version: 66.08
glider: 503
mission: 7
dive: 895
start: 1 28 111 3 44 44
data:
$ID,503
$MISSION,7
$DIVE,895
$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,-20664.662
$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,50
$R_STBD_OVSHOOT,37
$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
$GPS1,280111,033726,-7621.168,17535.537,20,1.6,21,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.7
$GPS2,280111,034414,-7621.228,17535.498,13,1.7,13,123.7
$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,233.7,33959,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,99,0.00,0.00,-80.35,0.000,2,0.000,0.000,184,2795,3479,0,0,0,0,0,0
$GC,103,-0.71,-170.3,3.7,-8.5,14,125,9.20,1.58,-3.53,0.000,4,0.208,0.058,2554,3760,3656,0,0,0,0,0,0
$GC,265,-0.71,-170.3,38.4,-14.9,42,272,0.00,1.58,0.00,0.000,6,0.000,0.028,2554,2768,3658,0,0,0,0,0,0
$GC,407,-0.71,-170.3,60.1,-15.7,67,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2768,3659,0,0,0,0,0,0
$GC,549,-0.71,-170.3,81.7,-14.3,92,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2769,3659,0,0,0,0,0,0
$GC,698,-0.71,-170.3,103.8,-14.8,116,701,0.00,1.62,0.00,0.000,4,0.000,0.048,2546,3769,3659,0,0,0,0,0,0
$GC,746,-0.71,-170.3,111.4,-16.3,120,749,0.00,1.55,0.00,0.000,6,0.000,0.028,2546,2787,3659,0,0,0,0,0,0
$GC,887,-0.71,-170.3,133.0,-15.1,133,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2788,3659,0,0,0,0,0,0
$GC,1015,-0.71,-170.3,151.9,-14.6,145,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2787,3659,0,0,0,0,0,0
$GC,1141,-0.71,-170.3,170.6,-14.8,157,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2788,3659,0,0,0,0,0,0
$GC,1268,-0.71,-170.3,190.1,-15.4,169,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2787,3659,0,0,0,0,0,0
$GC,1396,-0.71,-170.3,209.6,-15.0,181,1400,0.00,1.60,0.00,0.000,4,0.000,0.048,2538,3744,3659,0,0,0,0,0,0
$GC,1431,-0.71,-170.3,215.5,-17.0,184,1435,0.08,1.50,0.00,0.000,6,0.132,0.028,2564,2786,3659,0,0,1,0,0,0
$GC,1571,-0.71,-170.3,234.5,-12.7,197,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2786,3659,0,0,0,0,0,0
$GC,1699,-0.71,-170.3,250.8,-12.8,209,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2785,3659,0,0,0,0,0,0
$GC,1899,-0.71,-170.3,275.8,-12.0,228,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2786,3659,0,0,0,0,0,0
$GC,2089,-0.71,-170.3,298.2,-11.5,246,2092,0.00,1.60,0.00,0.000,4,0.000,0.048,2558,3745,3659,0,0,0,0,0,0
$GC,2128,-0.71,-170.3,303.4,-13.4,249,2135,0.00,1.52,0.00,0.000,6,0.000,0.028,2558,2780,3659,0,0,0,0,0,0
$GC,2327,-0.71,-170.3,329.1,-13.0,268,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2780,3659,0,0,0,0,0,0
$GC,2518,-0.71,-170.3,354.3,-13.4,286,2521,0.00,1.62,0.00,0.000,4,0.000,0.049,2550,3753,3659,0,0,1,0,0,0
$GC,2555,-0.71,-170.3,359.1,-13.8,289,2558,0.00,1.50,0.00,0.000,6,0.000,0.029,2550,2803,3659,0,0,0,0,0,0
$STATE,2683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2691,-0.16,0.0,376.3,13.1,301,2838,0.57,0.00,139.60,0.978,4,0.117,0.000,2741,2690,2959,0,0,0,0,0,0
$STATE,2839,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2842,0.71,170.3,383.0,0.0,314,3003,0.85,2.35,152.85,0.929,4,0.073,0.033,3027,1301,2264,0,0,0,0,0,0
$GC,3186,0.75,202.6,362.9,8.7,344,3221,0.00,2.38,29.92,0.906,6,0.000,0.041,3026,2698,2133,0,0,0,0,0,0
$GC,3413,0.78,225.0,342.2,9.1,365,3439,0.00,2.30,21.58,0.892,4,0.000,0.033,3037,1309,2041,0,0,0,0,0,0
$GC,3576,0.83,267.0,327.6,8.3,379,3622,0.00,2.30,38.62,0.904,6,0.000,0.041,3037,2715,1871,0,0,0,0,0,0
$GC,3814,0.85,285.6,304.8,9.3,401,3838,0.10,1.80,17.85,0.876,4,0.102,0.047,3099,3760,1795,0,0,0,0,0,0
$GC,3887,0.85,285.6,294.5,16.2,407,3892,0.12,1.62,0.00,0.000,6,0.162,0.030,3074,2716,1796,0,0,1,0,0,0
$GC,4094,0.85,285.6,266.3,13.4,426,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2716,1795,0,0,0,0,0,0
$GC,4294,0.85,285.6,240.9,12.3,445,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2716,1795,0,0,0,0,0,0
$GC,4429,0.85,285.6,223.4,12.8,458,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2716,1795,0,0,0,0,0,0
$GC,4556,0.85,285.6,207.3,12.4,470,4560,0.00,1.70,0.00,0.000,4,0.000,0.047,3074,3770,1795,0,0,0,0,0,0
$GC,4584,0.85,285.6,203.1,14.1,472,4592,0.00,1.70,0.00,0.000,6,0.000,0.029,3080,2700,1795,0,0,0,0,0,0
$GC,4720,0.85,285.6,185.6,13.5,485,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2700,1795,0,0,0,0,0,0
$GC,4848,0.85,285.6,168.3,13.6,497,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2700,1795,0,0,0,0,0,0
$GC,4982,0.85,285.6,149.9,13.7,510,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2700,1794,0,0,0,0,0,0
$GC,5111,0.85,285.6,133.6,12.8,522,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2700,1795,0,0,0,0,0,0
$GC,5237,0.85,285.6,117.3,12.7,534,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2700,1795,0,0,0,0,0,0
$GC,5364,0.85,285.6,100.8,13.1,546,5368,0.00,1.73,0.00,0.000,4,0.000,0.050,3080,3763,1794,0,0,1,0,0,0
$GC,5405,0.85,285.6,95.0,15.3,552,5413,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2726,1794,0,0,0,0,0,0
$GC,5552,0.85,285.6,74.6,14.1,577,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2726,1794,0,0,0,0,0,0
$GC,5695,0.85,285.6,55.1,13.2,602,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2726,1794,0,0,0,0,0,0
$GC,5838,0.85,285.6,35.8,13.4,627,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2726,1793,0,0,0,0,0,0
$GC,5980,0.85,285.6,16.5,12.9,652,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2726,1794,0,0,0,0,0,0
$FREEZE,8.69,0.168,-1.893,2,1,0
$FREEZE,7.96,0.177,-1.892,2,1,0
$FREEZE,7.30,0.193,-1.892,2,1,0
$FREEZE,6.57,0.208,-1.891,2,1,0
$FREEZE,5.94,0.208,-1.891,2,1,0
$FREEZE,5.21,0.213,-1.891,2,1,0
$FREEZE,4.46,0.227,-1.890,2,1,0
$FREEZE,3.82,0.237,-1.889,2,1,0
$FREEZE,3.15,0.242,-1.889,2,1,0
$FREEZE,2.47,0.244,-1.888,2,1,0
$STATE,6088,end climb,SURFACE_DEPTH_REACHED
$STATE,6088,begin surface coast
$FREEZE,1.22,0.240,-1.887,2,1,0
$FREEZE,0.50,0.239,-1.887,2,1,0
$FREEZE,-0.01,0.215,-1.276,2,1,0
$FREEZE,-0.20,0.108,-0.906,2,1,0
$FINISH,-0.2,1.013401
$STATE,6111,end surface coast,CONTROL_FINISHED_OK
$STATE,6111,begin surface
$SM_CCo,6190,0.00,0.000,0,0,1791,286.51
$SM_GC,0.87,7.68,0.00,0.00,0.044,0.000,0.000,184,2799,1791,-8.07,0.54,286.51
$IRIDIUM_FIX,-7536.68,17544.47,280111,010132
$TT8_MAMPS,0.026964
$HUMID,53.70
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.1
$24V_AH,21.6,94.528
$10V_AH,9.7,38.928
$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,18.600,35.425,400.425,0.000,0.000,31.407,37.316,180.138,1.000,0.000,15.989,1668.289,2773.850,456.352,1394.053,308.267,0.000,1117.239,0.000,1103.694,0.000,7.757,0.000
$DEVICE_MAMPS,208.080,98.685,977.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.349,852.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,43711,675
$CAP_FILE_SIZE,86025,0
$CFSIZE,260165632,210685952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.211,177.6,1
$GPS,280111,052925,-7620.979,17535.779,49,1.5,50,123.7