version: 66.08
glider: 503
mission: 7
dive: 914
start: 1 29 111 17 1 25
data:
$ID,503
$MISSION,7
$DIVE,914
$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,-20688.66
$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,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
$GPS1,290111,165406,-7612.260,17519.910,15,1.2,32,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-72.7
$GPS2,290111,170056,-7612.243,17519.887,13,1.4,13,123.5
$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,187.2,16075,-16.1,-10.000
$D_GRID,378
$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,17,-0.71,-170.3,0.0,0.0,0,95,0.00,0.00,-76.15,0.000,2,0.000,0.000,181,2798,3526,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.9,-9.5,13,121,9.25,2.30,-2.58,0.000,4,0.207,0.044,2566,1370,3660,0,0,1,0,0,0
$GC,352,-0.71,-170.3,48.2,-13.1,57,359,0.00,2.28,0.00,0.000,6,0.000,0.042,2562,2771,3663,0,0,0,0,0,0
$GC,495,-0.71,-170.3,66.6,-12.8,82,502,0.00,1.65,0.00,0.000,4,0.000,0.050,2562,3761,3663,0,0,0,0,0,0
$GC,537,-0.71,-170.3,72.4,-14.8,89,544,0.00,1.55,0.00,0.000,6,0.000,0.029,2562,2788,3663,0,0,0,0,0,0
$GC,679,-0.71,-170.3,91.4,-13.9,114,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3663,0,0,0,0,0,0
$GC,819,-0.71,-170.3,109.8,-12.7,132,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2788,3663,0,0,0,0,0,0
$GC,946,-0.71,-170.3,126.7,-14.2,144,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3663,0,0,0,0,0,0
$GC,1074,-0.71,-170.3,142.9,-13.0,156,1077,0.00,1.62,0.00,0.000,4,0.000,0.048,2555,3789,3664,0,0,0,0,0,0
$GC,1123,-0.71,-170.3,150.0,-13.7,160,1130,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2794,3664,0,0,0,0,0,0
$GC,1258,-0.71,-170.3,167.4,-13.0,173,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2794,3664,0,0,0,0,0,0
$GC,1386,-0.71,-170.3,184.1,-13.2,185,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2794,3664,0,0,0,0,0,0
$GC,1513,-0.71,-170.3,201.3,-13.3,197,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2794,3664,0,0,0,0,0,0
$GC,1641,-0.71,-170.3,218.5,-13.5,209,1644,0.00,1.62,0.00,0.000,4,0.000,0.048,2547,3793,3664,0,0,0,0,0,0
$GC,1680,-0.71,-170.3,224.3,-14.0,212,1687,0.00,1.58,0.00,0.000,6,0.000,0.028,2548,2797,3663,0,0,0,0,0,0
$GC,1815,-0.71,-170.3,242.6,-14.1,225,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,1944,-0.71,-170.3,260.4,-14.1,237,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2797,3663,0,0,0,0,0,0
$GC,2144,-0.71,-170.3,287.4,-13.4,256,2148,0.00,1.60,0.00,0.000,4,0.000,0.048,2540,3757,3664,0,0,0,0,0,0
$GC,2195,-0.71,-170.3,295.1,-14.1,260,2201,0.00,1.50,0.00,0.000,6,0.000,0.028,2540,2810,3663,0,0,0,0,0,0
$GC,2393,-0.71,-170.3,322.6,-14.0,279,2395,0.10,0.00,0.00,0.000,6,0.171,0.000,2568,2811,3663,0,0,0,0,0,0
$GC,2584,-0.71,-170.3,345.1,-11.8,297,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2811,3663,0,0,0,0,0,0
$GC,2775,-0.71,-170.3,366.8,-11.3,315,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2811,3663,0,0,0,0,0,0
$STATE,2878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2878,begin apogee
$GC,2886,-0.16,0.0,378.5,11.0,325,3033,0.52,0.00,140.77,0.976,4,0.113,0.000,2747,2691,2960,0,0,0,0,0,0
$STATE,3034,end apogee,CONTROL_FINISHED_OK
$STATE,3034,begin climb
$GC,3037,0.71,170.3,383.8,0.0,338,3201,0.82,2.35,153.65,0.923,4,0.071,0.032,3027,1305,2265,0,0,0,0,0,0
$GC,3215,0.76,207.0,376.1,8.5,353,3261,0.00,2.50,36.58,0.882,6,0.000,0.039,3027,2695,2116,0,0,0,0,0,0
$GC,3453,0.76,207.0,351.3,10.1,375,3456,0.00,1.83,0.00,0.000,4,0.000,0.048,3027,3768,2113,0,0,0,0,0,0
$GC,3511,0.76,207.0,344.4,12.1,380,3515,0.00,1.67,0.00,0.000,6,0.000,0.029,3035,2718,2112,0,0,1,0,0,0
$GC,3716,0.76,207.0,322.9,10.4,399,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2718,2111,0,0,0,0,0,0
$GC,3906,0.76,207.0,302.2,11.3,417,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2718,2110,0,0,0,0,0,0
$GC,4097,0.76,207.0,281.0,11.2,435,4100,0.00,1.70,0.00,0.000,4,0.000,0.048,3035,3765,2110,0,0,0,0,0,0
$GC,4159,0.76,207.0,273.2,13.1,440,4166,0.00,1.70,0.00,0.000,6,0.000,0.028,3042,2707,2109,0,0,0,0,0,0
$GC,4359,0.76,207.0,251.4,10.8,459,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2707,2109,0,0,0,0,0,0
$GC,4559,0.76,207.0,229.8,10.9,478,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2707,2108,0,0,0,0,0,0
$GC,4685,0.76,207.0,216.0,10.7,490,4689,0.00,1.73,0.00,0.000,4,0.000,0.047,3042,3770,2108,0,0,0,0,0,0
$GC,4731,0.76,207.0,210.5,12.0,494,4735,0.00,1.65,0.00,0.000,6,0.000,0.028,3049,2708,2107,0,0,0,0,0,0
$GC,4872,0.76,207.0,194.8,10.9,507,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2706,2107,0,0,0,0,0,0
$GC,4998,0.76,207.0,181.2,10.8,519,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2706,2107,0,0,0,0,0,0
$GC,5126,0.76,209.3,168.0,9.9,531,5130,0.00,1.73,0.00,0.000,4,0.000,0.047,3049,3769,2107,0,0,0,0,0,0
$GC,5174,0.76,209.3,162.7,11.6,535,5178,0.00,1.65,0.00,0.000,6,0.000,0.029,3057,2709,2107,0,0,0,0,0,0
$GC,5317,0.76,209.3,147.5,10.8,548,5321,0.00,2.22,0.00,0.000,4,0.000,0.034,3068,1296,2107,0,0,0,0,0,0
$GC,5346,0.76,209.9,144.3,10.0,550,5350,0.00,2.30,0.00,0.000,6,0.000,0.043,3068,2725,2106,0,0,0,0,0,0
$GC,5487,0.76,209.9,129.0,10.8,563,5491,0.00,1.70,0.00,0.000,4,0.000,0.047,3068,3758,2106,0,0,0,0,0,0
$GC,5536,0.76,209.9,122.6,12.9,567,5545,0.08,1.65,0.00,0.000,6,0.144,0.029,3048,2730,2106,0,0,0,0,0,0
$GC,5672,0.77,217.5,109.5,9.7,580,5682,0.00,0.00,8.60,0.789,6,0.000,0.000,3049,2730,2073,0,0,0,0,0,0
$GC,5811,0.77,217.5,96.0,10.0,596,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2730,2073,0,0,0,0,0,0
$GC,5953,0.77,217.5,81.3,10.8,621,5960,0.00,1.73,0.00,0.000,4,0.000,0.048,3049,3762,2073,0,0,0,0,0,0
$GC,5989,0.77,217.5,76.8,12.5,627,5997,0.00,1.65,0.00,0.000,6,0.000,0.030,3055,2730,2073,0,0,0,0,0,0
$GC,6136,0.77,217.5,60.7,10.8,652,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2730,2074,0,0,0,0,0,0
$GC,6278,0.79,230.1,47.3,9.5,677,6297,0.00,0.00,12.90,0.776,6,0.000,0.000,3055,2730,2021,0,0,0,0,0,0
$GC,6436,0.79,230.1,33.0,10.4,704,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2730,2021,0,0,0,0,0,0
$GC,6579,0.79,230.1,17.9,10.8,729,6586,0.00,1.73,0.00,0.000,4,0.000,0.047,3055,3764,2021,0,0,0,0,0,0
$GC,6622,0.79,230.1,12.8,12.8,736,6628,0.00,1.62,0.00,0.000,6,0.000,0.029,3063,2744,2020,0,0,0,0,0,0
$FREEZE,8.73,0.321,-1.894,2,1,0
$FREEZE,8.18,0.322,-1.894,2,1,0
$FREEZE,7.55,0.322,-1.894,2,1,0
$FREEZE,6.86,0.322,-1.893,2,1,0
$FREEZE,6.21,0.323,-1.893,2,1,0
$FREEZE,5.64,0.323,-1.892,2,1,0
$FREEZE,5.02,0.324,-1.892,2,1,0
$FREEZE,4.50,0.322,-1.891,2,1,0
$FREEZE,3.78,0.323,-1.891,2,1,0
$FREEZE,3.17,0.326,-1.890,2,1,0
$FREEZE,2.72,0.321,-1.890,2,1,0
$STATE,6705,end climb,SURFACE_DEPTH_REACHED
$STATE,6705,begin surface coast
$FREEZE,1.90,0.326,-1.889,2,1,0
$FREEZE,1.33,0.326,-1.889,2,1,0
$FREEZE,0.71,0.326,-1.888,2,1,0
$FREEZE,0.17,0.325,-1.888,2,1,0
$FREEZE,-0.19,0.301,-1.268,2,1,0
$FINISH,-0.2,1.018715
$STATE,6733,end surface coast,CONTROL_FINISHED_OK
$STATE,6733,begin surface
$SM_CCo,6752,9.10,0.102,0,0,1940,250.20
$SM_GC,2.14,0.00,0.00,9.10,0.000,0.000,0.102,189,2743,1940,-8.16,-1.05,250.20
$IRIDIUM_FIX,-7528.04,17519.44,290111,141416
$TT8_MAMPS,0.027713
$HUMID,53.15
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.9
$24V_AH,21.5,96.609
$10V_AH,9.7,40.011
$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,18.300,50.500,352.500,9.100,0.000,30.152,39.363,178.355,1.000,0.000,15.616,1883.814,3021.018,447.881,1489.705,333.003,0.000,1154.371,0.000,1196.055,0.000,7.758,0.000
$DEVICE_MAMPS,206.550,68.850,976.140,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.511,975.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50330,756
$CAP_FILE_SIZE,95867,0
$CFSIZE,260165632,209682432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.123, 35.6,1
$GPS,290111,185537,-7611.190,17517.812,45,1.1,46,123.5