version: 66.08
glider: 503
mission: 7
dive: 900
start: 1 28 111 13 9 13
data:
$ID,503
$MISSION,7
$DIVE,900
$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,-20670.951
$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,49
$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
$GPS1,280111,130202,-7619.254,17533.160,29,1.4,30,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.5
$GPS2,280111,130843,-7619.286,17533.127,9,1.9,14,123.7
$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,222.8,30294,-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,-170.3,0.0,0.0,0,95,0.00,0.00,-77.35,0.000,2,0.000,0.000,185,2789,3495,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.6,-8.3,13,121,9.25,1.58,-3.28,0.000,4,0.210,0.057,2555,3763,3659,0,0,0,0,0,0
$GC,313,-0.71,-170.3,45.6,-15.1,50,320,0.00,1.55,0.00,0.000,6,0.000,0.028,2555,2777,3661,0,0,0,0,0,0
$GC,456,-0.71,-170.3,66.1,-13.9,75,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2776,3661,0,0,0,0,0,0
$GC,599,-0.71,-170.3,86.6,-13.8,100,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2776,3662,0,0,0,0,0,0
$GC,745,-0.71,-170.3,106.2,-13.1,122,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2776,3662,0,0,0,0,0,0
$GC,871,-0.71,-170.3,123.3,-13.0,134,875,0.00,1.62,0.00,0.000,4,0.000,0.047,2547,3754,3662,0,0,0,0,0,0
$GC,921,-0.71,-170.3,130.7,-14.7,138,928,0.00,1.52,0.00,0.000,6,0.000,0.028,2547,2784,3662,0,0,0,0,0,0
$GC,1056,-0.71,-170.3,149.6,-14.7,151,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2783,3662,0,0,0,0,0,0
$GC,1183,-0.71,-170.3,168.2,-14.5,163,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3662,0,0,0,0,0,0
$GC,1310,-0.71,-170.3,186.9,-14.7,175,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3662,0,0,0,0,0,0
$GC,1439,-0.71,-170.3,205.8,-15.0,187,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3662,0,0,0,0,0,0
$GC,1565,-0.71,-170.3,224.1,-13.8,199,1569,0.00,1.60,0.00,0.000,4,0.000,0.047,2539,3745,3662,0,0,0,0,0,0
$GC,1611,-0.71,-170.3,230.7,-14.9,203,1615,0.08,1.52,0.00,0.000,6,0.133,0.028,2566,2775,3662,0,0,0,0,0,0
$GC,1752,-0.71,-170.3,248.4,-12.6,216,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2776,3663,0,0,0,0,0,0
$GC,1878,-0.71,-170.3,263.8,-12.3,228,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2776,3662,0,0,0,0,0,0
$GC,2068,-0.71,-170.3,287.5,-12.3,246,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2776,3662,0,0,0,0,0,0
$GC,2260,-0.71,-170.3,310.0,-11.6,264,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2776,3662,0,0,0,0,0,0
$GC,2451,-0.71,-170.3,332.0,-11.2,282,2455,0.00,1.62,0.00,0.000,4,0.000,0.048,2560,3777,3662,0,0,0,0,0,0
$GC,2508,-0.71,-170.3,339.0,-11.8,287,2512,0.00,1.58,0.00,0.000,6,0.000,0.028,2560,2784,3662,0,0,0,0,0,0
$GC,2713,-0.71,-170.3,362.2,-11.5,306,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2784,3662,0,0,0,0,0,0
$STATE,2826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2827,begin apogee
$GC,2834,-0.16,0.0,375.8,12.1,317,2981,0.55,0.00,140.38,0.978,4,0.116,0.000,2743,2680,2959,0,0,0,0,0,0
$STATE,2981,end apogee,CONTROL_FINISHED_OK
$STATE,2982,begin climb
$GC,2984,0.71,170.3,382.5,0.0,330,3147,0.85,2.33,153.07,0.926,4,0.073,0.033,3029,1312,2264,0,0,0,0,0,0
$GC,3153,0.78,228.0,376.8,7.7,344,3218,0.00,2.50,56.45,0.891,6,0.000,0.041,3028,2694,2029,0,0,1,0,0,0
$GC,3409,0.80,240.9,352.0,9.5,368,3431,0.00,1.92,12.80,0.848,4,0.000,0.048,3029,3766,1978,0,0,0,0,0,0
$GC,3512,0.80,240.9,340.7,11.0,377,3516,0.00,1.67,0.00,0.000,6,0.000,0.029,3037,2719,1978,0,0,1,0,0,0
$GC,3717,0.80,240.9,319.9,10.1,396,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2719,1978,0,0,0,0,0,0
$GC,3907,0.81,248.4,300.4,9.7,414,3920,0.00,1.77,8.20,0.825,4,0.000,0.049,3037,3766,1947,0,0,1,0,0,0
$GC,3968,0.81,248.4,294.1,11.2,419,3972,0.00,1.67,0.00,0.000,6,0.000,0.029,3044,2710,1947,0,0,0,0,0,0
$GC,4173,0.81,248.4,273.5,10.1,438,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2708,1947,0,0,0,0,0,0
$GC,4363,0.81,248.4,253.4,11.2,456,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2708,1947,0,0,0,0,0,0
$GC,4555,0.81,248.4,232.7,10.5,474,4559,0.00,1.75,0.00,0.000,4,0.000,0.047,3044,3763,1947,0,0,0,0,0,0
$GC,4589,0.81,248.4,228.7,11.8,477,4593,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2724,1947,0,0,0,0,0,0
$GC,4729,0.81,248.4,213.4,10.7,490,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2723,1947,0,0,0,0,0,0
$GC,4857,0.81,248.4,199.6,10.7,502,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2723,1947,0,0,0,0,0,0
$GC,4983,0.81,248.4,186.0,10.5,514,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2723,1946,0,0,0,0,0,0
$GC,5110,0.81,248.4,172.3,10.7,526,5114,0.00,1.70,0.00,0.000,4,0.000,0.048,3051,3775,1946,0,0,0,0,0,0
$GC,5149,0.81,248.4,167.3,12.9,529,5156,0.00,1.65,0.00,0.000,6,0.000,0.030,3058,2736,1947,0,0,0,0,0,0
$GC,5285,0.81,248.4,152.2,11.3,542,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2736,1946,0,0,0,0,0,0
$GC,5411,0.81,248.4,137.9,11.0,554,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2735,1946,0,0,0,0,0,0
$GC,5538,0.81,248.4,123.8,11.2,566,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2736,1946,0,0,0,0,0,0
$GC,5667,0.81,248.4,109.6,11.5,578,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2736,1946,0,0,0,0,0,0
$GC,5794,0.81,248.4,94.9,11.6,593,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2736,1945,0,0,0,0,0,0
$GC,5936,0.81,248.4,78.7,12.4,618,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2736,1945,0,0,0,0,0,0
$GC,6077,0.81,248.4,62.3,11.8,643,6085,0.00,1.70,0.00,0.000,4,0.000,0.047,3058,3763,1945,0,0,0,0,0,0
$GC,6132,0.81,248.4,55.6,13.2,652,6139,0.00,1.62,0.00,0.000,6,0.000,0.030,3065,2736,1945,0,0,0,0,0,0
$GC,6278,0.81,248.4,39.2,11.4,677,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2736,1945,0,0,0,0,0,0
$GC,6420,0.81,248.4,22.4,11.5,702,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2736,1945,0,0,0,0,0,0
$FREEZE,8.41,0.099,-1.894,2,1,0
$FREEZE,7.65,0.100,-1.893,2,1,0
$FREEZE,7.03,0.100,-1.893,2,1,0
$FREEZE,6.40,0.100,-1.892,2,1,0
$GC,6564,0.81,248.4,6.4,13.0,727,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2736,1944,0,0,0,0,0,0
$FREEZE,4.03,0.100,-1.891,2,1,0
$FREEZE,3.55,0.100,-1.890,2,1,0
$FREEZE,2.86,0.104,-1.890,2,1,0
$STATE,6587,end climb,SURFACE_DEPTH_REACHED
$STATE,6587,begin surface coast
$FREEZE,2.35,0.098,-1.889,2,1,0
$FREEZE,1.73,0.096,-1.889,2,1,0
$FREEZE,1.01,0.096,-1.888,2,1,0
$FREEZE,0.29,0.090,-1.888,2,1,0
$FINISH,0.3,1.027613
$STATE,6609,end surface coast,CONTROL_FINISHED_OK
$STATE,6609,begin surface
$SM_CCo,6629,0.00,0.000,0,0,1940,250.20
$SM_GC,1.82,0.00,0.00,0.00,0.000,0.000,0.000,190,2789,1940,-8.16,0.25,250.20
$IRIDIUM_FIX,-7536.68,17545.14,280111,111130
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.5
$24V_AH,21.4,95.096
$10V_AH,9.7,39.203
$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,18.375,34.725,370.900,0.000,0.000,28.154,37.857,173.948,1.000,0.000,17.045,1818.143,3023.611,428.889,1447.015,317.886,0.000,1114.855,0.000,1160.469,0.000,7.760,0.000
$DEVICE_MAMPS,210.375,120.870,977.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.550,935.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258160
$DATA_FILE_SIZE,47162,735
$CAP_FILE_SIZE,90632,0
$CFSIZE,260165632,210427904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.081,203.8,1
$GPS,280111,150106,-7618.534,17531.801,30,1.5,41,123.7