version: 66.08
glider: 503
mission: 7
dive: 903
start: 1 28 111 19 7 14
data:
$ID,503
$MISSION,7
$DIVE,903
$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,-20674.816
$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,38
$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
$GPS1,280111,185914,-7616.832,17527.766,31,1.7,32,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-75.1
$GPS2,280111,190644,-7616.847,17527.645,31,1.5,31,123.6
$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,224.1,25160,-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,-170.3,0.0,0.0,0,93,0.00,0.00,-74.78,0.000,2,0.000,0.000,179,2799,3481,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.6,-9.3,13,119,9.43,1.55,-3.50,0.000,4,0.212,0.058,2558,3759,3657,0,0,0,0,0,0
$GC,321,-0.71,-170.3,48.2,-15.8,52,328,0.00,1.55,0.00,0.000,6,0.000,0.028,2558,2771,3660,0,0,0,0,0,0
$GC,465,-0.71,-170.3,69.2,-14.6,77,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2770,3660,0,0,0,0,0,0
$GC,608,-0.71,-170.3,89.1,-12.7,102,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2771,3660,0,0,0,0,0,0
$GC,754,-0.71,-170.3,108.7,-13.8,122,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2771,3661,0,0,0,0,0,0
$GC,880,-0.71,-170.3,125.8,-13.3,134,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2770,3661,0,0,0,0,0,0
$GC,1008,-0.71,-170.3,142.8,-13.5,146,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2771,3661,0,0,0,0,0,0
$GC,1136,-0.71,-170.3,160.1,-13.4,158,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2771,3661,0,0,0,0,0,0
$GC,1262,-0.71,-170.3,177.4,-13.6,170,1266,0.00,1.62,0.00,0.000,4,0.000,0.047,2550,3749,3661,0,0,0,0,0,0
$GC,1297,-0.71,-170.3,182.5,-15.2,173,1301,0.00,1.52,0.00,0.000,6,0.000,0.028,2550,2778,3661,0,0,0,0,0,0
$GC,1438,-0.71,-170.3,202.2,-13.8,186,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2778,3661,0,0,0,0,0,0
$GC,1564,-0.71,-170.3,220.4,-14.2,198,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2778,3661,0,0,0,0,0,0
$GC,1691,-0.71,-170.3,238.3,-14.0,210,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2778,3661,0,0,0,0,0,0
$GC,1820,-0.71,-170.3,255.7,-13.3,222,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2778,3661,0,0,0,0,0,0
$GC,2010,-0.71,-170.3,280.8,-13.0,240,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2778,3661,0,0,0,0,0,0
$GC,2203,-0.71,-170.3,306.4,-13.4,258,2206,0.00,1.62,0.00,0.000,4,0.000,0.047,2542,3786,3660,0,0,0,0,0,0
$GC,2242,-0.71,-170.3,312.3,-14.4,261,2249,0.00,1.58,0.00,0.000,6,0.000,0.028,2542,2785,3660,0,0,0,0,0,0
$GC,2441,-0.71,-170.3,339.4,-13.8,280,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2784,3660,0,0,0,0,0,0
$GC,2632,-0.71,-170.3,365.8,-13.6,298,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2784,3661,0,0,0,0,0,0
$STATE,2704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2704,begin apogee
$GC,2712,-0.16,0.0,375.8,13.9,305,2858,0.60,0.00,140.27,0.980,4,0.117,0.000,2743,2677,2959,0,0,0,0,0,0
$STATE,2859,end apogee,CONTROL_FINISHED_OK
$STATE,2859,begin climb
$GC,2862,0.71,170.3,383.0,0.0,318,3024,0.85,2.30,153.65,0.929,4,0.073,0.034,3029,1313,2265,0,0,0,0,0,0
$GC,3030,0.80,238.5,377.7,7.3,332,3104,0.00,2.47,67.00,0.895,6,0.000,0.041,3029,2684,1987,0,0,1,0,0,0
$GC,3295,0.80,238.5,351.3,10.5,357,3299,0.00,1.85,0.00,0.000,4,0.000,0.047,3029,3770,1985,0,0,0,0,0,0
$GC,3376,0.80,238.5,342.1,11.5,364,3380,0.00,1.67,0.00,0.000,6,0.000,0.029,3037,2722,1984,0,0,1,0,0,0
$GC,3582,0.80,238.5,320.0,10.7,383,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2720,1984,0,0,0,0,0,0
$GC,3780,0.80,238.5,298.9,10.4,402,3784,0.00,1.70,0.00,0.000,4,0.000,0.047,3037,3768,1982,0,0,0,0,0,0
$GC,3850,0.80,238.5,290.7,12.3,408,3853,0.00,1.65,0.00,0.000,6,0.000,0.029,3044,2709,1982,0,0,0,0,0,0
$GC,4055,0.80,238.5,267.6,11.0,427,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2707,1981,0,0,0,0,0,0
$GC,4254,0.80,238.5,246.3,10.5,446,4258,0.00,1.73,0.00,0.000,4,0.000,0.047,3044,3772,1981,0,0,0,0,0,0
$GC,4301,0.80,238.5,240.9,12.1,450,4305,0.00,1.65,0.00,0.000,6,0.000,0.029,3051,2704,1981,0,0,0,0,0,0
$GC,4442,0.80,238.5,224.8,11.2,463,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2702,1980,0,0,0,0,0,0
$GC,4570,0.80,238.5,210.5,11.1,475,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2702,1981,0,0,0,0,0,0
$GC,4696,0.80,238.5,196.6,10.8,487,4700,0.00,1.77,0.00,0.000,4,0.000,0.048,3051,3770,1980,0,0,0,0,0,0
$GC,4734,0.80,238.5,191.8,12.8,490,4741,0.00,1.67,0.00,0.000,6,0.000,0.030,3058,2720,1979,0,0,0,0,0,0
$GC,4869,0.80,238.5,176.3,11.5,503,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1980,0,0,0,0,0,0
$GC,4997,0.80,238.5,161.5,11.6,515,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1980,0,0,0,0,0,0
$GC,5123,0.80,238.5,146.7,11.4,527,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2720,1980,0,0,0,0,0,0
$GC,5250,0.80,238.5,132.0,11.7,539,5254,0.00,1.70,0.00,0.000,4,0.000,0.047,3058,3773,1980,0,0,0,0,0,0
$GC,5290,0.80,238.5,127.0,12.7,542,5296,0.00,1.65,0.00,0.000,6,0.000,0.029,3065,2731,1980,0,0,0,0,0,0
$GC,5424,0.80,238.5,111.1,11.6,555,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2731,1980,0,0,0,0,0,0
$GC,5553,0.80,238.5,96.1,11.8,570,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2732,1980,0,0,0,0,0,0
$GC,5698,0.80,238.5,79.5,11.6,595,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2732,1980,0,0,0,0,0,0
$GC,5841,0.80,238.5,63.4,11.3,620,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2731,1980,0,0,0,0,0,0
$GC,5982,0.80,238.5,47.6,10.8,645,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2732,1980,0,0,0,0,0,0
$GC,6124,0.80,238.5,31.8,11.0,670,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2732,1979,0,0,0,0,0,0
$GC,6268,0.80,238.5,16.3,11.6,695,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2732,1979,0,0,0,0,0,0
$FREEZE,8.59,0.406,-1.890,2,1,0
$FREEZE,7.89,0.406,-1.890,2,1,0
$FREEZE,7.32,0.406,-1.889,2,1,0
$FREEZE,6.70,0.406,-1.889,2,1,0
$FREEZE,6.12,0.411,-1.888,2,1,0
$FREEZE,5.60,0.410,-1.888,2,1,0
$FREEZE,5.08,0.411,-1.888,2,1,0
$FREEZE,4.50,0.411,-1.887,2,1,0
$FREEZE,3.91,0.413,-1.887,2,1,0
$FREEZE,3.53,0.413,-1.887,2,1,0
$FREEZE,2.85,0.412,-1.886,2,1,0
$STATE,6384,end climb,SURFACE_DEPTH_REACHED
$STATE,6384,begin surface coast
$FREEZE,1.77,0.413,-1.885,2,1,0
$FREEZE,1.11,0.414,-1.885,2,1,0
$FREEZE,0.55,0.413,-1.884,2,1,0
$FREEZE,-0.14,0.409,-1.884,2,1,0
$FREEZE,-0.14,0.358,-1.880,2,1,0
$FINISH,-0.1,1.027492
$STATE,6412,end surface coast,CONTROL_FINISHED_OK
$STATE,6412,begin surface
$SM_CCo,6432,3.70,0.103,0,0,1940,250.20
$SM_GC,2.06,0.00,0.00,3.70,0.000,0.000,0.103,187,2803,1940,-8.17,0.65,250.20
$IRIDIUM_FIX,-7528.04,17537.46,280111,171700
$TT8_MAMPS,0.027713
$HUMID,53.89
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$24V_AH,21.3,95.428
$10V_AH,9.8,39.374
$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,18.475,31.475,360.925,3.700,0.000,31.054,52.500,187.305,1.000,0.000,34.256,1783.026,2907.744,423.337,1466.983,309.961,0.000,1091.013,0.000,1137.492,0.000,7.758,0.000
$DEVICE_MAMPS,211.905,98.685,979.965,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.505,926.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47046,721
$CAP_FILE_SIZE,87533,0
$CFSIZE,260165632,210276352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.108,233.1,1
$GPS,280111,205601,-7616.061,17525.518,47,1.0,48,123.6