version: 66.08
glider: 503
mission: 7
dive: 878
start: 1 26 111 17 55 1
data:
$ID,503
$MISSION,7
$DIVE,878
$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,-20643.188
$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,43
$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
$GPS1,260111,174736,-7632.532,17605.744,22,1.1,33,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.5
$GPS2,260111,175432,-7632.482,17605.766,11,1.2,11,123.8
$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,188.9,58725,-16.1,-10.000
$D_GRID,385
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-76.82,0.000,2,0.000,0.000,158,2800,3534,0,0,0,0,0,0
$GC,100,-0.71,-170.3,4.0,-9.7,13,121,9.12,1.58,-2.45,0.000,4,0.200,0.060,2558,3741,3660,0,0,0,0,0,0
$GC,375,-0.71,-170.3,53.7,-14.3,61,382,0.00,1.52,0.00,0.000,6,0.000,0.028,2558,2771,3662,0,0,0,0,0,0
$GC,518,-0.71,-170.3,73.7,-14.0,86,524,0.00,1.62,0.00,0.000,4,0.000,0.047,2550,3748,3662,0,0,0,0,0,0
$GC,577,-0.71,-170.3,82.1,-14.5,96,584,0.00,1.52,0.00,0.000,6,0.000,0.028,2550,2781,3662,0,0,0,0,0,0
$GC,724,-0.71,-170.3,101.8,-13.3,121,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2781,3662,0,0,0,0,0,0
$GC,850,-0.71,-170.3,118.7,-13.3,133,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2781,3663,0,0,0,0,0,0
$GC,977,-0.71,-170.3,135.8,-13.8,145,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2781,3663,0,0,0,0,0,0
$GC,1106,-0.71,-170.3,153.5,-13.9,157,1110,0.00,1.60,0.00,0.000,4,0.000,0.047,2543,3742,3663,0,0,0,0,0,0
$GC,1141,-0.71,-170.3,158.6,-14.2,160,1145,0.00,1.48,0.00,0.000,6,0.000,0.028,2543,2792,3663,0,0,1,0,0,0
$GC,1282,-0.71,-170.3,178.6,-14.1,173,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2793,3663,0,0,0,0,0,0
$GC,1410,-0.71,-170.3,196.4,-13.9,185,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2793,3663,0,0,0,0,0,0
$GC,1536,-0.71,-170.3,214.6,-14.6,197,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2792,3663,0,0,0,0,0,0
$GC,1664,-0.71,-170.3,233.2,-14.6,209,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2792,3663,0,0,0,0,0,0
$GC,1792,-0.71,-170.3,251.8,-14.1,221,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2793,3663,0,0,0,0,0,0
$GC,1982,-0.71,-170.3,278.8,-13.8,239,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2793,3663,0,0,0,0,0,0
$GC,2173,-0.71,-170.3,305.2,-13.6,257,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2793,3663,0,0,0,0,0,0
$GC,2367,-0.71,-170.3,330.9,-13.6,275,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2792,3663,0,0,0,0,0,0
$GC,2565,-0.71,-170.3,358.8,-13.7,294,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2792,3663,0,0,0,0,0,0
$STATE,2755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2756,begin apogee
$GC,2764,-0.16,0.0,385.4,13.5,312,2910,0.60,0.00,140.35,0.985,4,0.118,0.000,2743,2691,2958,0,0,0,0,0,0
$STATE,2911,end apogee,CONTROL_FINISHED_OK
$STATE,2911,begin climb
$GC,2914,0.71,170.3,392.8,0.0,325,3077,0.85,2.35,153.00,0.936,4,0.073,0.032,3028,1307,2264,0,0,0,0,0,0
$GC,3107,0.77,216.8,385.6,8.2,342,3158,0.00,2.45,45.15,0.899,6,0.000,0.040,3028,2681,2076,0,0,0,0,0,0
$GC,3351,0.77,216.8,361.8,10.0,364,3355,0.00,1.85,0.00,0.000,4,0.000,0.048,3028,3769,2074,0,0,0,0,0,0
$GC,3447,0.77,216.8,350.5,12.0,372,3454,0.00,1.70,0.00,0.000,6,0.000,0.029,3035,2730,2073,0,0,1,0,0,0
$GC,3647,0.77,216.8,329.7,10.6,391,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2730,2072,0,0,0,0,0,0
$GC,3836,0.77,216.8,309.2,10.9,409,3840,0.00,1.70,0.00,0.000,4,0.000,0.048,3035,3775,2071,0,0,0,0,0,0
$GC,3876,0.77,216.8,304.5,12.3,412,3883,0.00,1.70,0.00,0.000,6,0.000,0.029,3042,2719,2071,0,0,0,0,0,0
$GC,4076,0.77,216.8,283.8,10.3,431,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2719,2070,0,0,0,0,0,0
$GC,4265,0.77,216.8,264.5,10.0,449,4269,0.00,1.70,0.00,0.000,4,0.000,0.047,3042,3771,2070,0,0,0,0,0,0
$GC,4302,0.77,216.8,260.6,11.2,452,4306,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2711,2070,0,0,0,0,0,0
$GC,4506,0.77,216.8,238.2,10.7,471,4510,0.00,1.70,0.00,0.000,4,0.000,0.047,3051,3767,2070,0,0,0,0,0,0
$GC,4545,0.77,216.8,233.3,12.1,474,4552,0.00,1.65,0.00,0.000,6,0.000,0.029,3058,2733,2069,0,0,0,0,0,0
$GC,4680,0.77,216.8,218.3,11.5,487,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2733,2069,0,0,0,0,0,0
$GC,4807,0.77,216.8,204.1,10.9,499,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2733,2069,0,0,0,0,0,0
$GC,4934,0.77,216.8,190.1,10.9,511,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2733,2069,0,0,0,0,0,0
$GC,5063,0.77,216.8,176.4,10.5,523,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2733,2069,0,0,0,0,0,0
$GC,5189,0.77,216.8,162.7,10.8,535,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2734,2069,0,0,0,0,0,0
$GC,5318,0.77,216.8,149.1,10.5,547,5322,0.00,1.67,0.00,0.000,4,0.000,0.047,3058,3774,2068,0,0,0,0,0,0
$GC,5354,0.77,216.8,144.7,12.8,550,5358,0.00,1.65,0.00,0.000,6,0.000,0.029,3066,2704,2068,0,0,0,0,0,0
$GC,5494,0.77,216.8,128.1,11.8,563,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2703,2068,0,0,0,0,0,0
$GC,5621,0.77,216.8,113.1,11.7,575,5625,0.00,1.73,0.00,0.000,4,0.000,0.047,3066,3773,2067,0,0,0,0,0,0
$GC,5660,0.77,216.8,108.1,12.5,578,5667,0.00,1.62,0.00,0.000,6,0.000,0.029,3074,2745,2068,0,0,0,0,0,0
$GC,5798,0.77,216.8,91.8,12.0,597,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2745,2068,0,0,0,0,0,0
$GC,5939,0.77,216.8,74.7,11.6,622,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2745,2068,0,0,0,0,0,0
$GC,6082,0.77,216.8,57.0,11.9,647,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2745,2068,0,0,0,0,0,0
$GC,6225,0.77,216.8,40.2,11.8,672,6232,0.00,1.70,0.00,0.000,4,0.000,0.047,3074,3770,2068,0,0,0,0,0,0
$GC,6274,0.77,216.8,34.6,12.4,680,6282,0.10,1.62,0.00,0.000,6,0.135,0.029,3046,2746,2068,0,0,0,0,0,0
$GC,6420,0.77,216.8,20.0,10.6,705,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2746,2067,0,0,0,0,0,0
$FREEZE,8.66,-0.072,-1.897,2,1,0
$FREEZE,7.82,-0.069,-1.896,2,1,0
$FREEZE,7.38,-0.070,-1.896,2,1,0
$FREEZE,6.81,-0.068,-1.896,2,1,0
$FREEZE,6.22,-0.069,-1.895,2,1,0
$FREEZE,5.59,-0.069,-1.895,2,1,0
$FREEZE,4.76,-0.071,-1.894,2,1,0
$FREEZE,4.47,-0.067,-1.894,2,1,0
$GC,6563,0.77,216.8,4.5,10.5,730,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2746,2067,0,0,0,0,0,0
$FREEZE,2.92,-0.070,-1.893,2,1,0
$STATE,6575,end climb,SURFACE_DEPTH_REACHED
$STATE,6576,begin surface coast
$FREEZE,2.21,-0.070,-1.892,2,1,0
$FREEZE,1.65,-0.070,-1.892,2,1,0
$FREEZE,1.13,-0.070,-1.892,2,1,0
$FREEZE,0.62,-0.076,-1.891,2,1,0
$FREEZE,0.22,-0.073,-1.891,2,1,0
$FREEZE,-0.08,-0.073,-0.932,2,1,0
$FINISH,-0.1,1.013785
$STATE,6608,end surface coast,CONTROL_FINISHED_OK
$STATE,6608,begin surface
$SM_CCo,6626,14.48,0.101,0,0,1940,250.20
$SM_GC,1.33,0.00,0.00,14.48,0.000,0.000,0.101,169,2746,1940,-8.22,-0.96,250.20
$IRIDIUM_FIX,-7545.40,17618.52,260111,151540
$TT8_MAMPS,0.027713
$HUMID,53.58
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,19.5
$ALTIM_BOTTOM_PING,351.3,56.4
$24V_AH,21.6,92.658
$10V_AH,9.6,37.956
$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,18.200,37.875,338.500,14.475,0.000,24.346,37.009,188.640,1.250,0.000,14.534,1837.271,3031.606,419.868,1447.672,324.451,0.000,1097.197,0.000,1157.176,0.000,10.610,0.000
$DEVICE_MAMPS,199.665,81.090,984.555,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.033,940.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258136
$DATA_FILE_SIZE,46931,738
$CAP_FILE_SIZE,90836,0
$CFSIZE,260165632,211554304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.068, 60.1,1
$GPS,260111,194707,-7631.604,17603.834,40,1.0,41,123.8