version: 66.08
glider: 503
mission: 7
dive: 884
start: 1 27 111 6 2 7
data:
$ID,503
$MISSION,7
$DIVE,884
$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,-20650.732
$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,29
$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
$GPS1,270111,055455,-7629.063,17556.086,54,1.7,55,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.9
$GPS2,270111,060138,-7629.059,17556.094,10,1.7,10,123.8
$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,208.1,51083,-16.1,-10.000
$D_GRID,377
$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,-170.3,0.0,0.0,0,94,0.00,0.00,-75.03,0.000,2,0.000,0.000,186,2765,3502,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.7,-9.1,13,119,9.10,2.20,-3.15,0.000,4,0.204,0.042,2567,1376,3659,0,0,0,0,0,0
$GC,372,-0.71,-170.3,49.9,-12.9,61,379,0.00,2.28,0.00,0.000,6,0.000,0.041,2562,2780,3662,0,0,0,0,0,0
$GC,515,-0.71,-170.3,69.4,-14.3,86,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3662,0,0,0,0,0,0
$GC,656,-0.71,-170.3,88.5,-13.2,111,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3662,0,0,0,0,0,0
$GC,798,-0.71,-170.3,106.9,-12.8,131,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3663,0,0,0,0,0,0
$GC,924,-0.71,-170.3,123.5,-13.1,143,927,0.00,1.60,0.00,0.000,4,0.000,0.050,2563,3750,3663,0,0,0,0,0,0
$GC,970,-0.71,-170.3,129.8,-13.4,147,974,0.00,1.52,0.00,0.000,6,0.000,0.028,2563,2779,3663,0,0,0,0,0,0
$GC,1112,-0.71,-170.3,148.2,-13.3,160,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3662,0,0,0,0,0,0
$GC,1238,-0.71,-170.3,164.8,-13.2,172,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3663,0,0,0,0,0,0
$GC,1365,-0.71,-170.3,181.8,-13.2,184,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3663,0,0,0,0,0,0
$GC,1494,-0.71,-170.3,198.5,-13.2,196,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,1620,-0.71,-170.3,214.5,-13.0,208,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,1747,-0.71,-170.3,231.4,-13.5,220,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2779,3663,0,0,0,0,0,0
$GC,1876,-0.71,-170.3,248.8,-14.0,232,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,2002,-0.71,-170.3,266.2,-13.7,244,2005,0.00,1.62,0.00,0.000,4,0.000,0.048,2556,3760,3662,0,0,0,0,0,0
$GC,2042,-0.71,-170.3,271.9,-14.0,247,2049,0.00,1.52,0.00,0.000,6,0.000,0.029,2556,2789,3662,0,0,0,0,0,0
$GC,2241,-0.71,-170.3,298.0,-13.0,266,2245,0.00,2.20,0.00,0.000,4,0.000,0.032,2555,1377,3662,0,0,0,0,0,0
$GC,2273,-0.71,-170.3,302.4,-12.2,268,2280,0.00,2.28,0.00,0.000,6,0.000,0.042,2547,2782,3662,0,0,0,0,0,0
$GC,2473,-0.71,-170.3,328.7,-13.6,287,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2782,3662,0,0,0,0,0,0
$GC,2663,-0.71,-170.3,354.1,-13.3,305,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2782,3662,0,0,0,0,0,0
$STATE,2830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2830,begin apogee
$GC,2837,-0.16,0.0,378.1,14.3,321,2984,0.60,0.00,140.18,0.982,4,0.119,0.000,2746,2690,2958,0,0,0,0,0,0
$STATE,2985,end apogee,CONTROL_FINISHED_OK
$STATE,2985,begin climb
$GC,2988,0.71,170.3,385.5,0.0,334,3151,0.85,2.35,152.77,0.933,4,0.072,0.033,3032,1306,2265,0,0,0,0,0,0
$GC,3334,0.77,221.7,366.8,8.0,364,3390,0.00,2.38,47.50,0.916,6,0.000,0.041,3033,2700,2055,0,0,0,0,0,0
$GC,3581,0.77,221.7,342.3,10.4,387,3586,0.00,2.28,0.00,0.000,4,0.000,0.034,3042,1314,2055,0,0,1,0,0,0
$GC,3729,0.77,221.7,327.3,10.0,399,3737,0.00,2.30,0.00,0.000,6,0.000,0.042,3043,2716,2054,0,0,0,0,0,0
$GC,3928,0.77,221.7,306.3,10.4,418,3931,0.00,1.67,0.00,0.000,4,0.000,0.049,3043,3762,2054,0,0,0,0,0,0
$GC,3967,0.77,221.7,301.5,11.8,421,3974,0.00,1.67,0.00,0.000,6,0.000,0.031,3051,2696,2053,0,0,0,0,0,0
$GC,4168,0.77,221.7,280.2,11.0,440,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2696,2053,0,0,0,0,0,0
$GC,4366,0.77,221.7,258.1,11.2,459,4370,0.00,1.73,0.00,0.000,4,0.000,0.048,3051,3761,2052,0,0,0,0,0,0
$GC,4412,0.77,221.7,252.4,12.7,463,4416,0.00,1.67,0.00,0.000,6,0.000,0.030,3058,2719,2052,0,0,0,0,0,0
$GC,4617,0.77,221.7,229.0,11.4,482,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2718,2052,0,0,0,0,0,0
$GC,4744,0.77,221.7,214.7,11.2,494,4748,0.00,1.70,0.00,0.000,4,0.000,0.048,3058,3765,2051,0,0,0,0,0,0
$GC,4794,0.77,221.7,208.3,12.7,498,4800,0.00,1.67,0.00,0.000,6,0.000,0.031,3065,2717,2051,0,0,0,0,0,0
$GC,4929,0.77,221.7,192.9,11.5,511,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2716,2051,0,0,0,0,0,0
$GC,5055,0.77,221.7,178.4,11.5,523,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2716,2051,0,0,0,0,0,0
$GC,5183,0.77,221.7,163.8,11.6,535,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2716,2051,0,0,0,0,0,0
$GC,5311,0.77,221.7,149.1,11.4,547,5314,0.00,1.70,0.00,0.000,4,0.000,0.047,3065,3767,2051,0,0,0,0,0,0
$GC,5357,0.77,221.7,143.1,13.7,551,5361,0.00,1.65,0.00,0.000,6,0.000,0.028,3074,2729,2051,0,0,0,0,0,0
$GC,5498,0.77,221.7,125.7,12.4,564,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2728,2051,0,0,0,0,0,0
$GC,5626,0.77,221.7,109.7,12.4,576,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2050,0,0,0,0,0,0
$GC,5754,0.77,221.7,93.1,13.5,592,5761,0.00,1.70,0.00,0.000,4,0.000,0.047,3074,3751,2050,0,0,0,0,0,0
$GC,5803,0.77,221.7,86.3,14.2,600,5810,0.08,1.60,0.00,0.000,6,0.147,0.029,3053,2735,2050,0,0,1,0,0,0
$GC,5947,0.77,221.7,68.8,12.1,625,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2736,2050,0,0,0,0,0,0
$GC,6086,0.77,221.7,52.3,11.7,650,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2735,2050,0,0,0,0,0,0
$GC,6230,0.77,221.7,36.0,11.6,675,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2735,2050,0,0,0,0,0,0
$GC,6372,0.79,235.2,20.6,9.5,700,6392,0.00,1.73,12.15,0.764,4,0.000,0.049,3053,3761,2001,0,0,1,0,0,0
$GC,6446,0.79,235.2,11.3,13.8,712,6453,0.00,1.67,0.00,0.000,6,0.000,0.030,3061,2716,2001,0,0,0,0,0,0
$FREEZE,8.64,-0.044,-1.896,2,1,0
$FREEZE,7.91,-0.042,-1.895,2,1,0
$FREEZE,7.37,-0.043,-1.895,2,1,0
$FREEZE,6.65,-0.043,-1.894,2,1,0
$FREEZE,6.24,-0.042,-1.894,2,1,0
$FREEZE,5.37,-0.043,-1.893,2,1,0
$FREEZE,4.94,-0.045,-1.893,2,1,0
$FREEZE,4.37,-0.045,-1.893,2,1,0
$FREEZE,3.88,-0.045,-1.892,2,1,0
$FREEZE,3.19,-0.046,-1.892,2,1,0
$FREEZE,2.65,-0.047,-1.891,2,1,0
$STATE,6519,end climb,SURFACE_DEPTH_REACHED
$STATE,6519,begin surface coast
$FREEZE,1.71,-0.043,-1.891,2,1,0
$FREEZE,1.07,-0.042,-1.890,2,1,0
$FREEZE,0.47,-0.045,-1.890,2,1,0
$FREEZE,-0.12,-0.050,-1.889,2,1,0
$FREEZE,-0.04,-0.073,-1.891,2,1,0
$FINISH,-0.0,1.027664
$STATE,6546,end surface coast,CONTROL_FINISHED_OK
$STATE,6547,begin surface
$SM_CCo,6566,6.57,0.103,0,0,1940,250.20
$SM_GC,2.20,0.00,0.00,6.57,0.000,0.000,0.103,187,2799,1940,-8.17,0.57,250.20
$IRIDIUM_FIX,-7545.40,17550.92,270111,030358
$TT8_MAMPS,0.027713
$HUMID,53.70
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.3
$ALTIM_BOTTOM_PING,351.3,65.0
$24V_AH,21.6,93.323
$10V_AH,9.7,38.306
$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,18.100,44.900,352.600,6.575,0.000,29.573,37.045,178.758,1.250,0.000,13.377,1816.013,2943.123,431.835,1476.674,311.779,0.000,1124.661,0.000,1183.431,0.000,10.637,0.000
$DEVICE_MAMPS,204.255,91.800,982.260,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.900,933.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,46973,730
$CAP_FILE_SIZE,91706,0
$CFSIZE,260165632,211238912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.109,148.3,1
$GPS,270111,075306,-7628.589,17555.061,31,1.2,42,123.8