version: 66.08
glider: 503
mission: 7
dive: 889
start: 1 27 111 15 58 56
data:
$ID,503
$MISSION,7
$DIVE,889
$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,-20657.113
$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,38
$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
$GPS1,270111,154812,-7625.456,17548.266,22,1.9,33,123.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-74.1
$GPS2,270111,155827,-7625.416,17548.389,41,2.1,60,123.7
$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,193.3,43521,-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,-170.3,0.0,0.0,0,93,0.00,0.00,-74.35,0.000,2,0.000,0.000,184,2792,3514,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.9,-8.7,13,118,9.35,2.28,-2.83,0.000,4,0.210,0.041,2565,1366,3658,0,0,0,0,0,0
$GC,316,-0.71,-170.3,44.5,-13.6,51,324,0.00,2.28,0.00,0.000,6,0.000,0.041,2559,2773,3660,0,0,0,0,0,0
$GC,462,-0.71,-170.3,65.2,-14.4,76,468,0.00,1.62,0.00,0.000,4,0.000,0.048,2559,3757,3661,0,0,0,0,0,0
$GC,512,-0.71,-170.3,72.3,-13.7,84,519,0.00,1.52,0.00,0.000,6,0.000,0.028,2559,2786,3661,0,0,0,0,0,0
$GC,656,-0.71,-170.3,92.3,-14.1,109,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2785,3661,0,0,0,0,0,0
$GC,799,-0.71,-170.3,111.7,-13.3,127,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2786,3661,0,0,0,0,0,0
$GC,926,-0.71,-170.3,128.7,-12.8,139,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2786,3661,0,0,0,0,0,0
$GC,1056,-0.71,-170.3,145.7,-13.3,151,1060,0.00,1.60,0.00,0.000,4,0.000,0.047,2553,3756,3661,0,0,0,0,0,0
$GC,1095,-0.71,-170.3,151.9,-14.6,154,1102,0.00,1.52,0.00,0.000,6,0.000,0.028,2553,2782,3661,0,0,0,0,0,0
$GC,1230,-0.71,-170.3,170.6,-13.8,167,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3661,0,0,0,0,0,0
$GC,1358,-0.71,-170.3,188.3,-13.8,179,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2782,3661,0,0,0,0,0,0
$GC,1484,-0.71,-170.3,205.8,-13.5,191,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3661,0,0,0,0,0,0
$GC,1613,-0.71,-170.3,222.8,-13.3,203,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3661,0,0,0,0,0,0
$GC,1739,-0.71,-170.3,240.1,-13.5,215,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3661,0,0,0,0,0,0
$GC,1866,-0.71,-170.3,257.5,-13.4,227,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2782,3661,0,0,0,0,0,0
$GC,2057,-0.71,-170.3,283.0,-13.5,245,2061,0.00,1.62,0.00,0.000,4,0.000,0.047,2547,3788,3661,0,0,0,0,0,0
$GC,2094,-0.71,-170.3,288.0,-14.2,248,2097,0.00,1.55,0.00,0.000,6,0.000,0.028,2547,2801,3661,0,0,0,0,0,0
$GC,2298,-0.71,-170.3,316.1,-13.5,267,2302,0.00,2.20,0.00,0.000,4,0.000,0.031,2547,1378,3661,0,0,0,0,0,0
$GC,2330,-0.71,-170.3,320.7,-13.1,269,2338,0.12,2.28,0.00,0.000,6,0.147,0.042,2574,2791,3661,0,0,0,0,0,0
$GC,2530,-0.71,-170.3,343.1,-11.5,288,2534,0.00,1.60,0.00,0.000,4,0.000,0.048,2567,3765,3661,0,0,0,0,0,0
$GC,2566,-0.71,-170.3,347.6,-12.4,291,2570,0.00,1.52,0.00,0.000,6,0.000,0.028,2567,2791,3660,0,0,0,0,0,0
$GC,2770,-0.71,-170.3,371.5,-11.5,310,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2791,3660,0,0,0,0,0,0
$STATE,2799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2799,begin apogee
$GC,2806,-0.16,0.0,375.3,11.5,313,2952,0.52,0.00,140.07,0.976,4,0.116,0.000,2743,2690,2960,0,0,0,0,0,0
$STATE,2953,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2956,0.71,170.3,381.5,0.0,326,3119,0.85,2.33,153.27,0.924,4,0.073,0.031,3028,1308,2265,0,0,0,0,0,0
$GC,3126,0.77,218.7,375.4,8.1,340,3180,0.00,2.50,48.10,0.885,6,0.000,0.039,3028,2698,2068,0,0,1,0,0,0
$GC,3368,0.77,218.7,350.9,10.5,363,3372,0.00,1.80,0.00,0.000,4,0.000,0.047,3028,3762,2066,0,0,0,0,0,0
$GC,3441,0.77,218.7,342.1,12.1,369,3448,0.00,1.67,0.00,0.000,6,0.000,0.029,3036,2713,2065,0,0,1,0,0,0
$GC,3640,0.77,218.7,321.1,10.4,388,3644,0.00,1.73,0.00,0.000,4,0.000,0.047,3036,3763,2063,0,0,0,0,0,0
$GC,3679,0.77,218.7,316.3,12.5,391,3688,0.00,1.62,0.00,0.000,6,0.000,0.030,3043,2713,2063,0,0,1,0,0,0
$GC,3879,0.77,218.7,295.0,10.7,410,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2714,2062,0,0,0,0,0,0
$GC,4078,0.77,218.7,273.4,10.5,429,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2714,2062,0,0,0,0,0,0
$GC,4270,0.77,218.7,253.0,10.5,447,4274,0.00,1.75,0.00,0.000,4,0.000,0.047,3043,3766,2061,0,0,0,0,0,0
$GC,4309,0.77,218.7,248.0,12.2,450,4315,0.00,1.65,0.00,0.000,6,0.000,0.029,3050,2727,2061,0,0,0,0,0,0
$GC,4443,0.77,218.7,232.8,11.6,463,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2727,2061,0,0,0,0,0,0
$GC,4571,0.77,218.7,218.2,11.4,475,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2727,2060,0,0,0,0,0,0
$GC,4698,0.77,218.7,203.9,11.5,487,4702,0.00,1.73,0.00,0.000,4,0.000,0.048,3051,3764,2060,0,0,0,0,0,0
$GC,4743,0.77,218.7,198.2,12.4,491,4746,0.00,1.62,0.00,0.000,6,0.000,0.030,3057,2736,2060,0,0,0,0,0,0
$GC,4884,0.77,218.7,182.2,11.4,504,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2060,0,0,0,0,0,0
$GC,5011,0.77,218.7,168.2,10.9,516,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2060,0,0,0,0,0,0
$GC,5137,0.77,218.7,154.1,11.4,528,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2059,0,0,0,0,0,0
$GC,5265,0.77,218.7,139.9,11.1,540,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2059,0,0,0,0,0,0
$GC,5393,0.77,218.7,125.8,11.1,552,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2736,2059,0,0,0,0,0,0
$GC,5519,0.77,218.7,111.9,11.0,564,5522,0.00,1.70,0.00,0.000,4,0.000,0.048,3057,3756,2059,0,0,0,0,0,0
$GC,5566,0.77,218.7,106.2,13.0,568,5569,0.00,1.60,0.00,0.000,6,0.000,0.030,3064,2753,2059,0,0,0,0,0,0
$GC,5705,0.77,218.7,90.3,11.2,588,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2753,2059,0,0,0,0,0,0
$GC,5847,0.77,218.7,74.6,11.3,613,5854,0.00,2.30,0.00,0.000,4,0.000,0.034,3075,1306,2059,0,0,0,0,0,0
$GC,5880,0.77,218.7,71.2,11.2,618,5887,0.00,2.33,0.00,0.000,6,0.000,0.041,3075,2747,2059,0,0,0,0,0,0
$GC,6027,0.77,218.7,55.2,11.3,643,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2747,2059,0,0,0,0,0,0
$GC,6170,0.77,218.7,38.6,11.8,668,6176,0.00,1.67,0.00,0.000,4,0.000,0.048,3075,3763,2058,0,0,0,0,0,0
$GC,6207,0.77,218.7,33.9,13.3,674,6214,0.10,1.62,0.00,0.000,6,0.133,0.029,3047,2744,2058,0,0,0,0,0,0
$GC,6350,0.77,218.7,19.8,10.2,699,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2744,2058,0,0,0,0,0,0
$FREEZE,8.49,0.451,-1.892,2,1,0
$FREEZE,7.89,0.449,-1.891,2,1,0
$FREEZE,7.43,0.452,-1.891,2,1,0
$FREEZE,6.89,0.453,-1.890,2,1,0
$FREEZE,6.28,0.454,-1.890,2,1,0
$FREEZE,5.74,0.454,-1.889,2,1,0
$GC,6496,0.77,218.7,5.7,10.0,724,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2744,2057,0,0,0,0,0,0
$FREEZE,3.86,0.455,-1.888,2,1,0
$FREEZE,3.13,0.454,-1.888,2,1,0
$FREEZE,2.66,0.448,-1.887,2,1,0
$STATE,6519,end climb,SURFACE_DEPTH_REACHED
$STATE,6519,begin surface coast
$FREEZE,2.16,0.440,-1.887,2,1,0
$FREEZE,1.76,0.440,-1.887,2,1,0
$FREEZE,1.29,0.446,-1.886,2,1,0
$FREEZE,0.78,0.452,-1.886,2,1,0
$FREEZE,0.28,0.443,-1.885,2,1,0
$FINISH,0.3,1.027559
$STATE,6546,end surface coast,CONTROL_FINISHED_OK
$STATE,6546,begin surface
$SM_CCo,6565,13.90,0.103,0,0,1940,250.20
$SM_GC,1.77,0.00,0.00,13.90,0.000,0.000,0.103,186,2743,1940,-8.17,-1.05,250.20
$IRIDIUM_FIX,-7545.40,17602.03,270111,151539
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,21.5,93.862
$10V_AH,9.7,38.593
$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,18.500,51.325,341.450,13.900,0.000,58.812,111.319,175.995,1.000,0.000,65.770,1828.334,3009.709,436.493,1598.735,326.289,0.000,1126.816,0.000,1157.973,0.000,7.758,0.000
$DEVICE_MAMPS,209.610,80.325,976.140,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.683,941.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,46987,733
$CAP_FILE_SIZE,94886,0
$CFSIZE,260165632,210980864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.083, 19.2,1
$GPS,270111,174932,-7624.388,17545.795,12,1.4,13,123.7