version: 66.08
glider: 503
mission: 7
dive: 885
start: 1 27 111 8 1 37
data:
$ID,503
$MISSION,7
$DIVE,885
$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,-20651.99
$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,47
$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
$GPS1,270111,075306,-7628.589,17555.061,31,1.2,42,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-74.4
$GPS2,270111,080108,-7628.599,17555.066,14,1.4,14,123.8
$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,206.0,50117,-16.1,-10.000
$D_GRID,375
$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,-170.3,0.0,0.0,0,91,0.00,0.00,-72.50,0.000,2,0.000,0.000,178,2800,3434,0,0,0,0,0,0
$GC,96,-0.71,-170.3,3.3,-6.4,12,117,9.12,2.33,-4.70,0.000,4,0.203,0.044,2567,1375,3659,0,0,1,0,0,0
$GC,369,-0.71,-170.3,47.4,-12.3,60,376,0.00,2.25,0.00,0.000,6,0.000,0.041,2562,2763,3663,0,0,0,0,0,0
$GC,512,-0.71,-170.3,65.7,-13.5,85,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2763,3663,0,0,0,0,0,0
$GC,654,-0.71,-170.3,85.6,-14.7,110,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2763,3663,0,0,0,0,0,0
$GC,795,-0.71,-170.3,104.4,-13.9,132,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2763,3663,0,0,0,0,0,0
$GC,921,-0.71,-170.3,121.6,-13.5,144,925,0.00,1.62,0.00,0.000,4,0.000,0.049,2562,3774,3664,0,0,0,0,0,0
$GC,957,-0.71,-170.3,126.5,-14.4,147,960,0.00,1.55,0.00,0.000,6,0.000,0.028,2563,2787,3664,0,0,0,0,0,0
$GC,1098,-0.71,-170.3,145.6,-13.2,160,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3663,0,0,0,0,0,0
$GC,1224,-0.71,-170.3,163.2,-13.4,172,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2788,3664,0,0,0,0,0,0
$GC,1351,-0.71,-170.3,180.4,-13.9,184,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,1480,-0.71,-170.3,197.8,-13.5,196,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,1606,-0.71,-170.3,215.1,-13.3,208,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,1733,-0.71,-170.3,232.3,-13.4,220,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,1862,-0.71,-170.3,249.6,-13.0,232,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2788,3664,0,0,0,0,0,0
$GC,1988,-0.71,-170.3,266.0,-13.0,244,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,2179,-0.71,-170.3,290.9,-13.0,262,2183,0.00,1.62,0.00,0.000,4,0.000,0.048,2555,3787,3664,0,0,0,0,0,0
$GC,2215,-0.71,-170.3,295.6,-14.2,265,2218,0.00,1.58,0.00,0.000,6,0.000,0.029,2555,2791,3663,0,0,0,0,0,0
$GC,2419,-0.71,-170.3,323.7,-13.5,284,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2791,3664,0,0,0,0,0,0
$GC,2613,-0.71,-170.3,350.0,-13.3,302,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2791,3663,0,0,0,0,0,0
$STATE,2798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2798,begin apogee
$GC,2806,-0.16,0.0,375.2,12.9,320,2952,0.57,0.00,140.10,0.978,4,0.117,0.000,2746,2691,2959,0,0,0,0,0,0
$STATE,2953,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2956,0.71,170.3,382.0,0.0,333,3117,0.85,2.35,152.85,0.927,4,0.072,0.033,3033,1303,2265,0,0,0,0,0,0
$GC,3124,0.79,235.4,376.3,7.4,347,3198,0.00,2.53,64.12,0.893,6,0.000,0.039,3033,2697,1999,0,0,0,0,0,0
$GC,3389,0.79,235.4,348.5,10.9,372,3393,0.00,1.83,0.00,0.000,4,0.000,0.047,3033,3767,1998,0,0,0,0,0,0
$GC,3448,0.79,235.4,341.5,11.7,377,3452,0.00,1.70,0.00,0.000,6,0.000,0.029,3040,2714,1997,0,0,1,0,0,0
$GC,3652,0.79,235.4,318.4,11.2,396,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2712,1996,0,0,0,0,0,0
$GC,3843,0.79,235.4,297.6,10.8,414,3846,0.00,1.73,0.00,0.000,4,0.000,0.047,3040,3772,1996,0,0,0,0,0,0
$GC,3890,0.79,235.4,292.0,12.2,418,3894,0.00,1.67,0.00,0.000,6,0.000,0.029,3048,2698,1994,0,0,0,0,0,0
$GC,4094,0.79,235.4,268.8,11.3,437,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2696,1994,0,0,0,0,0,0
$GC,4286,0.79,235.4,246.2,11.7,455,4290,0.00,1.73,0.00,0.000,4,0.000,0.049,3047,3764,1994,0,0,0,0,0,0
$GC,4335,0.79,235.4,240.0,13.1,459,4339,0.00,1.65,0.00,0.000,6,0.000,0.029,3055,2698,1993,0,0,0,0,0,0
$GC,4476,0.79,235.4,222.8,11.7,472,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2697,1993,0,0,0,0,0,0
$GC,4604,0.79,235.4,208.1,11.4,484,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2697,1994,0,0,0,0,0,0
$GC,4732,0.79,235.4,193.7,11.3,496,4735,0.00,1.73,0.00,0.000,4,0.000,0.048,3055,3766,1993,0,0,0,0,0,0
$GC,4770,0.79,235.4,188.5,12.7,499,4777,0.00,1.67,0.00,0.000,6,0.000,0.030,3062,2712,1992,0,0,0,0,0,0
$GC,4905,0.79,235.4,173.3,11.2,512,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2712,1992,0,0,0,0,0,0
$GC,5033,0.79,235.4,159.1,11.2,524,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2712,1992,0,0,0,0,0,0
$GC,5159,0.79,235.4,144.7,11.3,536,5163,0.00,1.70,0.00,0.000,4,0.000,0.047,3062,3771,1992,0,0,0,0,0,0
$GC,5209,0.79,235.4,138.2,13.7,540,5215,0.00,1.65,0.00,0.000,6,0.000,0.028,3070,2722,1993,0,0,0,0,0,0
$GC,5344,0.79,235.4,122.2,12.0,553,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2723,1992,0,0,0,0,0,0
$GC,5470,0.79,235.4,107.1,12.0,565,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2723,1992,0,0,0,0,0,0
$GC,5601,0.79,235.4,91.3,11.9,583,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2723,1993,0,0,0,0,0,0
$GC,5744,0.79,235.4,73.8,11.8,608,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2723,1992,0,0,0,0,0,0
$GC,5886,0.79,235.4,57.1,11.4,633,5893,0.00,1.73,0.00,0.000,4,0.000,0.049,3070,3764,1992,0,0,0,0,0,0
$GC,5924,0.79,235.4,52.2,13.9,639,5931,0.00,1.65,0.00,0.000,6,0.000,0.030,3078,2720,1992,0,0,0,0,0,0
$GC,6067,0.79,235.4,33.9,12.3,664,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2719,1992,0,0,0,0,0,0
$GC,6210,0.79,235.4,16.1,12.4,689,6217,0.00,1.73,0.00,0.000,4,0.000,0.048,3078,3762,1991,0,0,0,0,0,0
$FREEZE,8.39,-0.047,-1.896,2,1,0
$FREEZE,7.66,-0.043,-1.895,2,1,0
$GC,6270,0.79,235.4,7.7,14.2,699,6277,0.08,1.62,0.00,0.000,6,0.148,0.029,3058,2737,1992,0,0,0,0,0,0
$FREEZE,5.29,-0.042,-1.893,2,1,0
$FREEZE,4.67,-0.042,-1.893,2,1,0
$FREEZE,4.08,-0.048,-1.892,2,1,0
$FREEZE,3.55,-0.041,-1.892,2,1,0
$FREEZE,2.88,-0.042,-1.891,2,1,0
$STATE,6304,end climb,SURFACE_DEPTH_REACHED
$STATE,6304,begin surface coast
$FREEZE,2.28,-0.042,-1.891,2,1,0
$FREEZE,1.62,-0.042,-1.890,2,1,0
$FREEZE,1.08,-0.041,-1.890,2,1,0
$FREEZE,0.44,-0.041,-1.889,2,1,0
$FREEZE,-0.12,-0.084,-0.925,2,1,0
$FINISH,-0.1,1.013679
$STATE,6333,end surface coast,CONTROL_FINISHED_OK
$STATE,6333,begin surface
$SM_CCo,6353,5.18,0.103,0,0,1940,250.20
$SM_GC,2.38,0.00,0.00,5.18,0.000,0.000,0.103,184,2798,1940,-8.18,0.48,250.20
$IRIDIUM_FIX,-7545.40,17600.76,270111,050521
$TT8_MAMPS,0.027713
$HUMID,53.42
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,21.4,93.436
$10V_AH,9.8,38.362
$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,18.200,39.775,357.075,5.175,0.000,26.002,40.610,249.979,1.000,0.000,16.710,1762.069,2875.783,418.637,1478.002,311.147,0.000,1078.563,0.000,1117.000,0.000,7.761,0.000
$DEVICE_MAMPS,202.725,110.160,978.435,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.054,912.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258176
$DATA_FILE_SIZE,47058,710
$CAP_FILE_SIZE,88090,0
$CFSIZE,260165632,211189760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.087,131.3,1
$GPS,270111,094906,-7627.955,17553.545,46,0.9,47,123.8