version: 66.08
glider: 503
mission: 7
dive: 898
start: 1 28 111 9 23 49
data:
$ID,503
$MISSION,7
$DIVE,898
$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,-20668.436
$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,36
$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
$GPS1,280111,091632,-7620.232,17535.270,14,1.3,15,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.9
$GPS2,280111,092319,-7620.260,17535.271,10,2.0,15,123.7
$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,222.6,32335,-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,12,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,101,0.00,0.00,-82.97,0.000,2,0.000,0.000,185,2794,3483,0,0,0,0,0,0
$GC,106,-0.71,-170.3,3.6,-8.5,14,127,9.35,1.58,-3.53,0.000,4,0.210,0.057,2561,3767,3658,0,0,0,0,0,0
$GC,245,-0.71,-170.3,33.6,-14.0,38,252,0.00,1.58,0.00,0.000,6,0.000,0.028,2560,2766,3660,0,0,0,0,0,0
$GC,387,-0.71,-170.3,53.0,-13.6,63,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2766,3660,0,0,0,0,0,0
$GC,529,-0.71,-170.3,72.1,-13.6,88,537,0.00,2.15,0.00,0.000,4,0.000,0.031,2560,1382,3661,0,0,0,0,0,0
$GC,578,-0.71,-170.3,78.4,-12.4,96,586,0.00,2.25,0.00,0.000,6,0.000,0.042,2550,2772,3661,0,0,0,0,0,0
$GC,722,-0.71,-170.3,97.4,-13.4,121,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2772,3661,0,0,0,0,0,0
$GC,858,-0.71,-170.3,116.0,-13.3,135,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2772,3661,0,0,0,0,0,0
$GC,986,-0.71,-170.3,133.6,-13.8,147,990,0.00,1.62,0.00,0.000,4,0.000,0.048,2543,3786,3661,0,0,0,0,0,0
$GC,1025,-0.71,-170.3,139.7,-14.7,150,1032,0.00,1.58,0.00,0.000,6,0.000,0.028,2543,2787,3661,0,0,0,0,0,0
$GC,1160,-0.71,-170.3,159.6,-15.2,163,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,1287,-0.71,-170.3,179.3,-15.5,175,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,1416,-0.71,-170.3,199.0,-15.8,187,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,1542,-0.71,-170.3,218.4,-15.2,199,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,1669,-0.71,-170.3,237.9,-15.2,211,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,1799,-0.71,-170.3,257.3,-15.2,223,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,1997,-0.71,-170.3,286.9,-14.5,242,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,2189,-0.71,-170.3,314.7,-14.6,260,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,2381,-0.71,-170.3,343.0,-15.0,278,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$GC,2570,-0.71,-170.3,371.3,-14.8,296,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2787,3661,0,0,0,0,0,0
$STATE,2599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2608,-0.16,0.0,375.9,14.8,299,2755,0.60,0.00,140.68,0.976,4,0.118,0.000,2742,2676,2959,0,0,0,0,0,0
$STATE,2756,end apogee,CONTROL_FINISHED_OK
$STATE,2756,begin climb
$GC,2759,0.71,170.3,383.3,0.0,312,2921,0.85,2.30,153.18,0.926,4,0.073,0.033,3027,1315,2265,0,0,0,0,0,0
$GC,2927,0.79,234.0,378.1,7.5,326,3002,0.00,2.50,62.58,0.891,6,0.000,0.041,3027,2694,2005,0,0,1,0,0,0
$GC,3192,0.82,259.1,353.6,9.0,351,3221,0.10,1.85,23.88,0.886,4,0.099,0.044,3086,3765,1902,0,0,0,0,0,0
$GC,3313,0.82,259.1,336.2,15.9,361,3316,0.00,1.67,0.00,0.000,6,0.000,0.028,3095,2733,1902,0,0,0,0,0,0
$GC,3517,0.82,259.1,304.6,15.4,380,3519,0.12,0.00,0.00,0.000,6,0.163,0.000,3061,2731,1902,0,0,0,0,0,0
$GC,3709,0.82,259.1,279.4,12.8,398,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2731,1901,0,0,0,0,0,0
$GC,3899,0.82,259.1,254.8,12.9,416,3902,0.00,1.67,0.00,0.000,4,0.000,0.047,3060,3767,1901,0,0,0,0,0,0
$GC,3938,0.82,259.1,249.0,14.1,419,3945,0.00,1.67,0.00,0.000,6,0.000,0.029,3069,2711,1900,0,0,0,0,0,0
$GC,4073,0.82,259.1,231.2,13.4,432,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2711,1900,0,0,0,0,0,0
$GC,4201,0.82,259.1,214.5,12.7,444,4205,0.00,1.70,0.00,0.000,4,0.000,0.047,3069,3766,1900,0,0,0,0,0,0
$GC,4236,0.82,259.1,209.5,14.1,447,4240,0.00,1.65,0.00,0.000,6,0.000,0.028,3077,2699,1900,0,0,0,0,0,0
$GC,4377,0.82,259.1,191.3,12.7,460,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2697,1900,0,0,0,0,0,0
$GC,4504,0.82,259.1,175.4,12.5,472,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2697,1900,0,0,0,0,0,0
$GC,4630,0.82,259.1,159.7,12.3,484,4634,0.00,1.73,0.00,0.000,4,0.000,0.047,3077,3767,1899,0,0,0,0,0,0
$GC,4677,0.82,259.1,153.3,14.0,488,4680,0.00,1.62,0.00,0.000,6,0.000,0.029,3084,2740,1900,0,0,0,0,0,0
$GC,4818,0.82,259.1,135.5,12.3,501,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,1899,0,0,0,0,0,0
$GC,4944,0.82,259.1,120.2,11.9,513,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,1899,0,0,0,0,0,0
$GC,5072,0.82,259.1,104.7,12.2,525,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,1899,0,0,0,0,0,0
$GC,5204,0.82,259.1,87.9,13.0,545,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,1899,0,0,0,0,0,0
$GC,5346,0.82,259.1,69.4,13.4,570,5353,0.00,1.73,0.00,0.000,4,0.000,0.047,3084,3770,1899,0,0,0,0,0,0
$GC,5384,0.82,259.1,63.9,15.5,576,5391,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2741,1898,0,0,0,0,0,0
$GC,5531,0.82,259.1,43.2,14.3,601,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2741,1898,0,0,0,0,0,0
$GC,5673,0.82,259.1,23.7,13.5,626,5680,0.00,1.70,0.00,0.000,4,0.000,0.047,3092,3760,1898,0,0,0,0,0,0
$GC,5717,0.82,259.1,17.3,15.8,633,5724,0.10,1.62,0.00,0.000,6,0.134,0.031,3064,2745,1899,0,0,0,0,0,0
$FREEZE,8.74,0.107,-1.893,2,1,0
$FREEZE,8.18,0.095,-1.893,2,1,0
$FREEZE,7.52,0.096,-1.892,2,1,0
$FREEZE,6.90,0.096,-1.891,2,1,0
$FREEZE,6.29,0.091,-1.891,2,1,0
$FREEZE,5.79,0.084,-1.891,2,1,0
$FREEZE,5.05,0.077,-1.890,2,1,0
$FREEZE,4.46,0.076,-1.890,2,1,0
$FREEZE,3.70,0.075,-1.889,2,1,0
$FREEZE,2.86,0.073,-1.888,2,1,0
$STATE,5829,end climb,SURFACE_DEPTH_REACHED
$STATE,5829,begin surface coast
$FREEZE,2.34,0.071,-1.888,2,1,0
$FREEZE,1.67,0.053,-1.887,2,1,0
$FREEZE,1.00,0.068,-1.886,2,1,0
$FREEZE,0.51,0.040,-1.886,2,1,0
$FINISH,0.5,1.027587
$STATE,5852,end surface coast,CONTROL_FINISHED_OK
$STATE,5852,begin surface
$SM_CCo,5932,0.00,0.000,0,0,1895,261.24
$SM_GC,0.97,7.62,0.00,0.00,0.045,0.000,0.000,188,2790,1895,-8.07,0.28,261.24
$IRIDIUM_FIX,-7536.68,17536.08,280111,070753
$TT8_MAMPS,0.026964
$HUMID,53.18
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.9
$24V_AH,21.4,94.874
$10V_AH,9.7,39.089
$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,18.750,36.000,380.300,0.000,0.000,31.568,38.940,175.675,1.250,0.000,17.767,1617.788,2657.081,443.151,1320.330,303.690,0.000,1068.365,0.000,1036.549,0.000,9.805,0.000
$DEVICE_MAMPS,209.610,115.515,976.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.699,847.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43649,657
$CAP_FILE_SIZE,83722,0
$CFSIZE,260165632,210542592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.153,175.9,1
$GPS,280111,110407,-7619.789,17534.268,45,0.8,46,123.7