version: 66.08
glider: 503
mission: 7
dive: 899
start: 1 28 111 11 11 12
data:
$ID,503
$MISSION,7
$DIVE,899
$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,-20669.693
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,280111,110407,-7619.789,17534.268,45,0.8,46,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-75.8
$GPS2,280111,111043,-7619.812,17534.115,8,1.3,13,123.7
$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,220.7,31358,-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,-170.3,0.0,0.0,0,96,0.00,0.00,-76.97,0.000,2,0.000,0.000,187,2790,3470,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.6,-8.6,13,122,9.25,1.60,-3.80,0.000,4,0.207,0.057,2556,3778,3658,0,0,0,0,0,0
$GC,306,-0.71,-170.3,43.9,-15.2,49,313,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2779,3660,0,0,0,0,0,0
$GC,448,-0.71,-170.3,63.6,-13.9,74,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2779,3660,0,0,0,0,0,0
$GC,590,-0.71,-170.3,83.4,-14.1,99,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2779,3661,0,0,0,0,0,0
$GC,733,-0.71,-170.3,103.5,-13.5,122,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2779,3660,0,0,0,0,0,0
$GC,860,-0.71,-170.3,121.5,-14.1,134,863,0.00,1.62,0.00,0.000,4,0.000,0.047,2548,3787,3661,0,0,0,0,0,0
$GC,895,-0.71,-170.3,127.0,-15.4,137,899,0.00,1.58,0.00,0.000,6,0.000,0.028,2548,2784,3661,0,0,0,0,0,0
$GC,1037,-0.71,-170.3,148.3,-14.9,150,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2784,3661,0,0,0,0,0,0
$GC,1162,-0.71,-170.3,167.4,-15.2,162,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3661,0,0,0,0,0,0
$GC,1290,-0.71,-170.3,186.2,-14.8,174,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3661,0,0,0,0,0,0
$GC,1418,-0.71,-170.3,205.0,-15.0,186,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3661,0,0,0,0,0,0
$GC,1544,-0.71,-170.3,223.6,-14.8,198,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2784,3661,0,0,0,0,0,0
$GC,1672,-0.71,-170.3,242.5,-14.4,210,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2784,3661,0,0,0,0,0,0
$GC,1799,-0.71,-170.3,261.3,-14.6,222,1803,0.00,1.62,0.00,0.000,4,0.000,0.047,2539,3785,3661,0,0,0,0,0,0
$GC,1838,-0.71,-170.3,267.5,-15.6,225,1846,0.05,1.58,0.00,0.000,6,0.137,0.028,2574,2784,3661,0,0,0,0,0,0
$GC,2039,-0.71,-170.3,291.9,-11.9,244,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2784,3660,0,0,0,0,0,0
$GC,2238,-0.71,-170.3,315.1,-11.7,263,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2784,3661,0,0,0,0,0,0
$GC,2430,-0.71,-170.3,336.5,-11.3,281,2433,0.00,1.62,0.00,0.000,4,0.000,0.047,2567,3783,3661,0,0,0,0,0,0
$GC,2479,-0.71,-170.3,342.8,-11.7,285,2486,0.00,1.58,0.00,0.000,6,0.000,0.029,2567,2786,3661,0,0,0,0,0,0
$GC,2679,-0.71,-170.3,366.1,-11.7,304,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2785,3661,0,0,0,0,0,0
$STATE,2760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2760,begin apogee
$GC,2767,-0.16,0.0,376.2,12.1,312,2914,0.52,0.00,140.40,0.975,4,0.114,0.000,2744,2678,2959,0,0,0,0,0,0
$STATE,2915,end apogee,CONTROL_FINISHED_OK
$STATE,2915,begin climb
$GC,2918,0.71,170.3,382.8,0.0,325,3080,0.85,2.30,152.82,0.926,4,0.072,0.033,3031,1314,2265,0,0,0,0,0,0
$GC,3109,0.76,208.4,375.3,8.5,341,3153,0.00,2.45,37.80,0.887,6,0.000,0.041,3031,2697,2109,0,0,1,0,0,0
$GC,3353,0.76,208.4,351.1,10.1,364,3357,0.00,1.80,0.00,0.000,4,0.000,0.047,3032,3764,2107,0,0,0,0,0,0
$GC,3460,0.76,208.4,338.3,12.0,373,3467,0.00,1.65,0.00,0.000,6,0.000,0.029,3039,2726,2104,0,0,0,0,0,0
$GC,3658,0.76,208.4,316.7,10.9,392,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2726,2103,0,0,0,0,0,0
$GC,3850,0.76,208.4,295.9,10.3,410,3854,0.00,1.75,0.00,0.000,4,0.000,0.049,3039,3767,2102,0,0,0,0,0,0
$GC,3900,0.76,208.4,289.7,12.9,414,3908,0.00,1.67,0.00,0.000,6,0.000,0.028,3047,2720,2102,0,0,0,0,0,0
$GC,4100,0.76,210.5,269.1,9.9,433,4104,0.00,1.70,0.00,0.000,4,0.000,0.048,3047,3768,2102,0,0,0,0,0,0
$GC,4146,0.76,210.5,263.9,11.2,437,4150,0.00,1.65,0.00,0.000,6,0.000,0.029,3053,2733,2101,0,0,0,0,0,0
$GC,4350,0.76,210.5,242.1,10.8,456,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2733,2101,0,0,0,0,0,0
$GC,4478,0.76,210.5,227.9,11.4,468,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2733,2100,0,0,0,0,0,0
$GC,4604,0.76,210.5,213.8,11.2,480,4608,0.00,1.67,0.00,0.000,4,0.000,0.047,3053,3767,2101,0,0,0,0,0,0
$GC,4643,0.76,210.5,208.7,13.1,483,4650,0.00,1.65,0.00,0.000,6,0.000,0.029,3061,2733,2100,0,0,0,0,0,0
$GC,4778,0.76,210.5,193.3,11.2,496,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2733,2100,0,0,0,0,0,0
$GC,4905,0.76,210.5,178.7,11.5,508,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,2100,0,0,0,0,0,0
$GC,5033,0.76,210.5,164.0,11.3,520,5037,0.00,1.73,0.00,0.000,4,0.000,0.047,3061,3770,2100,0,0,0,0,0,0
$GC,5071,0.76,210.5,158.8,13.2,523,5078,0.00,1.65,0.00,0.000,6,0.000,0.029,3069,2735,2100,0,0,0,0,0,0
$GC,5207,0.76,210.5,142.3,12.1,536,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2734,2099,0,0,0,0,0,0
$GC,5333,0.76,210.5,127.1,11.7,548,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2734,2099,0,0,0,0,0,0
$GC,5460,0.76,210.5,112.2,11.4,560,5464,0.00,1.73,0.00,0.000,4,0.000,0.047,3069,3770,2099,0,0,0,0,0,0
$GC,5506,0.76,210.5,106.4,12.8,564,5511,0.12,1.65,0.00,0.000,6,0.155,0.029,3040,2709,2099,0,0,0,0,0,0
$GC,5647,0.80,245.6,92.8,8.6,583,5685,0.00,0.00,31.92,0.813,6,0.000,0.000,3041,2709,1958,0,0,0,0,0,0
$GC,5820,0.82,257.0,76.2,9.5,613,5840,0.00,1.80,11.80,0.767,4,0.000,0.048,3040,3765,1912,0,0,0,0,0,0
$GC,5870,0.82,257.0,71.0,11.1,621,5876,0.00,1.65,0.00,0.000,6,0.000,0.030,3046,2741,1912,0,0,0,0,0,0
$GC,6014,0.82,257.0,56.1,10.6,646,6021,0.00,2.30,0.00,0.000,4,0.000,0.035,3057,1294,1912,0,0,0,0,0,0
$GC,6051,0.82,257.0,52.0,10.5,652,6058,0.00,2.35,0.00,0.000,6,0.000,0.042,3057,2739,1912,0,0,0,0,0,0
$GC,6196,0.82,257.0,36.3,11.1,677,6203,0.00,1.67,0.00,0.000,4,0.000,0.049,3057,3751,1912,0,0,0,0,0,0
$GC,6256,0.82,257.0,28.5,13.5,687,6263,0.00,1.62,0.00,0.000,6,0.000,0.030,3064,2735,1912,0,0,0,0,0,0
$GC,6401,0.82,257.0,11.5,12.1,712,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2735,1911,0,0,0,0,0,0
$FREEZE,8.83,0.098,-1.894,2,1,0
$FREEZE,8.18,0.099,-1.893,2,1,0
$FREEZE,7.62,0.100,-1.893,2,1,0
$FREEZE,7.00,0.095,-1.893,2,1,0
$FREEZE,6.35,0.096,-1.892,2,1,0
$FREEZE,5.72,0.100,-1.892,2,1,0
$FREEZE,5.11,0.086,-1.891,2,1,0
$FREEZE,4.61,0.089,-1.891,2,1,0
$FREEZE,4.02,0.087,-1.890,2,1,0
$FREEZE,3.41,0.096,-1.890,2,1,0
$FREEZE,2.79,0.098,-1.889,2,1,0
$STATE,6470,end climb,SURFACE_DEPTH_REACHED
$STATE,6470,begin surface coast
$FREEZE,2.12,0.090,-1.889,2,1,0
$FREEZE,1.07,0.090,-1.888,2,1,0
$FREEZE,0.47,0.081,-1.888,2,1,0
$FREEZE,-0.10,0.076,-1.887,2,1,0
$FREEZE,-0.01,0.079,-1.887,2,1,0
$FINISH,-0.0,1.027610
$STATE,6500,end surface coast,CONTROL_FINISHED_OK
$STATE,6500,begin surface
$SM_CCo,6580,0.00,0.000,0,0,1909,257.56
$SM_GC,0.86,7.62,0.00,0.00,0.044,0.000,0.000,187,2788,1909,-8.07,0.23,257.56
$IRIDIUM_FIX,-7536.68,17527.01,280111,090959
$TT8_MAMPS,0.026964
$HUMID,53.34
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.2
$24V_AH,21.6,94.985
$10V_AH,9.7,39.146
$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,18.425,49.400,374.750,0.000,0.000,28.947,35.687,173.795,1.000,0.000,15.670,1810.322,2947.583,445.194,1448.266,327.476,0.000,1140.712,0.000,1164.077,0.000,7.758,0.000
$DEVICE_MAMPS,207.315,117.045,974.610,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.928,931.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258184
$DATA_FILE_SIZE,47140,730
$CAP_FILE_SIZE,93655,0
$CFSIZE,260165632,210481152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.132,185.7,1
$GPS,280111,130202,-7619.254,17533.160,29,1.4,30,123.7