0.000,0.035,3078,1303,1988,0,0,0,0,0,0
$GC,6415,0.79,237.0,50.7,11.4,680,6422,0.00,2.33,0.00,0.000,6,0.000,0.041,3078,2742,1988,0,0,0,0,0,0
$GC,6558,0.79,237.0,34.0,12.5,705,6564,0.00,1.67,0.00,0.000,4,0.000,0.047,3078,3759,1988,0,0,0,0,0,0
$GC,6611,0.79,237.0,26.4,15.0,714,6618,0.00,1.62,0.00,0.000,6,0.000,0.029,3085,2740,1988,0,0,0,0,0,0
$FREEZE,8.51,0.064,-1.897,2,1,0
$FREEZE,7.60,0.065,-1.896,2,1,0
$GC,6758,0.79,237.0,7.6,13.1,739,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2740,1988,0,0,0,0,0,0
$FREEZE,5.60,0.087,-1.895,2,1,0
$FREEZE,4.79,0.087,-1.894,2,1,0
$FREEZE,4.11,0.090,-1.893,2,1,0
$FREEZE,3.46,0.085,-1.893,2,1,0
$FREEZE,2.72,0.090,-1.892,2,1,0
$STATE,6792,end climb,SURFACE_DEPTH_REACHED
$STATE,6792,begin surface coast
$FREEZE,2.04,0.085,-1.892,2,1,0
$FREEZE,1.50,0.087,-1.892,2,1,0
$FREEZE,0.89,0.085,-1.891,2,1,0
$FREEZE,0.17,0.084,-1.891,2,1,0
$FINISH,0.2,1.027654
$STATE,6814,end surface coast,CONTROL_FINISHED_OK
$STATE,6814,begin surface
$SM_CCo,6834,4.70,0.104,0,0,1940,250.20
$SM_GC,1.99,0.00,0.00,4.70,0.000,0.000,0.104,179,2796,1940,-8.19,0.45,250.20
$IRIDIUM_FIX,-7554.21,17617.32,260111,050538
$TT8_MAMPS,0.027713
$HUMID,52.99
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,20.1
$24V_AH,21.6,92.098
$10V_AH,9.7,37.659
$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,18.175,56.175,358.125,4.700,0.000,27.751,37.576,173.419,1.250,0.000,17.272,1869.308,3111.803,443.103,1494.282,322.488,0.000,1159.528,0.000,1203.915,0.000,10.420,0.000
$DEVICE_MAMPS,203.490,113.985,984.555,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.251,948.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258148
$DATA_FILE_SIZE,47154,749
$CAP_FILE_SIZE,97076,0
$CFSIZE,260165632,211824640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.083,144.9,1
$GPS,260111,093024,-7636.291,17612.160,52,0.9,53,123.9