version: 66.08
glider: 503
mission: 7
dive: 897
start: 1 28 111 7 34 7
data:
$ID,503
$MISSION,7
$DIVE,897
$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,-20667.178
$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,48
$R_STBD_OVSHOOT,23
$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
$GPS1,280111,072626,-7620.649,17535.811,28,1.4,29,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-74.4
$GPS2,280111,073337,-7620.678,17535.893,37,0.8,37,123.7
$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,222.3,33145,-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,-170.3,0.0,0.0,0,97,0.00,0.00,-78.07,0.000,2,0.000,0.000,184,2786,3574,0,0,0,0,0,0
$GC,101,-0.71,-170.3,4.3,-10.7,13,122,9.30,1.62,-1.58,0.000,4,0.207,0.056,2560,3778,3660,0,0,0,0,0,0
$GC,232,-0.71,-170.3,35.6,-13.7,35,239,0.00,1.58,0.00,0.000,6,0.000,0.028,2560,2778,3662,0,0,0,0,0,0
$GC,377,-0.71,-170.3,55.0,-13.5,60,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2779,3663,0,0,0,0,0,0
$GC,520,-0.71,-170.3,74.5,-13.5,85,526,0.00,2.20,0.00,0.000,4,0.000,0.031,2559,1373,3663,0,0,0,0,0,0
$GC,563,-0.71,-170.3,80.2,-12.8,92,570,0.00,2.28,0.00,0.000,6,0.000,0.042,2550,2783,3663,0,0,0,0,0,0
$GC,706,-0.71,-170.3,100.1,-15.0,117,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3663,0,0,0,0,0,0
$GC,832,-0.71,-170.3,118.5,-14.5,129,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3664,0,0,0,0,0,0
$GC,959,-0.71,-170.3,137.2,-14.5,141,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3664,0,0,0,0,0,0
$GC,1088,-0.71,-170.3,156.1,-14.9,153,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3664,0,0,0,0,0,0
$GC,1214,-0.71,-170.3,175.0,-14.8,165,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3664,0,0,0,0,0,0
$GC,1341,-0.71,-170.3,193.9,-15.0,177,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3664,0,0,0,0,0,0
$GC,1470,-0.71,-170.3,212.5,-14.6,189,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2783,3664,0,0,0,0,0,0
$GC,1596,-0.71,-170.3,230.8,-14.2,201,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2784,3664,0,0,0,0,0,0
$GC,1724,-0.71,-170.3,248.8,-14.0,213,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3663,0,0,0,0,0,0
$GC,1852,-0.71,-170.3,266.7,-13.7,225,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3664,0,0,0,0,0,0
$GC,2042,-0.71,-170.3,292.9,-13.6,243,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2784,3663,0,0,0,0,0,0
$GC,2234,-0.71,-170.3,319.8,-14.4,261,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2783,3663,0,0,0,0,0,0
$GC,2425,-0.71,-170.3,347.5,-14.9,279,2429,0.00,2.20,0.00,0.000,4,0.000,0.032,2550,1378,3664,0,0,0,0,0,0
$GC,2459,-0.71,-170.3,353.1,-14.7,281,2466,0.10,2.25,0.00,0.000,6,0.157,0.042,2567,2774,3663,0,0,0,0,0,0
$STATE,2623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2623,begin apogee
$GC,2631,-0.16,0.0,375.7,13.9,297,2778,0.52,0.00,140.80,0.976,4,0.113,0.000,2746,2689,2960,0,0,0,0,0,0
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin climb
$GC,2782,0.71,170.3,384.7,0.0,310,2946,0.85,2.35,153.23,0.930,4,0.071,0.033,3033,1300,2265,0,0,0,0,0,0
$GC,2960,0.81,252.5,381.4,6.7,325,3050,0.00,2.50,80.20,0.900,6,0.000,0.041,3032,2698,1929,0,0,1,0,0,0
$GC,3242,0.85,284.5,357.8,8.7,351,3278,0.12,1.92,29.58,0.895,4,0.083,0.047,3101,3762,1800,0,0,0,0,0,0
$GC,3353,0.85,284.5,341.7,15.4,360,3360,0.12,1.75,0.00,0.000,6,0.152,0.028,3076,2693,1800,0,0,1,0,0,0
$GC,3553,0.85,284.5,318.1,11.6,379,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2693,1800,0,0,0,0,0,0
$GC,3752,0.85,284.5,294.9,12.0,398,3755,0.00,1.75,0.00,0.000,4,0.000,0.047,3075,3764,1800,0,0,0,0,0,0
$GC,3790,0.85,284.5,289.5,14.2,401,3797,0.00,1.65,0.00,0.000,6,0.000,0.028,3083,2706,1800,0,0,0,0,0,0
$GC,3990,0.85,284.5,264.2,12.5,420,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2706,1801,0,0,0,0,0,0
$GC,4190,0.85,284.5,238.6,12.7,439,4194,0.00,1.75,0.00,0.000,4,0.000,0.047,3083,3757,1800,0,0,0,0,0,0
$GC,4251,0.85,284.5,229.5,14.2,444,4259,0.00,1.65,0.00,0.000,6,0.000,0.029,3090,2722,1800,0,0,0,0,0,0
$GC,4386,0.85,284.5,211.6,13.3,457,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2722,1800,0,0,0,0,0,0
$GC,4514,0.85,284.5,194.7,13.2,469,4518,0.00,1.73,0.00,0.000,4,0.000,0.048,3091,3757,1800,0,0,0,0,0,0
$GC,4549,0.85,284.5,189.5,15.0,472,4553,0.00,1.62,0.00,0.000,6,0.000,0.030,3098,2744,1800,0,0,0,0,0,0
$GC,4690,0.85,284.5,169.7,14.1,485,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2742,1799,0,0,0,0,0,0
$GC,4818,0.85,284.5,151.5,14.2,497,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2742,1799,0,0,0,0,0,0
$GC,4944,0.85,284.5,133.2,14.6,509,4948,0.00,1.70,0.00,0.000,4,0.000,0.048,3098,3763,1799,0,0,0,0,0,0
$GC,4983,0.85,284.5,126.9,15.9,512,4990,0.10,1.65,0.00,0.000,6,0.132,0.030,3058,2734,1799,0,0,0,0,0,0
$GC,5118,0.85,284.5,110.7,11.8,525,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2734,1799,0,0,0,0,0,0
$GC,5247,0.85,284.5,95.4,11.7,540,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2734,1799,0,0,0,0,0,0
$GC,5387,0.85,284.5,78.4,11.9,565,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2734,1799,0,0,0,0,0,0
$GC,5528,0.85,284.5,61.7,11.8,590,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2734,1799,0,0,0,0,0,0
$GC,5670,0.85,284.5,44.0,12.5,615,5678,0.00,2.28,0.00,0.000,4,0.000,0.035,3069,1295,1799,0,0,0,0,0,0
$GC,5704,0.85,284.5,40.1,12.2,620,5711,0.00,2.35,0.00,0.000,6,0.000,0.042,3069,2745,1799,0,0,0,0,0,0
$GC,5849,0.85,284.5,21.0,12.8,645,5859,0.00,1.67,0.00,0.000,4,0.000,0.048,3069,3758,1799,0,0,0,0,0,0
$GC,5890,0.85,284.5,15.0,14.9,651,5897,0.00,1.62,0.00,0.000,6,0.000,0.030,3076,2739,1799,0,0,0,0,0,0
$FREEZE,8.90,0.192,-1.890,2,1,0
$FREEZE,8.36,0.191,-1.890,2,1,0
$FREEZE,7.56,0.192,-1.889,2,1,0
$FREEZE,7.03,0.192,-1.889,2,1,0
$FREEZE,6.24,0.191,-1.888,2,1,0
$FREEZE,5.60,0.191,-1.888,2,1,0
$FREEZE,4.95,0.190,-1.887,2,1,0
$FREEZE,4.14,0.191,-1.887,2,1,0
$FREEZE,3.61,0.189,-1.886,2,1,0
$FREEZE,3.01,0.189,-1.886,2,1,0
$FREEZE,2.26,0.189,-1.885,2,1,0
$STATE,5986,end climb,SURFACE_DEPTH_REACHED
$STATE,5987,begin surface coast
$FREEZE,1.12,0.189,-1.885,2,1,0
$FREEZE,0.55,0.182,-1.884,2,1,0
$FREEZE,-0.11,0.181,-1.884,2,1,0
$FREEZE,-0.07,0.099,-1.889,2,1,0
$FINISH,-0.1,1.027629
$STATE,6009,end surface coast,CONTROL_FINISHED_OK
$STATE,6009,begin surface
$SM_CCo,6089,0.00,0.000,0,0,1796,285.52
$SM_GC,0.92,7.70,0.00,0.00,0.047,0.000,0.000,186,2794,1796,-8.07,0.37,285.52
$IRIDIUM_FIX,-7536.68,17544.47,280111,050548
$TT8_MAMPS,0.027713
$HUMID,53.50
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.1
$24V_AH,21.4,94.760
$10V_AH,9.7,39.038
$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,18.825,42.250,403.800,0.000,0.000,30.652,38.013,176.701,1.000,0.000,39.834,1650.181,2713.593,474.769,1378.707,305.575,0.000,1122.601,0.000,1064.270,0.000,7.754,0.000
$DEVICE_MAMPS,206.550,118.575,976.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.941,858.983,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43713,672
$CAP_FILE_SIZE,86107,0
$CFSIZE,260165632,210587648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.182,174.7,1
$GPS,280111,091632,-7620.232,17535.270,14,1.3,15,123.7