version: 66.08
glider: 503
mission: 7
dive: 917
start: 1 29 111 23 13 58
data:
$ID,503
$MISSION,7
$DIVE,917
$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,-20692.438
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,290111,230619,-7609.529,17513.555,16,1.2,28,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.6
$GPS2,290111,231328,-7609.535,17513.631,13,2.3,32,123.5
$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,173.4,10364,-16.1,-10.000
$D_GRID,432
$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,-170.3,0.0,0.0,0,96,0.00,0.00,-77.28,0.000,2,0.000,0.000,171,2799,3541,0,0,0,0,0,0
$GC,100,-0.71,-170.3,3.9,-9.6,13,121,9.10,1.58,-2.28,0.000,4,0.201,0.060,2556,3744,3660,0,0,0,0,0,0
$GC,373,-0.71,-170.3,54.8,-13.1,61,380,0.00,1.52,0.00,0.000,6,0.000,0.027,2555,2777,3662,0,0,0,0,0,0
$GC,518,-0.71,-170.3,73.8,-12.1,86,524,0.00,1.62,0.00,0.000,4,0.000,0.047,2548,3748,3663,0,0,0,0,0,0
$GC,606,-0.71,-170.3,85.6,-13.0,101,612,0.00,1.50,0.00,0.000,6,0.000,0.028,2548,2792,3663,0,0,0,0,0,0
$GC,748,-0.71,-170.3,104.2,-13.2,123,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2792,3663,0,0,0,0,0,0
$GC,874,-0.71,-170.3,120.2,-12.8,135,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2792,3663,0,0,0,0,0,0
$GC,1001,-0.71,-170.3,137.2,-13.2,147,1005,0.00,1.60,0.00,0.000,4,0.000,0.047,2540,3746,3664,0,0,0,0,0,0
$GC,1041,-0.71,-170.3,142.7,-14.2,150,1049,0.08,1.50,0.00,0.000,6,0.131,0.028,2568,2798,3664,0,0,0,0,0,0
$GC,1176,-0.71,-170.3,158.7,-11.6,163,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2798,3664,0,0,0,0,0,0
$GC,1303,-0.71,-170.3,173.1,-11.2,175,1307,0.00,1.58,0.00,0.000,4,0.000,0.047,2561,3745,3664,0,0,0,0,0,0
$GC,1354,-0.71,-170.3,179.7,-12.6,179,1362,0.00,1.45,0.00,0.000,6,0.000,0.028,2561,2810,3664,0,0,1,0,0,0
$GC,1489,-0.71,-170.3,195.6,-12.0,192,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2811,3664,0,0,0,0,0,0
$GC,1617,-0.71,-170.3,211.0,-11.8,204,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2811,3664,0,0,0,0,0,0
$GC,1745,-0.71,-170.3,226.3,-12.0,216,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2811,3664,0,0,0,0,0,0
$GC,1871,-0.71,-170.3,241.6,-12.0,228,1874,0.00,1.55,0.00,0.000,4,0.000,0.047,2554,3741,3664,0,0,0,0,0,0
$GC,1920,-0.71,-170.3,248.1,-13.0,232,1927,0.00,1.45,0.00,0.000,6,0.000,0.028,2554,2808,3663,0,0,1,0,0,0
$GC,2056,-0.71,-170.3,265.1,-13.1,245,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2808,3663,0,0,0,0,0,0
$GC,2246,-0.71,-170.3,289.7,-13.1,263,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2808,3664,0,0,0,0,0,0
$GC,2438,-0.71,-170.3,314.7,-13.1,281,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2808,3663,0,0,0,0,0,0
$GC,2628,-0.71,-170.3,339.9,-13.2,299,2632,0.00,1.55,0.00,0.000,4,0.000,0.047,2546,3741,3663,0,0,0,0,0,0
$GC,2663,-0.71,-170.3,344.8,-14.7,302,2667,0.00,1.48,0.00,0.000,6,0.000,0.028,2546,2808,3663,0,0,0,0,0,0
$GC,2868,-0.71,-170.3,372.3,-13.5,321,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2808,3663,0,0,0,0,0,0
$GC,3058,-0.71,-170.3,397.4,-12.9,339,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2808,3663,0,0,0,0,0,0
$GC,3251,-0.71,-170.3,422.3,-12.8,357,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2808,3663,0,0,0,0,0,0
$STATE,3331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3331,begin apogee
$GC,3339,-0.16,0.0,433.2,13.2,365,3486,0.60,0.00,141.73,1.015,4,0.117,0.000,2746,2685,2960,0,0,0,0,0,0
$STATE,3487,end apogee,CONTROL_FINISHED_OK
$STATE,3487,begin climb
$GC,3491,0.71,170.3,440.1,0.0,378,3655,0.82,2.33,155.30,0.962,4,0.070,0.033,3026,1308,2265,0,0,0,0,0,0
$GC,3807,0.75,199.5,421.7,8.8,406,3843,0.00,2.38,27.92,0.926,6,0.000,0.041,3026,2689,2145,0,0,0,0,0,0
$GC,4034,0.76,206.6,399.8,9.7,427,4048,0.00,2.33,7.88,0.831,4,0.000,0.035,3036,1314,2117,0,0,1,0,0,0
$GC,4242,0.79,234.2,379.7,8.9,445,4277,0.00,2.30,25.88,0.933,6,0.000,0.042,3036,2724,2005,0,0,0,0,0,0
$GC,4467,0.79,234.2,355.4,11.0,466,4471,0.00,1.67,0.00,0.000,4,0.000,0.048,3036,3761,2005,0,0,0,0,0,0
$GC,4517,0.79,234.2,349.2,12.5,470,4524,0.00,1.65,0.00,0.000,6,0.000,0.028,3044,2734,2005,0,0,0,0,0,0
$GC,4717,0.79,234.2,327.1,10.7,489,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2734,2005,0,0,0,0,0,0
$GC,4917,0.79,234.2,305.8,10.3,508,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2735,2005,0,0,0,0,0,0
$GC,5106,0.79,234.2,285.5,10.8,526,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2734,2005,0,0,0,0,0,0
$GC,5297,0.79,234.2,265.1,10.8,544,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2735,2005,0,0,0,0,0,0
$GC,5488,0.79,234.2,244.8,10.7,562,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2735,2004,0,0,0,0,0,0
$GC,5616,0.79,234.2,230.9,11.2,574,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2734,2004,0,0,0,0,0,0
$GC,5744,0.79,234.2,216.5,11.3,586,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2735,2004,0,0,0,0,0,0
$GC,5870,0.79,234.2,202.1,11.2,598,5874,0.00,1.73,0.00,0.000,4,0.000,0.047,3043,3760,2004,0,0,0,0,0,0
$GC,5920,0.79,234.2,195.8,12.3,602,5926,0.00,1.67,0.00,0.000,6,0.000,0.029,3052,2717,2003,0,0,0,0,0,0
$GC,6055,0.79,234.2,180.2,11.5,615,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2717,2003,0,0,0,0,0,0
$GC,6181,0.79,234.2,165.4,12.0,627,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2717,2003,0,0,0,0,0,0
$GC,6309,0.79,234.2,150.1,12.3,639,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2717,2003,0,0,0,0,0,0
$GC,6436,0.79,234.2,134.8,12.0,651,6440,0.00,1.75,0.00,0.000,4,0.000,0.047,3052,3762,2003,0,0,0,0,0,0
$GC,6495,0.79,234.2,126.9,14.1,656,6499,0.00,1.65,0.00,0.000,6,0.000,0.029,3059,2704,2003,0,0,0,0,0,0
$GC,6636,0.79,234.2,108.8,12.4,669,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2702,2003,0,0,0,0,0,0
$GC,6766,0.79,234.2,93.2,12.4,686,6773,0.00,1.75,0.00,0.000,4,0.000,0.048,3059,3770,2003,0,0,0,0,0,0
$GC,6808,0.79,234.2,87.3,14.3,693,6815,0.00,1.65,0.00,0.000,6,0.000,0.030,3067,2740,2003,0,0,0,0,0,0
$GC,6952,0.79,234.2,69.3,13.3,718,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2741,2003,0,0,0,0,0,0
$GC,7093,0.79,234.2,51.3,13.0,743,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2741,2003,0,0,0,0,0,0
$GC,7235,0.79,234.2,33.7,12.0,768,7242,0.00,1.70,0.00,0.000,4,0.000,0.047,3067,3752,2002,0,0,0,0,0,0
$GC,7294,0.79,234.2,25.8,14.3,778,7301,0.00,1.60,0.00,0.000,6,0.000,0.028,3075,2741,2002,0,0,1,0,0,0
$FREEZE,8.51,0.392,-1.895,2,1,0
$FREEZE,7.87,0.393,-1.894,2,1,0
$FREEZE,6.99,0.395,-1.893,2,1,0
$GC,7439,0.79,234.2,7.0,13.0,803,7446,0.00,2.30,0.00,0.000,4,0.000,0.035,3086,1297,2002,0,0,0,0,0,0
$FREEZE,4.83,0.394,-1.892,2,1,0
$FREEZE,4.20,0.396,-1.891,2,1,0
$GC,7460,0.79,234.2,4.2,12.7,806,7468,0.12,2.35,0.00,0.000,6,0.139,0.043,3049,2743,2002,0,0,0,0,0,0
$FREEZE,2.42,0.395,-1.890,2,1,0
$STATE,7474,end climb,SURFACE_DEPTH_REACHED
$STATE,7474,begin surface coast
$FREEZE,1.62,0.396,-1.889,2,1,0
$FREEZE,1.16,0.397,-1.889,2,1,0
$FREEZE,0.50,0.396,-1.888,2,1,0
$FREEZE,0.04,0.391,-1.888,2,1,0
$FREEZE,-0.06,0.286,-1.880,2,1,0
$FINISH,-0.1,1.027495
$STATE,7505,end surface coast,CONTROL_FINISHED_OK
$STATE,7505,begin surface
$SM_CCo,7523,6.55,0.103,0,0,1940,250.20
$SM_GC,2.28,0.00,0.00,6.55,0.000,0.000,0.103,185,2745,1940,-8.17,-0.99,250.20
$IRIDIUM_FIX,-7528.04,17512.69,290111,212143
$TT8_MAMPS,0.027713
$HUMID,54.13
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,21.4,96.940
$10V_AH,9.7,40.194
$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,18.250,49.300,358.700,6.550,0.000,25.173,39.031,182.790,1.250,0.000,35.753,2024.791,3516.928,445.358,1626.323,350.500,0.000,1201.205,0.000,1307.374,0.000,9.473,0.000
$DEVICE_MAMPS,201.195,68.085,1015.155,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.284,990.120,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258200
$DATA_FILE_SIZE,53776,813
$CAP_FILE_SIZE,101393,0
$CFSIZE,260165632,209514496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.104, 78.1,1
$GPS,300111,012107,-7608.871,17511.725,55,1.2,55,123.5