version: 66.08
glider: 503
mission: 7
dive: 891
start: 1 27 111 19 54 5
data:
$ID,503
$MISSION,7
$DIVE,891
$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,-20659.633
$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,52
$R_STBD_OVSHOOT,45
$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
$GPS1,270111,194637,-7623.423,17542.746,42,1.3,43,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.8
$GPS2,270111,195336,-7623.389,17542.662,12,1.3,28,123.7
$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,205.4,38999,-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,-170.3,0.0,0.0,0,95,0.00,0.00,-76.57,0.000,2,0.000,0.000,187,2802,3565,0,0,0,0,0,0
$GC,100,-0.71,-170.3,4.2,-10.9,13,121,9.27,2.30,-1.75,0.000,4,0.207,0.043,2567,1374,3659,0,0,1,0,0,0
$GC,356,-0.71,-170.3,49.1,-12.9,58,363,0.00,2.25,0.00,0.000,6,0.000,0.041,2562,2765,3661,0,0,0,0,0,0
$GC,497,-0.71,-170.3,68.2,-14.9,83,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2765,3662,0,0,0,0,0,0
$GC,642,-0.71,-170.3,87.8,-13.0,108,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2764,3662,0,0,0,0,0,0
$GC,787,-0.71,-170.3,107.6,-13.9,129,791,0.00,1.62,0.00,0.000,4,0.000,0.049,2562,3787,3663,0,0,0,0,0,0
$GC,834,-0.71,-170.3,114.2,-13.4,133,837,0.00,1.58,0.00,0.000,6,0.000,0.028,2563,2783,3662,0,0,0,0,0,0
$GC,974,-0.71,-170.3,133.2,-13.5,146,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,1102,-0.71,-170.3,150.2,-13.4,158,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,1228,-0.71,-170.3,167.0,-13.4,170,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2782,3662,0,0,0,0,0,0
$GC,1356,-0.71,-170.3,183.6,-12.6,182,1360,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3759,3663,0,0,0,0,0,0
$GC,1407,-0.71,-170.3,190.4,-13.1,186,1413,0.00,1.52,0.00,0.000,6,0.000,0.028,2562,2786,3662,0,0,0,0,0,0
$GC,1542,-0.71,-170.3,207.7,-13.2,199,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3662,0,0,0,0,0,0
$GC,1669,-0.71,-170.3,224.2,-13.0,211,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3662,0,0,0,0,0,0
$GC,1797,-0.71,-170.3,240.7,-12.6,223,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3663,0,0,0,0,0,0
$GC,1925,-0.71,-170.3,256.4,-12.4,235,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3662,0,0,0,0,0,0
$GC,2114,-0.71,-170.3,279.8,-12.6,253,2118,0.00,1.60,0.00,0.000,4,0.000,0.049,2559,3750,3662,0,0,0,0,0,0
$GC,2187,-0.71,-170.3,289.6,-13.2,259,2194,0.00,1.50,0.00,0.000,6,0.000,0.027,2559,2783,3661,0,0,0,0,0,0
$GC,2387,-0.71,-170.3,314.3,-12.3,278,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2783,3661,0,0,0,0,0,0
$GC,2577,-0.71,-170.3,337.8,-12.3,296,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2784,3661,0,0,0,0,0,0
$GC,2767,-0.71,-170.3,361.7,-12.4,314,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2783,3661,0,0,0,0,0,0
$STATE,2881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2881,begin apogee
$GC,2888,-0.16,0.0,376.0,11.9,325,3035,0.55,0.00,140.68,0.975,4,0.117,0.000,2743,2691,2958,0,0,0,0,0,0
$STATE,3036,end apogee,CONTROL_FINISHED_OK
$STATE,3036,begin climb
$GC,3039,0.71,170.3,382.3,0.0,338,3201,0.85,2.30,153.27,0.922,4,0.073,0.032,3029,1316,2265,0,0,0,0,0,0
$GC,3218,0.77,215.8,375.0,8.2,353,3270,0.00,2.47,44.90,0.884,6,0.000,0.041,3029,2701,2080,0,0,1,0,0,0
$GC,3462,0.77,215.8,350.5,10.2,376,3465,0.00,1.80,0.00,0.000,4,0.000,0.047,3029,3765,2078,0,0,0,0,0,0
$GC,3519,0.77,215.8,344.1,11.4,381,3523,0.00,1.67,0.00,0.000,6,0.000,0.029,3037,2716,2077,0,0,1,0,0,0
$GC,3724,0.78,222.0,323.6,9.8,400,3733,0.00,0.00,6.20,0.764,6,0.000,0.000,3037,2715,2054,0,0,0,0,0,0
$GC,3926,0.78,222.0,303.5,10.0,419,3930,0.00,1.73,0.00,0.000,4,0.000,0.048,3037,3769,2055,0,0,0,0,0,0
$GC,3976,0.78,222.0,297.4,11.8,423,3984,0.00,1.65,0.00,0.000,6,0.000,0.031,3044,2707,2055,0,0,0,0,0,0
$GC,4177,0.78,222.0,276.5,10.4,442,4180,0.00,1.73,0.00,0.000,4,0.000,0.047,3044,3773,2054,0,0,0,0,0,0
$GC,4212,0.78,222.0,272.3,11.5,445,4216,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2708,2054,0,0,0,0,0,0
$GC,4417,0.78,222.0,251.2,10.1,464,4420,0.00,1.73,0.00,0.000,4,0.000,0.047,3051,3775,2054,0,0,0,0,0,0
$GC,4453,0.78,222.0,246.9,12.1,467,4456,0.00,1.65,0.00,0.000,6,0.000,0.029,3058,2707,2054,0,0,0,0,0,0
$GC,4593,0.78,222.0,231.3,10.9,480,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2707,2053,0,0,0,0,0,0
$GC,4721,0.78,222.0,217.5,10.7,492,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2707,2053,0,0,0,0,0,0
$GC,4849,0.78,222.0,203.5,11.1,504,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2707,2053,0,0,0,0,0,0
$GC,4975,0.78,222.0,189.3,11.1,516,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2707,2053,0,0,0,0,0,0
$GC,5102,0.78,222.0,175.4,11.2,528,5106,0.00,1.75,0.00,0.000,4,0.000,0.048,3058,3764,2053,0,0,0,0,0,0
$GC,5159,0.78,222.0,168.0,13.1,533,5163,0.00,1.62,0.00,0.000,6,0.000,0.029,3066,2736,2052,0,0,0,0,0,0
$GC,5300,0.78,222.0,151.4,11.6,546,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2735,2052,0,0,0,0,0,0
$GC,5427,0.78,222.0,136.7,11.6,558,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2052,0,0,0,0,0,0
$GC,5555,0.78,222.0,122.0,11.7,570,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2735,2052,0,0,0,0,0,0
$GC,5682,0.78,222.0,107.5,11.1,582,5685,0.00,1.67,0.00,0.000,4,0.000,0.047,3065,3773,2052,0,0,0,0,0,0
$GC,5720,0.78,222.0,102.5,13.4,585,5727,0.00,1.65,0.00,0.000,6,0.000,0.028,3073,2735,2052,0,0,0,0,0,0
$GC,5862,0.78,222.0,85.9,11.8,608,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2735,2051,0,0,0,0,0,0
$GC,6005,0.78,222.0,68.5,12.7,633,6011,0.00,1.70,0.00,0.000,4,0.000,0.047,3074,3763,2052,0,0,0,0,0,0
$GC,6036,0.78,222.0,64.4,13.7,638,6043,0.08,1.60,0.00,0.000,6,0.143,0.029,3053,2757,2052,0,0,0,0,0,0
$GC,6183,0.78,222.0,48.8,10.7,663,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2758,2052,0,0,0,0,0,0
$GC,6326,0.78,222.0,33.6,10.3,688,6333,0.00,1.67,0.00,0.000,4,0.000,0.049,3053,3765,2052,0,0,0,0,0,0
$GC,6370,0.78,222.0,28.8,12.4,695,6377,0.00,1.60,0.00,0.000,6,0.000,0.029,3059,2759,2052,0,0,0,0,0,0
$GC,6517,0.78,222.0,13.1,11.2,720,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2759,2051,0,0,0,0,0,0
$FREEZE,8.96,0.299,-1.892,2,1,0
$FREEZE,8.31,0.298,-1.891,2,1,0
$FREEZE,7.92,0.301,-1.891,2,1,0
$FREEZE,7.24,0.302,-1.890,2,1,0
$FREEZE,6.64,0.304,-1.890,2,1,0
$FREEZE,6.12,0.304,-1.889,2,1,0
$FREEZE,5.43,0.303,-1.889,2,1,0
$FREEZE,4.93,0.300,-1.889,2,1,0
$FREEZE,4.22,0.304,-1.888,2,1,0
$FREEZE,3.74,0.305,-1.887,2,1,0
$FREEZE,3.24,0.304,-1.887,2,1,0
$FREEZE,2.57,0.306,-1.887,2,1,0
$STATE,6613,end climb,SURFACE_DEPTH_REACHED
$STATE,6613,begin surface coast
$FREEZE,1.71,0.305,-1.886,2,1,0
$FREEZE,1.05,0.307,-1.885,2,1,0
$FREEZE,0.49,0.303,-1.885,2,1,0
$FREEZE,0.01,0.305,-1.885,2,1,0
$FREEZE,-0.06,0.108,-1.026,2,1,0
$FINISH,-0.1,1.015172
$STATE,6642,end surface coast,CONTROL_FINISHED_OK
$STATE,6642,begin surface
$SM_CCo,6661,12.80,0.102,0,0,1940,250.20
$SM_GC,1.79,0.00,0.00,12.80,0.000,0.000,0.102,185,2758,1940,-8.17,-0.62,250.20
$IRIDIUM_FIX,-7536.68,17543.79,270111,171755
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.1
$ALTIM_BOTTOM_PING,351.2,86.1
$24V_AH,21.6,94.076
$10V_AH,9.8,38.707
$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,18.350,45.725,345.050,12.800,0.000,28.498,42.855,172.977,1.250,0.000,31.057,1854.048,3005.806,426.486,1488.797,323.874,0.000,1119.651,0.000,1178.483,0.000,10.695,0.000
$DEVICE_MAMPS,207.315,97.920,974.610,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.478,950.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47029,742
$CAP_FILE_SIZE,93433,0
$CFSIZE,260165632,210882560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.043,257.8,1
$GPS,270111,214620,-7622.545,17539.936,16,1.4,17,123.7