version: 66.08
glider: 503
mission: 7
dive: 890
start: 1 27 111 17 57 7
data:
$ID,503
$MISSION,7
$DIVE,890
$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,-20658.373
$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,47
$R_STBD_OVSHOOT,30
$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
$GPS1,270111,174932,-7624.388,17545.795,12,1.4,13,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-74.8
$GPS2,270111,175638,-7624.346,17545.854,13,1.9,13,123.7
$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,193.6,41241,-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,-170.3,0.0,0.0,0,92,0.00,0.00,-72.35,0.000,2,0.000,0.000,184,2743,3443,0,0,0,0,0,0
$GC,95,-0.71,-170.3,3.5,-7.7,12,117,9.27,2.28,-4.47,0.000,4,0.207,0.044,2565,1367,3659,0,0,0,0,0,0
$GC,365,-0.71,-170.3,48.5,-12.5,59,373,0.00,2.28,0.00,0.000,6,0.000,0.041,2562,2778,3662,0,0,0,0,0,0
$GC,507,-0.71,-170.3,67.9,-13.9,84,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3663,0,0,0,0,0,0
$GC,648,-0.71,-170.3,87.2,-14.1,109,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3662,0,0,0,0,0,0
$GC,789,-0.71,-170.3,106.0,-13.4,130,792,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3786,3663,0,0,0,0,0,0
$GC,828,-0.71,-170.3,111.5,-12.9,133,835,0.00,1.60,0.00,0.000,6,0.000,0.028,2562,2779,3663,0,0,0,0,0,0
$GC,962,-0.71,-170.3,128.5,-12.8,146,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,1091,-0.71,-170.3,145.2,-13.1,158,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2778,3663,0,0,0,0,0,0
$GC,1217,-0.71,-170.3,162.4,-13.7,170,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3663,0,0,0,0,0,0
$GC,1344,-0.71,-170.3,179.9,-14.0,182,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3663,0,0,0,0,0,0
$GC,1473,-0.71,-170.3,197.2,-13.6,194,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2778,3663,0,0,0,0,0,0
$GC,1602,-0.71,-170.3,214.6,-14.0,206,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3663,0,0,0,0,0,0
$GC,1737,-0.71,-170.3,233.5,-13.9,219,1741,0.00,1.65,0.00,0.000,4,0.000,0.047,2555,3766,3663,0,0,0,0,0,0
$GC,1777,-0.71,-170.3,239.4,-14.5,222,1784,0.00,1.55,0.00,0.000,6,0.000,0.028,2555,2785,3663,0,0,0,0,0,0
$GC,1913,-0.71,-170.3,258.3,-14.3,235,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2784,3663,0,0,0,0,0,0
$GC,2104,-0.71,-170.3,285.0,-14.3,253,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3663,0,0,0,0,0,0
$GC,2294,-0.71,-170.3,310.6,-13.3,271,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3663,0,0,0,0,0,0
$GC,2484,-0.71,-170.3,335.8,-13.2,289,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3663,0,0,0,0,0,0
$GC,2675,-0.71,-170.3,360.2,-12.5,307,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2784,3663,0,0,0,0,0,0
$STATE,2800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2800,begin apogee
$GC,2808,-0.16,0.0,375.9,12.5,319,2954,0.57,0.00,140.68,0.979,4,0.117,0.000,2746,2678,2959,0,0,0,0,0,0
$STATE,2955,end apogee,CONTROL_FINISHED_OK
$STATE,2955,begin climb
$GC,2959,0.71,170.3,382.8,0.0,332,3122,0.85,2.33,153.48,0.926,4,0.071,0.033,3033,1309,2265,0,0,0,0,0,0
$GC,3129,0.79,231.8,377.1,7.6,346,3196,0.00,2.50,60.65,0.889,6,0.000,0.040,3033,2697,2015,0,0,1,0,0,0
$GC,3395,0.79,231.8,350.3,10.2,371,3399,0.00,1.83,0.00,0.000,4,0.000,0.047,3033,3769,2013,0,0,0,0,0,0
$GC,3467,0.79,231.8,342.2,12.2,377,3470,0.00,1.67,0.00,0.000,6,0.000,0.029,3040,2722,2012,0,0,1,0,0,0
$GC,3670,0.79,231.8,319.0,11.5,396,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2721,2011,0,0,0,0,0,0
$GC,3864,0.79,231.8,297.7,10.9,414,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2721,2010,0,0,0,0,0,0
$GC,4063,0.79,231.8,275.5,11.0,433,4067,0.00,1.70,0.00,0.000,4,0.000,0.048,3040,3765,2010,0,0,0,0,0,0
$GC,4110,0.79,231.8,269.7,12.6,437,4113,0.00,1.65,0.00,0.000,6,0.000,0.028,3048,2708,2009,0,0,0,0,0,0
$GC,4315,0.79,231.8,246.7,10.6,456,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2707,2009,0,0,0,0,0,0
$GC,4441,0.79,231.8,232.8,10.9,468,4445,0.00,1.75,0.00,0.000,4,0.000,0.047,3048,3761,2009,0,0,0,0,0,0
$GC,4476,0.79,231.8,228.8,11.6,471,4480,0.00,1.65,0.00,0.000,6,0.000,0.030,3055,2721,2009,0,0,0,0,0,0
$GC,4617,0.79,231.8,212.9,10.9,484,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2719,2008,0,0,0,0,0,0
$GC,4743,0.79,231.8,198.9,11.1,496,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2719,2009,0,0,0,0,0,0
$GC,4870,0.79,231.8,184.6,10.8,508,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2719,2008,0,0,0,0,0,0
$GC,4998,0.79,231.8,170.6,10.9,520,5001,0.00,1.70,0.00,0.000,4,0.000,0.048,3055,3772,2008,0,0,0,0,0,0
$GC,5049,0.79,231.8,163.9,13.2,524,5055,0.00,1.65,0.00,0.000,6,0.000,0.028,3063,2728,2008,0,0,0,0,0,0
$GC,5183,0.79,231.8,147.8,12.0,537,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2728,2008,0,0,0,0,0,0
$GC,5311,0.79,231.8,133.0,11.2,549,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2728,2008,0,0,0,0,0,0
$GC,5439,0.79,231.8,118.4,11.5,561,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2728,2008,0,0,0,0,0,0
$GC,5565,0.79,231.8,104.1,11.1,573,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2728,2007,0,0,0,0,0,0
$GC,5696,0.79,231.8,89.3,11.9,593,5704,0.00,1.73,0.00,0.000,4,0.000,0.047,3062,3767,2007,0,0,0,0,0,0
$GC,5741,0.79,231.8,83.8,12.7,600,5747,0.00,1.62,0.00,0.000,6,0.000,0.029,3071,2739,2007,0,0,0,0,0,0
$GC,5885,0.79,231.8,66.6,12.2,625,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2739,2007,0,0,0,0,0,0
$GC,6028,0.79,231.8,49.2,12.2,650,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2739,2007,0,0,0,0,0,0
$GC,6169,0.79,231.8,32.7,10.9,675,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2739,2007,0,0,0,0,0,0
$GC,6312,0.79,231.8,16.2,12.1,700,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2740,2007,0,0,0,0,0,0
$FREEZE,8.73,0.466,-1.892,2,1,0
$FREEZE,8.00,0.465,-1.891,2,1,0
$FREEZE,7.41,0.467,-1.891,2,1,0
$FREEZE,6.77,0.466,-1.890,2,1,0
$FREEZE,6.20,0.465,-1.890,2,1,0
$FREEZE,5.55,0.465,-1.889,2,1,0
$FREEZE,4.92,0.467,-1.889,2,1,0
$FREEZE,4.40,0.466,-1.888,2,1,0
$FREEZE,3.61,0.463,-1.888,2,1,0
$FREEZE,3.13,0.462,-1.888,2,1,0
$FREEZE,2.53,0.459,-1.887,2,1,0
$STATE,6427,end climb,SURFACE_DEPTH_REACHED
$STATE,6428,begin surface coast
$FREEZE,1.80,0.462,-1.886,2,1,0
$FREEZE,1.06,0.464,-1.886,2,1,0
$FREEZE,0.52,0.463,-1.885,2,1,0
$FREEZE,-0.10,0.460,-1.885,2,1,0
$FREEZE,-0.08,0.291,-1.820,2,1,0
$FINISH,-0.1,1.026653
$STATE,6455,end surface coast,CONTROL_FINISHED_OK
$STATE,6456,begin surface
$SM_CCo,6476,7.03,0.103,0,0,1940,250.20
$SM_GC,2.22,0.00,0.00,7.03,0.000,0.000,0.103,188,2801,1940,-8.16,0.59,250.20
$IRIDIUM_FIX,-7545.40,17543.11,270111,151523
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.9
$24V_AH,21.4,93.971
$10V_AH,9.8,38.649
$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,18.300,32.925,354.800,7.025,0.000,24.153,40.359,197.409,1.000,0.000,16.573,1798.999,2937.582,419.585,1448.042,309.332,0.000,1083.699,0.000,1132.977,0.000,7.761,0.000
$DEVICE_MAMPS,206.550,110.925,979.200,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.131,934.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47010,726
$CAP_FILE_SIZE,87312,0
$CFSIZE,260165632,210939904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.040,343.4,1
$GPS,270111,194637,-7623.423,17542.746,42,1.3,43,123.7