version: 66.08
glider: 503
mission: 7
dive: 887
start: 1 27 111 11 59 5
data:
$ID,503
$MISSION,7
$DIVE,887
$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,-20654.6
$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,54
$R_STBD_OVSHOOT,27
$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
$GPS1,270111,114852,-7627.270,17552.090,16,1.8,19,123.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-74.6
$GPS2,270111,115836,-7627.252,17552.289,14,2.0,24,123.7
$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,196.1,47337,-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,17,-0.71,-170.3,0.0,0.0,0,94,0.00,0.00,-74.80,0.000,2,0.000,0.000,183,2765,3521,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.9,-9.5,13,119,9.20,2.22,-2.75,0.000,4,0.205,0.044,2566,1373,3660,0,0,0,0,0,0
$GC,356,-0.71,-170.3,48.4,-12.9,58,363,0.00,2.30,0.00,0.000,6,0.000,0.041,2562,2788,3662,0,0,0,0,0,0
$GC,498,-0.71,-170.3,67.7,-14.6,83,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3663,0,0,0,0,0,0
$GC,643,-0.71,-170.3,87.7,-11.3,108,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,783,-0.71,-170.3,107.9,-14.7,128,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3664,0,0,0,0,0,0
$GC,911,-0.71,-170.3,125.7,-13.8,140,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3664,0,0,0,0,0,0
$GC,1042,-0.71,-170.3,143.8,-14.2,152,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,1177,-0.71,-170.3,163.3,-13.9,165,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3663,0,0,0,0,0,0
$GC,1304,-0.71,-170.3,181.0,-14.1,177,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1432,-0.71,-170.3,198.5,-13.8,189,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,1560,-0.71,-170.3,215.9,-13.6,201,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2788,3664,0,0,0,0,0,0
$GC,1686,-0.71,-170.3,233.2,-13.7,213,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3664,0,0,0,0,0,0
$GC,1814,-0.71,-170.3,250.1,-13.1,225,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,2005,-0.71,-170.3,274.9,-12.8,243,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3663,0,0,0,0,0,0
$GC,2196,-0.71,-170.3,299.4,-12.9,261,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3664,0,0,0,0,0,0
$GC,2386,-0.71,-170.3,324.1,-12.7,279,2390,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3752,3664,0,0,0,0,0,0
$GC,2425,-0.71,-170.3,329.6,-13.3,282,2432,0.00,1.55,0.00,0.000,6,0.000,0.029,2562,2774,3664,0,0,0,0,0,0
$GC,2624,-0.71,-170.3,354.4,-13.1,301,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2774,3663,0,0,0,0,0,0
$STATE,2792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2792,begin apogee
$GC,2800,-0.16,0.0,375.4,12.6,317,2947,0.55,0.00,140.52,0.976,4,0.117,0.000,2746,2691,2959,0,0,0,0,0,0
$STATE,2947,end apogee,CONTROL_FINISHED_OK
$STATE,2947,begin climb
$GC,2951,0.71,170.3,382.3,0.0,330,3114,0.85,2.35,153.07,0.929,4,0.073,0.033,3032,1306,2265,0,0,0,0,0,0
$GC,3308,0.77,216.1,360.7,8.2,361,3356,0.00,2.38,42.28,0.908,6,0.000,0.041,3032,2706,2078,0,0,0,0,0,0
$GC,3557,0.77,220.3,335.9,9.8,384,3570,0.00,2.33,5.68,0.735,4,0.000,0.033,3041,1312,2061,0,0,0,0,0,0
$GC,3699,0.77,221.4,322.2,10.0,396,3703,0.00,2.30,0.00,0.000,6,0.000,0.042,3041,2708,2061,0,0,0,0,0,0
$GC,3903,0.77,221.4,300.0,11.1,415,3906,0.00,1.70,0.00,0.000,4,0.000,0.049,3041,3763,2060,0,0,0,0,0,0
$GC,3987,0.77,221.4,289.3,13.0,422,3994,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2734,2059,0,0,0,0,0,0
$GC,4187,0.77,221.4,267.2,10.9,441,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2734,2059,0,0,0,0,0,0
$GC,4377,0.77,221.4,245.9,11.0,459,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2734,2058,0,0,0,0,0,0
$GC,4503,0.77,221.4,232.1,10.9,471,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2734,2058,0,0,0,0,0,0
$GC,4631,0.77,221.4,218.3,10.8,483,4634,0.00,1.67,0.00,0.000,4,0.000,0.047,3048,3772,2058,0,0,0,0,0,0
$GC,4682,0.77,221.4,212.1,12.0,487,4689,0.00,1.67,0.00,0.000,6,0.000,0.029,3054,2718,2058,0,0,0,0,0,0
$GC,4817,0.77,221.4,197.2,11.0,500,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2718,2058,0,0,0,0,0,0
$GC,4944,0.77,221.4,183.6,10.9,512,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2718,2058,0,0,0,0,0,0
$GC,5072,0.77,221.4,170.0,10.9,524,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2718,2058,0,0,0,0,0,0
$GC,5198,0.77,221.4,156.7,10.7,536,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2718,2057,0,0,0,0,0,0
$GC,5325,0.77,221.4,143.2,10.6,548,5329,0.00,1.73,0.00,0.000,4,0.000,0.048,3054,3757,2057,0,0,0,0,0,0
$GC,5387,0.77,221.4,135.6,12.3,553,5394,0.00,1.62,0.00,0.000,6,0.000,0.030,3061,2736,2057,0,0,0,0,0,0
$GC,5522,0.77,221.4,120.8,11.2,566,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2736,2057,0,0,0,0,0,0
$GC,5649,0.77,221.4,106.5,11.3,578,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2736,2057,0,0,0,0,0,0
$GC,5780,0.77,221.4,92.0,11.3,596,5787,0.00,1.70,0.00,0.000,4,0.000,0.047,3061,3762,2057,0,0,0,0,0,0
$GC,5839,0.77,221.4,84.3,13.7,606,5846,0.00,1.62,0.00,0.000,6,0.000,0.030,3068,2738,2057,0,0,0,0,0,0
$GC,5983,0.77,221.4,67.8,11.0,631,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2738,2057,0,0,0,0,0,0
$GC,6127,0.77,221.4,51.5,11.1,656,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2738,2056,0,0,0,0,0,0
$GC,6267,0.77,221.4,35.4,11.7,681,6274,0.00,1.70,0.00,0.000,4,0.000,0.047,3068,3762,2056,0,0,0,0,0,0
$GC,6311,0.77,221.4,30.1,13.2,688,6317,0.00,1.62,0.00,0.000,6,0.000,0.030,3076,2741,2056,0,0,0,0,0,0
$GC,6456,0.77,221.4,12.6,12.1,713,6463,0.00,2.28,0.00,0.000,4,0.000,0.034,3087,1304,2056,0,0,0,0,0,0
$FREEZE,8.20,0.282,-1.891,2,1,0
$GC,6488,0.77,221.4,8.2,12.4,718,6496,0.12,2.35,0.00,0.000,6,0.145,0.041,3051,2762,2056,0,0,0,0,0,0
$FREEZE,6.21,0.282,-1.889,2,1,0
$FREEZE,5.59,0.281,-1.889,2,1,0
$FREEZE,5.04,0.281,-1.888,2,1,0
$FREEZE,4.53,0.281,-1.888,2,1,0
$FREEZE,3.92,0.281,-1.888,2,1,0
$FREEZE,3.38,0.282,-1.887,2,1,0
$FREEZE,2.86,0.279,-1.887,2,1,0
$STATE,6533,end climb,SURFACE_DEPTH_REACHED
$STATE,6533,begin surface coast
$FREEZE,2.25,0.277,-1.886,2,1,0
$FREEZE,1.78,0.276,-1.886,2,1,0
$FREEZE,0.85,0.275,-1.885,2,1,0
$FREEZE,0.26,0.278,-1.885,2,1,0
$FREEZE,-0.03,0.250,-1.886,2,1,0
$FINISH,-0.0,1.027577
$STATE,6564,end surface coast,CONTROL_FINISHED_OK
$STATE,6564,begin surface
$SM_CCo,6583,13.52,0.102,0,0,1939,250.20
$SM_GC,1.80,0.00,0.00,13.52,0.000,0.000,0.102,188,2764,1939,-8.16,-0.45,250.20
$IRIDIUM_FIX,-7545.40,17601.40,270111,111115
$TT8_MAMPS,0.026964
$HUMID,53.78
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.6
$24V_AH,21.6,93.649
$10V_AH,9.7,38.477
$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,18.325,38.425,341.550,13.525,0.000,47.537,120.350,184.153,1.000,0.000,27.496,1812.096,3045.818,426.652,1582.200,319.892,0.000,1103.742,0.000,1171.821,0.000,7.758,0.000
$DEVICE_MAMPS,205.020,97.920,976.140,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.644,936.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258184
$DATA_FILE_SIZE,46955,731
$CAP_FILE_SIZE,90000,0
$CFSIZE,260165632,211087360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059, 58.6,1
$GPS,270111,135031,-7626.416,17550.594,45,2.0,46,123.7