version: 66.08
glider: 503
mission: 7
dive: 905
start: 1 28 111 22 57 55
data:
$ID,503
$MISSION,7
$DIVE,905
$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,-20677.332
$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,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
$GPS1,280111,225014,-7615.461,17523.699,14,1.5,15,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.3
$GPS2,280111,225725,-7615.504,17523.586,43,1.1,43,123.7
$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,237.6,22109,-16.1,-10.000
$D_GRID,376
$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,-74.68,0.000,2,0.000,0.000,178,2798,3483,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.7,-8.6,13,119,9.43,1.58,-3.47,0.000,4,0.212,0.057,2560,3768,3658,0,0,0,0,0,0
$GC,276,-0.71,-170.3,39.8,-14.2,44,283,0.00,1.58,0.00,0.000,6,0.000,0.027,2560,2768,3661,0,0,0,0,0,0
$GC,419,-0.71,-170.3,59.5,-13.1,69,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2768,3661,0,0,0,0,0,0
$GC,562,-0.71,-170.3,80.0,-15.3,94,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2768,3662,0,0,0,0,0,0
$GC,704,-0.71,-170.3,99.8,-14.0,119,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2768,3662,0,0,0,0,0,0
$GC,839,-0.71,-170.3,118.5,-13.4,132,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2768,3662,0,0,0,0,0,0
$GC,967,-0.71,-170.3,135.6,-13.1,144,970,0.00,1.62,0.00,0.000,4,0.000,0.047,2552,3772,3662,0,0,0,0,0,0
$GC,1015,-0.71,-170.3,142.2,-14.6,148,1018,0.00,1.55,0.00,0.000,6,0.000,0.028,2552,2786,3662,0,0,0,0,0,0
$GC,1155,-0.71,-170.3,161.6,-13.6,161,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2785,3662,0,0,0,0,0,0
$GC,1283,-0.71,-170.3,178.6,-13.3,173,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2786,3662,0,0,0,0,0,0
$GC,1411,-0.71,-170.3,195.6,-13.1,185,1415,0.00,1.60,0.00,0.000,4,0.000,0.047,2545,3748,3662,0,0,0,0,0,0
$GC,1446,-0.71,-170.3,200.6,-14.6,188,1450,0.00,1.52,0.00,0.000,6,0.000,0.028,2545,2776,3662,0,0,0,0,0,0
$GC,1586,-0.71,-170.3,220.1,-13.8,201,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2775,3661,0,0,0,0,0,0
$GC,1714,-0.71,-170.3,237.4,-13.4,213,1718,0.00,1.62,0.00,0.000,4,0.000,0.047,2537,3784,3662,0,0,0,0,0,0
$GC,1761,-0.71,-170.3,244.1,-14.6,217,1765,0.08,1.55,0.00,0.000,6,0.133,0.028,2564,2795,3661,0,0,0,0,0,0
$GC,1901,-0.71,-170.3,261.3,-11.8,230,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3662,0,0,0,0,0,0
$GC,2095,-0.71,-170.3,284.3,-12.3,248,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2795,3662,0,0,0,0,0,0
$GC,2293,-0.71,-170.3,308.3,-11.9,267,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2795,3662,0,0,0,0,0,0
$GC,2486,-0.71,-170.3,331.0,-11.5,285,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2795,3661,0,0,0,0,0,0
$GC,2676,-0.71,-170.3,353.6,-11.8,303,2680,0.00,1.60,0.00,0.000,4,0.000,0.048,2558,3745,3662,0,0,0,0,0,0
$GC,2711,-0.71,-170.3,358.2,-12.9,306,2715,0.00,1.50,0.00,0.000,6,0.000,0.028,2558,2787,3661,0,0,1,0,0,0
$STATE,2859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2859,begin apogee
$GC,2867,-0.16,0.0,376.4,12.1,320,3015,0.57,0.00,140.88,0.975,4,0.114,0.000,2751,2682,2958,0,0,0,0,0,0
$STATE,3016,end apogee,CONTROL_FINISHED_OK
$STATE,3016,begin climb
$GC,3019,0.71,170.3,383.0,0.0,333,3180,0.82,2.33,153.50,0.923,4,0.070,0.032,3033,1305,2265,0,0,0,0,0,0
$GC,3187,0.79,234.0,377.4,7.5,347,3260,0.00,2.47,62.53,0.889,6,0.000,0.040,3033,2687,2005,0,0,1,0,0,0
$GC,3451,0.79,234.0,350.6,10.2,372,3454,0.00,1.85,0.00,0.000,4,0.000,0.047,3033,3767,2004,0,0,0,0,0,0
$GC,3512,0.79,234.0,343.1,12.3,377,3519,0.00,1.73,0.00,0.000,6,0.000,0.028,3041,2714,2003,0,0,1,0,0,0
$GC,3711,0.79,234.0,322.2,10.5,396,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2714,2002,0,0,0,0,0,0
$GC,3901,0.79,234.0,302.8,10.5,414,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2714,2001,0,0,0,0,0,0
$GC,4093,0.79,234.0,282.8,10.4,432,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2714,2001,0,0,0,0,0,0
$GC,4283,0.79,234.0,263.2,10.3,450,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2715,2000,0,0,0,0,0,0
$GC,4474,0.79,234.0,243.4,10.8,468,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2714,2000,0,0,0,0,0,0
$GC,4602,0.79,234.0,229.8,10.8,480,4606,0.00,1.75,0.00,0.000,4,0.000,0.047,3041,3758,1999,0,0,0,0,0,0
$GC,4642,0.79,234.0,225.0,12.5,483,4648,0.00,1.70,0.00,0.000,6,0.000,0.028,3048,2703,1999,0,0,0,0,0,0
$GC,4776,0.79,234.0,210.2,10.9,496,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2703,1999,0,0,0,0,0,0
$GC,4905,0.79,234.0,196.6,10.7,508,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2702,1999,0,0,0,0,0,0
$GC,5031,0.79,234.0,182.9,10.9,520,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2702,1998,0,0,0,0,0,0
$GC,5159,0.79,234.0,169.1,10.8,532,5162,0.00,1.73,0.00,0.000,4,0.000,0.048,3048,3765,1998,0,0,0,0,0,0
$GC,5217,0.79,234.0,162.4,11.9,537,5221,0.00,1.65,0.00,0.000,6,0.000,0.029,3054,2706,1998,0,0,0,0,0,0
$GC,5359,0.79,234.0,146.6,11.0,550,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2704,1998,0,0,0,0,0,0
$GC,5485,0.79,234.0,132.7,10.9,562,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2704,1998,0,0,0,0,0,0
$GC,5613,0.79,234.0,118.9,10.9,574,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2704,1997,0,0,0,0,0,0
$GC,5740,0.79,234.0,105.3,10.8,586,5743,0.00,1.73,0.00,0.000,4,0.000,0.048,3054,3767,1997,0,0,0,0,0,0
$GC,5802,0.79,234.0,97.9,12.5,593,5809,0.00,1.67,0.00,0.000,6,0.000,0.029,3061,2717,1998,0,0,0,0,0,0
$GC,5947,0.79,234.0,81.8,10.9,618,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2717,1998,0,0,0,0,0,0
$GC,6090,0.79,234.0,65.9,10.6,643,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2717,1997,0,0,0,0,0,0
$GC,6231,0.79,234.0,50.1,11.7,668,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2717,1997,0,0,0,0,0,0
$GC,6373,0.79,234.0,34.2,10.5,693,6380,0.00,1.75,0.00,0.000,4,0.000,0.047,3061,3786,1997,0,0,0,0,0,0
$GC,6426,0.79,234.0,27.6,13.1,702,6434,0.00,1.70,0.00,0.000,6,0.000,0.029,3069,2717,1997,0,0,0,0,0,0
$GC,6573,0.79,234.0,10.5,12.3,727,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2717,1997,0,0,0,0,0,0
$FREEZE,8.50,0.419,-1.890,2,1,0
$FREEZE,7.93,0.418,-1.890,2,1,0
$FREEZE,7.27,0.418,-1.889,2,1,0
$FREEZE,6.60,0.418,-1.889,2,1,0
$FREEZE,5.95,0.417,-1.888,2,1,0
$FREEZE,5.33,0.416,-1.888,2,1,0
$FREEZE,4.63,0.416,-1.887,2,1,0
$FREEZE,4.06,0.416,-1.887,2,1,0
$FREEZE,3.42,0.415,-1.886,2,1,0
$FREEZE,2.64,0.415,-1.886,2,1,0
$STATE,6631,end climb,SURFACE_DEPTH_REACHED
$STATE,6632,begin surface coast
$FREEZE,2.02,0.416,-1.885,2,1,0
$FREEZE,1.37,0.413,-1.885,2,1,0
$FREEZE,0.76,0.413,-1.884,2,1,0
$FREEZE,-0.01,0.411,-1.884,2,1,0
$FINISH,-0.0,1.027538
$STATE,6657,end surface coast,CONTROL_FINISHED_OK
$STATE,6657,begin surface
$SM_CCo,6676,5.88,0.103,0,0,1940,250.20
$SM_GC,2.32,0.00,0.00,5.88,0.000,0.000,0.103,179,2806,1940,-8.19,0.74,250.20
$IRIDIUM_FIX,-7528.04,17528.45,280111,202021
$TT8_MAMPS,0.027713
$HUMID,53.89
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,21.4,95.641
$10V_AH,9.8,39.487
$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,18.525,38.000,356.900,5.875,0.000,28.616,37.048,176.764,1.250,0.000,45.882,1839.489,3043.483,424.301,1489.454,322.716,0.000,1115.704,0.000,1168.584,0.000,7.758,0.000
$DEVICE_MAMPS,211.905,85.680,975.375,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.317,947.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50422,742
$CAP_FILE_SIZE,91726,0
$CFSIZE,260165632,210169856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.178,203.3,1
$GPS,290111,005020,-7615.036,17522.836,19,1.6,20,123.6