version: 66.08
glider: 503
mission: 7
dive: 922
start: 1 30 111 10 56 35
data:
$ID,503
$MISSION,7
$DIVE,922
$N_DIVES,922
$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,-20700.975
$T_RSLEEP,5
$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,29
$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
$GPS1,300111,104852,-7606.833,17504.932,24,2.1,44,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-75.5
$GPS2,300111,105606,-7606.848,17505.100,10,1.1,26,123.5
$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,198.7,4107,-16.1,-10.000
$D_GRID,469
$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,-170.3,0.0,0.0,0,94,0.00,0.00,-75.40,0.000,2,0.000,0.000,181,2744,3532,0,0,0,0,0,0
$GC,98,-0.71,-170.3,4.1,-10.6,13,119,9.05,2.20,-2.47,0.000,4,0.200,0.044,2561,1368,3659,0,0,0,0,0,0
$GC,266,-0.71,-170.3,37.1,-12.9,42,273,0.00,2.30,0.00,0.000,6,0.000,0.041,2552,2783,3662,0,0,0,0,0,0
$GC,409,-0.71,-170.3,57.2,-15.9,67,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2783,3663,0,0,0,0,0,0
$GC,554,-0.71,-170.3,77.2,-14.2,92,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2783,3663,0,0,0,0,0,0
$GC,697,-0.71,-170.3,97.3,-14.1,117,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2784,3663,0,0,0,0,0,0
$GC,834,-0.71,-170.3,117.1,-14.0,131,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2783,3664,0,0,0,0,0,0
$GC,961,-0.71,-170.3,135.1,-13.6,143,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2783,3664,0,0,0,0,0,0
$GC,1090,-0.71,-170.3,153.1,-13.9,155,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2783,3664,0,0,0,0,0,0
$GC,1216,-0.71,-170.3,170.8,-13.7,167,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2783,3664,0,0,0,0,0,0
$GC,1344,-0.71,-170.3,188.2,-13.4,179,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2783,3664,0,0,0,0,0,0
$GC,1471,-0.71,-170.3,204.9,-13.1,191,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2783,3664,0,0,0,0,0,0
$GC,1601,-0.71,-170.3,221.6,-12.9,203,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2784,3664,0,0,0,0,0,0
$GC,1736,-0.71,-170.3,239.6,-13.1,216,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2783,3664,0,0,0,0,0,0
$GC,1864,-0.71,-170.3,256.6,-13.0,228,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2783,3664,0,0,0,0,0,0
$GC,2055,-0.71,-170.3,281.9,-12.9,246,2059,0.00,2.22,0.00,0.000,4,0.000,0.032,2551,1372,3664,0,0,0,0,0,0
$GC,2096,-0.71,-170.3,287.3,-12.9,249,2100,0.00,2.28,0.00,0.000,6,0.000,0.041,2542,2785,3664,0,0,0,0,0,0
$GC,2295,-0.71,-170.3,314.0,-13.4,267,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3664,0,0,0,0,0,0
$GC,2485,-0.71,-170.3,339.9,-13.5,285,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3663,0,0,0,0,0,0
$GC,2676,-0.71,-170.3,365.7,-13.4,303,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2785,3663,0,0,0,0,0,0
$GC,2870,-0.71,-170.3,390.9,-13.4,321,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3663,0,0,0,0,0,0
$GC,3069,-0.71,-170.3,417.8,-13.6,340,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3663,0,0,0,0,0,0
$GC,3260,-0.71,-170.3,443.1,-13.2,358,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2785,3663,0,0,0,0,0,0
$GC,3451,-0.71,-170.3,468.2,-13.2,376,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2785,3663,0,0,0,0,0,0
$STATE,3458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3458,begin apogee
$GC,3465,-0.16,0.0,469.7,13.1,377,3612,0.60,0.00,142.32,1.038,4,0.115,0.000,2743,2694,2961,0,0,0,0,0,0
$STATE,3613,end apogee,CONTROL_FINISHED_OK
$STATE,3613,begin climb
$GC,3616,0.71,170.3,476.4,0.0,390,3781,0.85,2.38,156.65,0.986,4,0.071,0.031,3028,1306,2265,0,0,0,0,0,0
$GC,3943,0.74,196.0,455.9,9.0,418,3974,0.00,2.42,25.08,0.943,6,0.000,0.039,3028,2705,2159,0,0,0,0,0,0
$GC,4165,0.74,196.0,433.6,10.1,439,4169,0.00,2.30,0.00,0.000,4,0.000,0.033,3038,1305,2159,0,0,0,0,0,0
$GC,4323,0.74,196.0,417.7,10.1,452,4330,0.00,2.30,0.00,0.000,6,0.000,0.041,3039,2710,2157,0,0,0,0,0,0
$GC,4522,0.74,196.0,396.2,11.0,471,4526,0.00,1.70,0.00,0.000,4,0.000,0.047,3039,3759,2156,0,0,0,0,0,0
$GC,4591,0.74,196.0,387.5,13.0,477,4595,0.00,1.62,0.00,0.000,6,0.000,0.030,3046,2707,2156,0,0,1,0,0,0
$GC,4797,0.74,196.0,364.1,11.1,496,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2707,2155,0,0,0,0,0,0
$GC,4995,0.74,196.0,341.8,11.1,515,4999,0.00,1.73,0.00,0.000,4,0.000,0.047,3046,3761,2155,0,0,0,0,0,0
$GC,5045,0.74,196.0,335.3,12.9,519,5053,0.00,1.65,0.00,0.000,6,0.000,0.028,3054,2704,2155,0,0,0,0,0,0
$GC,5244,0.74,196.0,312.8,11.3,538,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2704,2154,0,0,0,0,0,0
$GC,5434,0.74,196.0,291.4,11.3,556,5438,0.00,1.73,0.00,0.000,4,0.000,0.048,3054,3760,2154,0,0,0,0,0,0
$GC,5481,0.74,196.0,285.6,12.2,560,5485,0.00,1.65,0.00,0.000,6,0.000,0.031,3062,2729,2153,0,0,0,0,0,0
$GC,5686,0.74,196.0,261.2,12.0,579,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2729,2153,0,0,0,0,0,0
$GC,5877,0.74,196.0,238.5,11.6,597,5880,0.00,1.67,0.00,0.000,4,0.000,0.047,3062,3760,2153,0,0,0,0,0,0
$GC,5935,0.74,196.0,230.9,14.0,602,5939,0.12,1.65,0.00,0.000,6,0.157,0.030,3034,2701,2153,0,0,0,0,0,0
$GC,6075,0.74,197.1,216.5,10.0,615,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2701,2153,0,0,0,0,0,0
$GC,6202,0.77,216.2,204.6,9.2,627,6222,0.00,0.00,18.00,0.877,6,0.000,0.000,3034,2700,2077,0,0,0,0,0,0
$GC,6351,0.78,228.9,190.9,9.5,641,6373,0.00,1.80,13.12,0.842,4,0.000,0.050,3034,3760,2026,0,0,1,0,0,0
$GC,6413,0.78,228.9,184.1,11.1,646,6419,0.00,1.65,0.00,0.000,6,0.000,0.031,3041,2742,2026,0,0,0,0,0,0
$GC,6547,0.78,228.9,170.4,10.2,659,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2741,2026,0,0,0,0,0,0
$GC,6676,0.79,237.4,157.9,9.7,671,6687,0.00,0.00,9.25,0.802,6,0.000,0.000,3041,2742,1992,0,0,0,0,0,0
$GC,6812,0.79,237.4,144.3,10.2,684,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2741,1992,0,0,0,0,0,0
$GC,6940,0.79,237.4,131.4,10.3,696,6944,0.00,1.70,0.00,0.000,4,0.000,0.049,3042,3752,1992,0,0,0,0,0,0
$GC,6998,0.79,237.4,124.7,11.8,701,7001,0.00,1.62,0.00,0.000,6,0.000,0.030,3048,2739,1992,0,0,0,0,0,0
$GC,7138,0.79,237.4,109.6,10.8,714,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2738,1992,0,0,0,0,0,0
$GC,7267,0.79,237.4,96.1,10.6,729,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2738,1992,0,0,0,0,0,0
$GC,7408,0.79,237.4,80.9,10.5,754,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2738,1992,0,0,0,0,0,0
$GC,7549,0.79,237.4,66.3,10.9,779,7556,0.00,1.70,0.00,0.000,4,0.000,0.048,3048,3756,1992,0,0,0,0,0,0
$GC,7593,0.79,237.4,61.3,11.8,786,7599,0.00,1.60,0.00,0.000,6,0.000,0.030,3055,2749,1992,0,0,0,0,0,0
$GC,7739,0.79,237.4,45.8,10.4,811,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2749,1992,0,0,0,0,0,0
$GC,7881,0.79,237.4,30.5,10.9,836,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2749,1991,0,0,0,0,0,0
$GC,8022,0.79,237.4,15.7,11.1,861,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2749,1992,0,0,0,0,0,0
$FREEZE,8.59,0.655,-1.890,2,1,0
$FREEZE,8.01,0.654,-1.889,2,1,0
$FREEZE,7.48,0.653,-1.889,2,1,0
$FREEZE,6.92,0.648,-1.889,2,1,0
$FREEZE,6.39,0.649,-1.888,2,1,0
$FREEZE,5.68,0.648,-1.888,2,1,0
$FREEZE,5.17,0.646,-1.887,2,1,0
$FREEZE,4.57,0.647,-1.887,2,1,0
$FREEZE,4.05,0.646,-1.886,2,1,0
$FREEZE,3.46,0.640,-1.886,2,1,0
$FREEZE,2.92,0.636,-1.886,2,1,0
$STATE,8140,end climb,SURFACE_DEPTH_REACHED
$STATE,8140,begin surface coast
$FREEZE,2.04,0.632,-1.885,2,1,0
$FREEZE,1.44,0.644,-1.884,2,1,0
$FREEZE,0.91,0.653,-1.884,2,1,0
$FREEZE,0.22,0.653,-1.883,2,1,0
$FREEZE,-0.07,0.519,-0.941,2,1,0
$FINISH,-0.1,1.013904
$STATE,8169,end surface coast,CONTROL_FINISHED_OK
$STATE,8169,begin surface
$SM_CCo,8188,5.38,0.103,0,0,1940,250.20
$SM_GC,2.16,0.00,0.00,5.38,0.000,0.000,0.103,184,2749,1940,-8.18,-0.88,250.20
$IRIDIUM_FIX,-7519.49,17504.53,300111,080818
$TT8_MAMPS,0.027713
$HUMID,54.01
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.3
$24V_AH,21.3,97.514
$10V_AH,9.7,40.524
$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,18.200,41.975,364.425,5.375,0.000,27.856,43.170,185.909,1.500,0.000,28.724,2200.429,3882.680,447.935,1740.098,357.598,0.000,1253.189,0.000,1413.206,0.000,11.190,0.000
$DEVICE_MAMPS,200.430,81.090,1038.105,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.769,1072.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60411,887
$CAP_FILE_SIZE,105722,0
$CFSIZE,260165632,209215488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.048,133.0,1
$GPS,300111,131437,-7606.064,17502.559,44,1.0,44,123.5