version: 66.08
glider: 503
mission: 7
dive: 892
start: 1 27 111 21 53 30
data:
$ID,503
$MISSION,7
$DIVE,892
$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,-20660.891
$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,24
$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
$GPS1,270111,214620,-7622.545,17539.936,16,1.4,17,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-74.9
$GPS2,270111,215301,-7622.543,17539.752,11,1.4,11,123.7
$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,216.1,37001,-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,-74.30,0.000,2,0.000,0.000,184,2758,3497,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.9,-9.6,13,118,9.23,1.67,-3.17,0.000,4,0.205,0.057,2560,3782,3658,0,0,0,0,0,0
$GC,370,-0.71,-170.3,54.0,-14.3,61,377,0.00,1.58,0.00,0.000,6,0.000,0.028,2560,2783,3661,0,0,0,0,0,0
$GC,513,-0.71,-170.3,73.6,-13.3,86,519,0.00,1.62,0.00,0.000,4,0.000,0.048,2552,3762,3662,0,0,0,0,0,0
$GC,577,-0.71,-170.3,82.8,-13.3,97,584,0.00,1.52,0.00,0.000,6,0.000,0.028,2552,2787,3662,0,0,0,0,0,0
$GC,725,-0.71,-170.3,103.2,-13.5,121,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2787,3662,0,0,0,0,0,0
$GC,851,-0.71,-170.3,121.0,-13.7,133,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2787,3662,0,0,0,0,0,0
$GC,979,-0.71,-170.3,138.6,-13.7,145,982,0.00,1.62,0.00,0.000,4,0.000,0.047,2544,3767,3662,0,0,0,0,0,0
$GC,1018,-0.71,-170.3,144.7,-15.3,148,1025,0.00,1.52,0.00,0.000,6,0.000,0.028,2545,2789,3662,0,0,0,0,0,0
$GC,1153,-0.71,-170.3,164.1,-14.7,161,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2788,3662,0,0,0,0,0,0
$GC,1280,-0.71,-170.3,182.8,-14.7,173,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2789,3662,0,0,0,0,0,0
$GC,1409,-0.71,-170.3,201.7,-14.7,185,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2789,3662,0,0,0,0,0,0
$GC,1535,-0.71,-170.3,220.2,-14.5,197,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2789,3662,0,0,0,0,0,0
$GC,1662,-0.71,-170.3,238.2,-14.4,209,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2789,3662,0,0,0,0,0,0
$GC,1792,-0.71,-170.3,256.6,-14.7,221,1796,0.00,1.62,0.00,0.000,4,0.000,0.048,2536,3795,3662,0,0,0,0,0,0
$GC,1831,-0.71,-170.3,263.2,-15.5,224,1839,0.08,1.55,0.00,0.000,6,0.133,0.028,2564,2804,3661,0,0,0,0,0,0
$GC,2030,-0.71,-170.3,288.7,-12.5,243,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2803,3661,0,0,0,0,0,0
$GC,2222,-0.71,-170.3,313.2,-12.6,261,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2803,3661,0,0,0,0,0,0
$GC,2412,-0.71,-170.3,336.7,-12.1,279,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2803,3661,0,0,0,0,0,0
$GC,2604,-0.71,-170.3,359.5,-11.9,297,2608,0.00,1.60,0.00,0.000,4,0.000,0.049,2557,3766,3661,0,0,0,0,0,0
$GC,2654,-0.71,-170.3,366.2,-12.5,301,2661,0.00,1.50,0.00,0.000,6,0.000,0.028,2557,2807,3661,0,0,0,0,0,0
$STATE,2733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2733,begin apogee
$GC,2740,-0.16,0.0,376.3,12.5,309,2887,0.55,0.00,140.65,0.974,4,0.116,0.000,2742,2689,2959,0,0,0,0,0,0
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2891,0.71,170.3,383.3,0.0,322,3054,0.85,2.33,153.30,0.924,4,0.073,0.033,3027,1310,2265,0,0,0,0,0,0
$GC,3236,0.77,214.6,362.8,8.2,352,3283,0.00,2.38,40.95,0.910,6,0.000,0.041,3027,2706,2085,0,0,0,0,0,0
$GC,3472,0.78,224.2,339.8,9.6,374,3487,0.00,2.28,10.23,0.838,4,0.000,0.035,3037,1312,2046,0,0,1,0,0,0
$GC,3631,0.79,234.3,324.7,9.6,388,3647,0.00,2.30,10.88,0.851,6,0.000,0.042,3037,2718,2003,0,0,0,0,0,0
$GC,3843,0.79,234.3,302.5,10.6,407,3846,0.00,1.70,0.00,0.000,4,0.000,0.049,3038,3767,2003,0,0,0,0,0,0
$GC,3882,0.79,234.3,297.4,12.2,410,3889,0.00,1.65,0.00,0.000,6,0.000,0.029,3044,2727,2003,0,0,1,0,0,0
$GC,4081,0.79,234.3,275.9,10.7,429,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2727,2003,0,0,0,0,0,0
$GC,4272,0.79,234.3,255.0,10.9,447,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2727,2003,0,0,0,0,0,0
$GC,4462,0.79,234.3,233.5,11.1,465,4466,0.00,1.73,0.00,0.000,4,0.000,0.048,3044,3760,2003,0,0,0,0,0,0
$GC,4509,0.79,234.3,227.7,12.8,469,4512,0.00,1.65,0.00,0.000,6,0.000,0.029,3051,2702,2003,0,0,0,0,0,0
$GC,4649,0.79,234.3,211.1,11.6,482,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2699,2003,0,0,0,0,0,0
$GC,4777,0.79,234.3,196.9,10.9,494,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2700,2003,0,0,0,0,0,0
$GC,4904,0.79,234.3,183.1,10.6,506,4907,0.00,1.73,0.00,0.000,4,0.000,0.048,3051,3763,2003,0,0,0,0,0,0
$GC,4953,0.79,234.3,176.7,12.9,510,4960,0.00,1.67,0.00,0.000,6,0.000,0.030,3059,2718,2002,0,0,0,0,0,0
$GC,5089,0.79,234.3,161.6,11.5,523,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2718,2002,0,0,0,0,0,0
$GC,5215,0.79,234.3,147.2,11.1,535,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2718,2002,0,0,0,0,0,0
$GC,5344,0.79,234.3,133.1,10.9,547,5347,0.00,1.67,0.00,0.000,4,0.000,0.048,3059,3762,2002,0,0,0,0,0,0
$GC,5390,0.79,234.3,127.1,13.0,551,5394,0.00,1.65,0.00,0.000,6,0.000,0.030,3067,2694,2001,0,0,0,0,0,0
$GC,5532,0.79,234.3,111.2,11.3,564,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2694,2002,0,0,0,0,0,0
$GC,5659,0.79,234.3,96.4,11.3,578,5666,0.00,1.75,0.00,0.000,4,0.000,0.048,3067,3771,2002,0,0,0,0,0,0
$GC,5702,0.79,234.3,91.1,12.4,585,5708,0.00,1.65,0.00,0.000,6,0.000,0.029,3074,2730,2001,0,0,0,0,0,0
$GC,5847,0.79,234.3,74.4,11.9,610,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2730,2001,0,0,0,0,0,0
$GC,5989,0.79,234.3,57.1,12.4,635,5997,0.00,1.70,0.00,0.000,4,0.000,0.047,3074,3757,2001,0,0,0,0,0,0
$GC,6039,0.79,234.3,50.4,14.3,643,6048,0.00,1.62,0.00,0.000,6,0.000,0.030,3082,2735,2001,0,0,0,0,0,0
$GC,6187,0.79,234.3,31.2,12.7,668,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2735,2001,0,0,0,0,0,0
$GC,6330,0.79,234.3,13.4,12.4,693,6337,0.00,1.70,0.00,0.000,4,0.000,0.047,3082,3762,2001,0,0,0,0,0,0
$FREEZE,8.37,0.295,-1.891,2,1,0
$FREEZE,7.61,0.297,-1.891,2,1,0
$FREEZE,6.90,0.299,-1.890,2,1,0
$FREEZE,6.11,0.304,-1.889,2,1,0
$FREEZE,5.32,0.305,-1.889,2,1,0
$FREEZE,4.68,0.307,-1.888,2,1,0
$FREEZE,3.86,0.309,-1.888,2,1,0
$FREEZE,3.15,0.311,-1.887,2,1,0
$FREEZE,2.52,0.313,-1.887,2,1,0
$STATE,6407,end climb,SURFACE_DEPTH_REACHED
$STATE,6410,begin surface coast
$FREEZE,1.46,0.318,-1.886,2,1,0
$FREEZE,0.55,0.321,-1.885,2,1,0
$FINISH,0.5,1.027559
$STATE,6421,end surface coast,CONTROL_FINISHED_OK
$STATE,6422,begin surface
$SM_CCo,6443,6.57,0.103,0,0,1940,250.20
$SM_GC,2.43,0.00,0.00,6.57,0.000,0.000,0.103,183,2769,1940,-8.18,-0.31,250.20
$IRIDIUM_FIX,-7536.68,17552.91,270111,191908
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.0
$ALTIM_BOTTOM_PING,350.6,91.3
$24V_AH,21.6,94.184
$10V_AH,9.7,38.762
$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,18.375,48.675,356.000,6.575,0.000,28.034,37.101,177.554,1.250,0.000,13.914,1768.138,2896.275,426.019,1437.390,326.982,0.000,1106.580,0.000,1155.985,0.000,10.709,0.000
$DEVICE_MAMPS,205.020,68.850,973.845,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,497.000,899.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258116
$DATA_FILE_SIZE,46999,709
$CAP_FILE_SIZE,91299,0
$CFSIZE,260165632,210829312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.079,198.5,1
$GPS,270111,234230,-7621.963,17538.225,46,1.3,47,123.7