version: 66.08
glider: 503
mission: 7
dive: 876
start: 1 26 111 13 46 47
data:
$ID,503
$MISSION,7
$DIVE,876
$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,-20640.674
$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,51
$R_STBD_OVSHOOT,40
$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
$GPS1,260111,133407,-7634.584,17609.324,39,1.6,40,123.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.4
$GPS2,260111,134620,-7634.586,17609.449,34,1.9,34,123.8
$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,193.4,62922,-16.1,-10.000
$D_GRID,395
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.71,-170.3,0.0,0.0,0,95,0.00,0.00,-74.45,0.000,2,0.000,0.000,161,2800,3482,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.6,-8.0,13,121,9.20,2.28,-3.58,0.000,4,0.201,0.040,2563,1368,3658,0,0,0,0,0,0
$GC,168,-0.71,-170.3,21.5,-12.7,24,175,0.00,2.28,0.00,0.000,6,0.000,0.042,2560,2770,3660,0,0,0,0,0,0
$GC,310,-0.71,-170.3,40.5,-13.0,49,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2770,3661,0,0,0,0,0,0
$GC,452,-0.71,-170.3,60.0,-13.7,74,459,0.00,1.62,0.00,0.000,4,0.000,0.048,2557,3757,3661,0,0,0,0,0,0
$GC,499,-0.71,-170.3,66.8,-14.0,82,505,0.00,1.55,0.00,0.000,6,0.000,0.028,2557,2776,3661,0,0,0,0,0,0
$GC,641,-0.71,-170.3,86.3,-15.1,107,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2776,3661,0,0,0,0,0,0
$GC,782,-0.71,-170.3,105.2,-13.5,129,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2776,3662,0,0,0,0,0,0
$GC,909,-0.71,-170.3,123.5,-14.4,141,913,0.00,1.62,0.00,0.000,4,0.000,0.047,2549,3755,3662,0,0,0,0,0,0
$GC,945,-0.71,-170.3,128.5,-15.2,144,949,0.00,1.52,0.00,0.000,6,0.000,0.028,2549,2786,3661,0,0,0,0,0,0
$GC,1085,-0.71,-170.3,149.0,-14.5,157,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2786,3661,0,0,0,0,0,0
$GC,1212,-0.71,-170.3,167.0,-14.2,169,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2786,3661,0,0,0,0,0,0
$GC,1340,-0.71,-170.3,184.9,-14.1,181,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2786,3662,0,0,0,0,0,0
$GC,1467,-0.71,-170.3,202.6,-13.8,193,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2786,3661,0,0,0,0,0,0
$GC,1596,-0.71,-170.3,220.2,-13.9,205,1600,0.00,1.60,0.00,0.000,4,0.000,0.047,2541,3754,3661,0,0,0,0,0,0
$GC,1643,-0.71,-170.3,227.6,-15.1,209,1647,0.00,1.52,0.00,0.000,6,0.000,0.028,2542,2782,3661,0,0,0,0,0,0
$GC,1784,-0.71,-170.3,248.5,-14.7,222,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2782,3661,0,0,0,0,0,0
$GC,1911,-0.71,-170.3,267.1,-14.9,234,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2782,3661,0,0,0,0,0,0
$GC,2104,-0.71,-170.3,295.0,-14.4,252,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2782,3661,0,0,0,0,0,0
$GC,2293,-0.71,-170.3,322.6,-14.3,270,2296,0.00,1.62,0.00,0.000,4,0.000,0.047,2534,3791,3661,0,0,0,0,0,0
$GC,2339,-0.71,-170.3,329.6,-15.0,274,2343,0.08,1.58,0.00,0.000,6,0.131,0.028,2570,2786,3661,0,0,0,0,0,0
$GC,2546,-0.71,-170.3,355.0,-12.5,293,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2785,3661,0,0,0,0,0,0
$GC,2747,-0.71,-170.3,379.5,-11.9,312,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2785,3661,0,0,0,0,0,0
$STATE,2879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2879,begin apogee
$GC,2887,-0.16,0.0,395.7,12.0,325,3033,0.50,0.00,140.48,0.990,4,0.113,0.000,2741,2690,2959,0,0,0,0,0,0
$STATE,3034,end apogee,CONTROL_FINISHED_OK
$STATE,3034,begin climb
$GC,3037,0.71,170.3,399.3,0.0,338,3198,0.85,2.30,153.35,0.938,4,0.061,0.033,3035,1314,2265,0,0,0,0,0,0
$GC,3408,0.75,199.7,376.0,8.8,370,3441,0.00,2.35,27.10,0.907,6,0.000,0.041,3035,2698,2145,0,0,0,0,0,0
$GC,3641,0.76,213.3,353.8,9.5,392,3664,0.00,2.33,13.35,0.877,4,0.000,0.034,3045,1313,2090,0,0,1,0,0,0
$GC,3799,0.79,231.9,338.6,9.3,406,3824,0.00,2.30,18.02,0.897,6,0.000,0.041,3045,2721,2014,0,0,0,0,0,0
$GC,4017,0.79,231.9,315.9,10.8,426,4021,0.00,1.67,0.00,0.000,4,0.000,0.048,3045,3763,2014,0,0,0,0,0,0
$GC,4063,0.79,231.9,309.9,12.4,430,4067,0.00,1.65,0.00,0.000,6,0.000,0.031,3053,2704,2014,0,0,0,0,0,0
$GC,4268,0.79,231.9,286.5,11.7,449,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2704,2014,0,0,0,0,0,0
$GC,4459,0.79,231.9,265.1,10.9,467,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2704,2014,0,0,0,0,0,0
$GC,4649,0.79,231.9,244.7,10.8,485,4652,0.00,1.73,0.00,0.000,4,0.000,0.047,3053,3769,2014,0,0,0,0,0,0
$GC,4687,0.79,231.9,240.1,12.5,488,4694,0.00,1.67,0.00,0.000,6,0.000,0.029,3060,2719,2014,0,0,0,0,0,0
$GC,4823,0.79,231.9,225.4,10.6,501,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2719,2014,0,0,0,0,0,0
$GC,4949,0.79,231.9,212.0,10.0,513,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2720,2014,0,0,0,0,0,0
$GC,5076,0.79,231.9,198.5,10.9,525,5080,0.00,1.73,0.00,0.000,4,0.000,0.048,3060,3760,2014,0,0,0,0,0,0
$GC,5116,0.79,231.9,193.6,12.3,528,5123,0.00,1.65,0.00,0.000,6,0.000,0.030,3068,2727,2014,0,0,0,0,0,0
$GC,5251,0.79,231.9,177.6,11.9,541,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2727,2014,0,0,0,0,0,0
$GC,5379,0.79,231.9,162.6,11.9,553,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2727,2014,0,0,0,0,0,0
$GC,5507,0.79,231.9,147.4,12.1,565,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2727,2013,0,0,0,0,0,0
$GC,5633,0.79,231.9,132.5,11.6,577,5636,0.00,1.67,0.00,0.000,4,0.000,0.048,3068,3765,2013,0,0,0,0,0,0
$GC,5679,0.79,231.9,126.6,13.0,581,5683,0.00,1.65,0.00,0.000,6,0.000,0.030,3076,2730,2013,0,0,0,0,0,0
$GC,5820,0.79,231.9,109.5,12.0,594,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2729,2013,0,0,0,0,0,0
$GC,5948,0.79,231.9,93.9,12.3,610,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2729,2013,0,0,0,0,0,0
$GC,6091,0.79,231.9,77.0,11.6,635,6098,0.00,1.70,0.00,0.000,4,0.000,0.047,3076,3753,2013,0,0,0,0,0,0
$GC,6140,0.79,231.9,70.4,13.7,643,6149,0.08,1.62,0.00,0.000,6,0.145,0.029,3057,2737,2013,0,0,0,0,0,0
$GC,6288,0.79,231.9,53.8,11.1,668,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2738,2013,0,0,0,0,0,0
$GC,6430,0.79,231.9,37.9,11.4,693,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2738,2013,0,0,0,0,0,0
$GC,6572,0.79,231.9,22.0,11.2,718,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2738,2013,0,0,0,0,0,0
$FREEZE,8.90,0.010,-1.899,2,1,0
$FREEZE,8.14,0.020,-1.898,2,1,0
$FREEZE,7.48,0.030,-1.897,2,1,0
$FREEZE,6.86,0.031,-1.897,2,1,0
$FREEZE,6.30,0.011,-1.896,2,1,0
$GC,6715,0.79,231.9,6.3,13.1,743,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2738,2012,0,0,0,0,0,0
$FREEZE,3.90,0.023,-1.895,2,1,0
$FREEZE,3.09,0.022,-1.894,2,1,0
$FREEZE,2.48,0.025,-1.894,2,1,0
$STATE,6738,end climb,SURFACE_DEPTH_REACHED
$STATE,6738,begin surface coast
$FREEZE,1.92,0.024,-1.893,2,1,0
$FREEZE,1.32,0.023,-1.893,2,1,0
$FREEZE,0.78,0.020,-1.892,2,1,0
$FREEZE,0.14,0.020,-1.892,2,1,0
$FINISH,0.1,1.027675
$STATE,6762,end surface coast,CONTROL_FINISHED_OK
$STATE,6762,begin surface
$SM_CCo,6781,7.97,0.103,0,0,1940,250.20
$SM_GC,2.43,0.00,0.00,7.97,0.000,0.000,0.103,182,2794,1940,-8.18,0.40,250.20
$IRIDIUM_FIX,-7545.40,17617.92,260111,131333
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.4
$24V_AH,21.6,92.438
$10V_AH,9.6,37.839
$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,18.275,43.375,352.300,7.975,0.000,55.690,77.250,326.085,1.250,0.000,37.400,1866.883,3116.242,435.036,1749.123,358.039,0.000,1148.021,0.000,1216.491,0.000,10.634,0.000
$DEVICE_MAMPS,201.195,113.985,989.910,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.803,946.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258152
$DATA_FILE_SIZE,50367,751
$CAP_FILE_SIZE,98351,0
$CFSIZE,260165632,211652608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.089, 50.9,1
$GPS,260111,154114,-7633.587,17607.975,33,1.5,34,123.8