version: 66.08
glider: 503
mission: 7
dive: 888
start: 1 27 111 13 57 43
data:
$ID,503
$MISSION,7
$DIVE,888
$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,-20655.855
$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,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
$GPS1,270111,135031,-7626.416,17550.594,45,2.0,46,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.3
$GPS2,270111,135714,-7626.393,17550.707,12,1.3,12,123.7
$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,194.5,45604,-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,-170.3,0.0,0.0,0,88,0.00,0.00,-69.20,0.000,2,0.000,0.000,187,2765,3359,0,0,0,0,0,0
$GC,93,-0.71,-170.3,3.0,-5.4,12,114,9.23,2.28,-6.47,0.000,4,0.206,0.044,2567,1369,3659,0,0,0,0,0,0
$GC,366,-0.71,-170.3,46.4,-13.6,60,372,0.00,2.30,0.00,0.000,6,0.000,0.041,2562,2787,3662,0,0,0,0,0,0
$GC,508,-0.71,-170.3,65.8,-13.8,85,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3663,0,0,0,0,0,0
$GC,650,-0.71,-170.3,85.6,-13.7,110,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,792,-0.71,-170.3,105.4,-14.4,132,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,919,-0.71,-170.3,122.4,-13.5,144,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1048,-0.71,-170.3,139.7,-13.6,156,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1174,-0.71,-170.3,157.3,-13.8,168,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1301,-0.71,-170.3,175.0,-13.8,180,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1428,-0.71,-170.3,192.2,-13.5,192,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1557,-0.71,-170.3,209.8,-13.8,204,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3664,0,0,0,0,0,0
$GC,1683,-0.71,-170.3,227.3,-13.6,216,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3664,0,0,0,0,0,0
$GC,1810,-0.71,-170.3,244.7,-13.4,228,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1940,-0.71,-170.3,261.8,-13.4,240,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3664,0,0,0,0,0,0
$GC,2139,-0.71,-170.3,288.8,-13.6,259,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,2331,-0.71,-170.3,313.6,-12.8,277,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3664,0,0,0,0,0,0
$GC,2521,-0.71,-170.3,337.3,-12.5,295,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2787,3663,0,0,0,0,0,0
$GC,2712,-0.71,-170.3,361.5,-12.7,313,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$STATE,2824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2824,begin apogee
$GC,2832,-0.16,0.0,376.2,12.5,324,2978,0.55,0.00,140.45,0.980,4,0.116,0.000,2747,2692,2960,0,0,0,0,0,0
$STATE,2979,end apogee,CONTROL_FINISHED_OK
$STATE,2979,begin climb
$GC,2982,0.71,170.3,382.6,0.0,337,3146,0.85,2.30,153.32,0.926,4,0.072,0.032,3033,1309,2264,0,0,0,0,0,0
$GC,3160,0.77,219.5,376.0,8.1,352,3216,0.00,2.47,48.35,0.889,6,0.000,0.040,3033,2698,2065,0,0,1,0,0,0
$GC,3408,0.77,219.5,350.6,10.2,375,3411,0.00,1.80,0.00,0.000,4,0.000,0.047,3033,3767,2063,0,0,0,0,0,0
$GC,3480,0.77,219.5,342.0,11.4,381,3487,0.00,1.67,0.00,0.000,6,0.000,0.029,3042,2716,2062,0,0,1,0,0,0
$GC,3678,0.77,219.5,321.3,10.1,400,3682,0.00,1.73,0.00,0.000,4,0.000,0.048,3041,3764,2061,0,0,0,0,0,0
$GC,3725,0.77,219.5,315.9,11.9,404,3729,0.00,1.70,0.00,0.000,6,0.000,0.029,3049,2712,2060,0,0,0,0,0,0
$GC,3929,0.77,219.5,293.1,11.1,423,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2712,2060,0,0,0,0,0,0
$GC,4121,0.77,219.5,272.1,10.6,441,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2712,2059,0,0,0,0,0,0
$GC,4311,0.77,219.5,252.0,10.7,459,4315,0.00,1.75,0.00,0.000,4,0.000,0.047,3049,3770,2059,0,0,0,0,0,0
$GC,4383,0.77,219.5,243.1,12.6,465,4390,0.00,1.67,0.00,0.000,6,0.000,0.028,3057,2714,2058,0,0,0,0,0,0
$GC,4518,0.77,219.5,228.3,10.9,478,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2714,2058,0,0,0,0,0,0
$GC,4645,0.77,219.5,214.3,11.4,490,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2714,2058,0,0,0,0,0,0
$GC,4774,0.77,219.5,200.1,11.2,502,4778,0.00,1.73,0.00,0.000,4,0.000,0.047,3057,3755,2057,0,0,0,0,0,0
$GC,4813,0.77,219.5,195.1,13.2,505,4820,0.00,1.62,0.00,0.000,6,0.000,0.030,3064,2734,2057,0,0,0,0,0,0
$GC,4948,0.77,219.5,179.2,11.6,518,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2733,2057,0,0,0,0,0,0
$GC,5075,0.77,219.5,164.3,11.5,530,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2733,2057,0,0,0,0,0,0
$GC,5203,0.77,219.5,149.5,11.5,542,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2733,2057,0,0,0,0,0,0
$GC,5329,0.77,219.5,135.0,11.4,554,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2733,2057,0,0,0,0,0,0
$GC,5457,0.77,219.5,120.4,11.6,566,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2733,2057,0,0,0,0,0,0
$GC,5585,0.77,219.5,105.8,11.5,578,5588,0.00,1.67,0.00,0.000,4,0.000,0.047,3064,3766,2057,0,0,0,0,0,0
$GC,5639,0.77,219.5,98.9,13.2,583,5646,0.00,1.65,0.00,0.000,6,0.000,0.028,3072,2725,2056,0,0,0,0,0,0
$GC,5785,0.77,219.5,82.0,11.8,608,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2725,2056,0,0,0,0,0,0
$GC,5927,0.77,219.5,65.8,11.4,633,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2725,2056,0,0,0,0,0,0
$GC,6067,0.77,219.5,50.0,11.3,658,6075,0.00,1.73,0.00,0.000,4,0.000,0.048,3072,3765,2056,0,0,0,0,0,0
$GC,6144,0.77,219.5,40.1,14.0,671,6152,0.08,1.62,0.00,0.000,6,0.144,0.028,3052,2743,2056,0,0,0,0,0,0
$GC,6290,0.77,219.5,24.1,10.5,696,6296,0.00,2.30,0.00,0.000,4,0.000,0.034,3062,1295,2055,0,0,0,0,0,0
$GC,6338,0.77,219.5,19.1,10.0,704,6345,0.00,2.33,0.00,0.000,6,0.000,0.042,3062,2733,2055,0,0,0,0,0,0
$FREEZE,8.94,0.227,-1.891,2,1,0
$FREEZE,8.20,0.228,-1.891,2,1,0
$FREEZE,7.73,0.227,-1.890,2,1,0
$FREEZE,7.00,0.220,-1.890,2,1,0
$FREEZE,6.46,0.219,-1.890,2,1,0
$FREEZE,5.89,0.219,-1.889,2,1,0
$FREEZE,5.39,0.224,-1.889,2,1,0
$FREEZE,4.43,0.228,-1.888,2,1,0
$FREEZE,3.90,0.225,-1.887,2,1,0
$FREEZE,3.28,0.220,-1.887,2,1,0
$GC,6481,0.77,219.5,3.3,12.1,729,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2733,2056,0,0,0,0,0,0
$FREEZE,1.71,0.227,-1.886,2,1,0
$STATE,6493,end climb,SURFACE_DEPTH_REACHED
$STATE,6493,begin surface coast
$FREEZE,0.97,0.229,-1.885,2,1,0
$FREEZE,0.41,0.231,-1.885,2,1,0
$FREEZE,-0.15,0.224,-1.884,2,1,0
$FREEZE,-0.03,-0.051,-0.435,2,1,0
$FREEZE,0.00,-0.275,-0.848,2,1,0
$FINISH,0.0,1.012519
$STATE,6520,end surface coast,CONTROL_FINISHED_OK
$STATE,6521,begin surface
$SM_CCo,6541,13.00,0.101,0,0,1940,250.20
$SM_GC,1.67,0.00,0.00,13.00,0.000,0.000,0.101,186,2791,1940,-8.17,0.31,250.20
$IRIDIUM_FIX,-7545.40,17600.76,270111,111159
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,21.5,93.754
$10V_AH,9.8,38.534
$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,18.225,34.475,342.125,13.000,0.000,29.694,34.981,180.376,1.250,0.000,14.806,1825.187,2971.272,417.605,1436.382,310.003,0.000,1084.256,0.000,1143.294,0.000,10.671,0.000
$DEVICE_MAMPS,205.785,139.995,979.965,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,516.254,947.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258160
$DATA_FILE_SIZE,47020,736
$CAP_FILE_SIZE,88767,0
$CFSIZE,260165632,211038208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.072, 32.5,1
$GPS,270111,154812,-7625.456,17548.266,22,1.9,33,123.7