version: 66.08
glider: 503
mission: 7
dive: 750
start: 1 16 111 20 54 35
data:
$ID,503
$MISSION,7
$DIVE,750
$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,-20469.988
$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,53
$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
$GPS1,160111,204726,-7608.416,17644.352,24,1.4,25,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-72.7
$GPS2,160111,205406,-7608.408,17644.160,14,0.9,30,121.3
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,CORNER_SW
$TGT_LATLONG,-7655.000,17500.000
$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,66.6,96708,-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,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,96,0.00,0.00,-78.15,0.000,2,0.000,0.000,158,2809,3485,0,0,0,0,0,0
$GC,100,-0.71,-170.3,4.0,-10.1,13,121,9.18,2.30,-3.45,0.000,4,0.203,0.040,2567,1368,3659,0,0,0,0,0,0
$GC,146,-0.71,-170.3,20.0,-26.0,20,153,0.00,2.28,0.00,0.000,6,0.000,0.042,2563,2763,3660,0,0,0,0,0,0
$GC,287,-0.71,-170.3,41.0,-14.3,45,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2764,3662,0,0,0,0,0,0
$GC,430,-0.71,-170.3,61.4,-14.2,70,437,0.00,2.22,0.00,0.000,4,0.000,0.031,2562,1367,3662,0,0,0,0,0,0
$GC,484,-0.71,-170.3,69.0,-13.2,79,492,0.00,2.28,0.00,0.000,6,0.000,0.042,2553,2771,3662,0,0,0,0,0,0
$GC,628,-0.71,-170.3,90.4,-15.3,104,635,0.00,1.60,0.00,0.000,4,0.000,0.049,2545,3752,3662,0,0,0,0,0,0
$GC,676,-0.71,-170.3,98.2,-15.9,112,683,0.00,1.55,0.00,0.000,6,0.000,0.028,2545,2763,3662,0,0,0,0,0,0
$GC,818,-0.71,-170.3,121.3,-16.1,126,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2764,3662,0,0,0,0,0,0
$GC,946,-0.71,-170.3,140.7,-14.9,138,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2764,3663,0,0,0,0,0,0
$GC,1073,-0.71,-170.3,159.5,-14.7,150,1076,0.00,1.62,0.00,0.000,4,0.000,0.049,2538,3779,3663,0,0,0,0,0,0
$GC,1111,-0.71,-170.3,165.9,-15.9,153,1118,0.08,1.58,0.00,0.000,6,0.130,0.029,2564,2777,3663,0,0,0,0,0,0
$GC,1246,-0.71,-170.3,184.4,-13.7,166,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2777,3662,0,0,0,0,0,0
$GC,1373,-0.71,-170.3,201.9,-13.5,178,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2777,3662,0,0,0,0,0,0
$GC,1500,-0.71,-170.3,219.7,-14.1,190,1504,0.00,1.62,0.00,0.000,4,0.000,0.049,2557,3767,3663,0,0,0,0,0,0
$GC,1547,-0.71,-170.3,226.5,-14.7,194,1551,0.00,1.55,0.00,0.000,6,0.000,0.028,2557,2777,3662,0,0,0,0,0,0
$GC,1688,-0.71,-170.3,246.4,-14.0,207,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2777,3662,0,0,0,0,0,0
$GC,1815,-0.71,-170.3,263.9,-13.4,219,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2777,3662,0,0,0,0,0,0
$GC,2007,-0.71,-170.3,289.5,-13.2,237,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2777,3663,0,0,0,0,0,0
$GC,2197,-0.71,-170.3,315.5,-13.5,255,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2777,3662,0,0,0,0,0,0
$GC,2388,-0.71,-170.3,341.2,-13.1,273,2391,0.00,1.62,0.00,0.000,4,0.000,0.047,2550,3791,3662,0,0,0,0,0,0
$GC,2438,-0.71,-170.3,348.3,-13.4,277,2445,0.00,1.58,0.00,0.000,6,0.000,0.028,2550,2784,3662,0,0,0,0,0,0
$GC,2637,-0.71,-170.3,374.6,-12.9,296,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2784,3662,0,0,0,0,0,0
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2651,-0.16,0.0,376.0,12.9,297,2798,0.57,0.00,138.90,0.978,4,0.116,0.000,2743,2691,2959,0,0,0,0,0,0
$STATE,2798,end apogee,CONTROL_FINISHED_OK
$STATE,2799,begin climb
$GC,2801,0.71,170.3,383.0,0.0,310,2962,0.85,2.35,150.02,0.929,4,0.073,0.032,3028,1307,2265,0,0,0,0,0,0
$GC,3145,0.76,206.0,363.2,8.6,340,3183,0.00,2.38,32.67,0.900,6,0.000,0.041,3028,2702,2120,0,0,0,0,0,0
$GC,3375,0.76,206.0,340.9,10.2,361,3379,0.00,2.28,0.00,0.000,4,0.000,0.034,3038,1316,2114,0,0,0,0,0,0
$GC,3550,0.77,213.7,324.0,9.7,376,3563,0.00,2.28,7.10,0.800,6,0.000,0.041,3038,2710,2088,0,0,0,0,0,0
$GC,3758,0.77,213.7,302.9,10.4,395,3762,0.00,1.67,0.00,0.000,4,0.000,0.049,3038,3761,2087,0,0,0,0,0,0
$GC,3819,0.77,213.7,294.9,12.6,400,3826,0.00,1.65,0.00,0.000,6,0.000,0.031,3044,2727,2087,0,0,0,0,0,0
$GC,4020,0.77,213.7,273.7,10.9,419,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2727,2086,0,0,0,0,0,0
$GC,4218,0.77,213.7,250.8,12.2,438,4222,0.00,1.65,0.00,0.000,4,0.000,0.048,3044,3761,2086,0,0,0,0,0,0
$GC,4267,0.77,213.7,244.1,14.0,442,4274,0.00,1.65,0.00,0.000,6,0.000,0.031,3051,2720,2085,0,0,0,0,0,0
$GC,4401,0.77,213.7,227.5,12.2,455,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2720,2085,0,0,0,0,0,0
$GC,4529,0.77,213.7,212.3,11.6,467,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2720,2085,0,0,0,0,0,0
$GC,4657,0.77,213.7,197.9,11.3,479,4661,0.00,1.70,0.00,0.000,4,0.000,0.049,3051,3754,2085,0,0,0,0,0,0
$GC,4703,0.77,213.7,192.0,12.9,483,4706,0.00,1.60,0.00,0.000,6,0.000,0.031,3058,2743,2085,0,0,0,0,0,0
$GC,4843,0.77,213.7,175.8,11.3,496,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2742,2085,0,0,0,0,0,0
$GC,4971,0.77,213.7,161.5,11.2,508,4975,0.00,1.62,0.00,0.000,4,0.000,0.049,3058,3761,2084,0,0,0,0,0,0
$GC,5028,0.77,213.7,154.1,13.1,513,5032,0.00,1.60,0.00,0.000,6,0.000,0.031,3065,2748,2084,0,0,0,0,0,0
$GC,5169,0.77,213.7,137.5,11.7,526,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2748,2084,0,0,0,0,0,0
$GC,5297,0.77,213.7,122.3,11.9,538,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2748,2084,0,0,0,0,0,0
$GC,5423,0.77,213.7,107.0,11.9,550,5426,0.00,1.62,0.00,0.000,4,0.000,0.049,3066,3768,2084,0,0,0,0,0,0
$GC,5473,0.77,213.7,99.9,13.9,554,5479,0.00,1.58,0.00,0.000,6,0.000,0.030,3073,2761,2083,0,0,0,0,0,0
$GC,5615,0.77,213.7,81.9,13.3,579,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2761,2084,0,0,0,0,0,0
$GC,5759,0.77,213.7,63.7,12.2,604,5765,0.00,1.62,0.00,0.000,4,0.000,0.048,3073,3751,2084,0,0,0,0,0,0
$GC,5811,0.77,213.7,56.6,13.7,613,5818,0.10,1.55,0.00,0.000,6,0.132,0.031,3044,2769,2083,0,0,0,0,0,0
$GC,5956,0.77,213.7,42.1,10.3,638,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2769,2083,0,0,0,0,0,0
$GC,6096,0.77,213.7,27.5,10.5,663,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2769,2083,0,0,0,0,0,0
$GC,6242,0.77,213.7,13.1,10.1,688,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2769,2082,0,0,0,0,0,0
$FREEZE,8.99,-0.259,-1.892,2,1,0
$FREEZE,8.53,-0.258,-1.892,2,1,0
$FREEZE,8.13,-0.258,-1.892,2,1,0
$FREEZE,7.69,-0.256,-1.891,2,1,0
$FREEZE,7.37,-0.257,-1.891,2,1,0
$FREEZE,6.92,-0.257,-1.891,2,1,0
$FREEZE,6.46,-0.258,-1.890,2,1,0
$FREEZE,5.98,-0.259,-1.890,2,1,0
$FREEZE,5.51,-0.258,-1.890,2,1,0
$FREEZE,5.08,-0.258,-1.889,2,1,0
$FREEZE,4.67,-0.256,-1.889,2,1,0
$FREEZE,4.00,-0.260,-1.888,2,1,0
$FREEZE,3.49,-0.257,-1.888,2,1,0
$FREEZE,2.81,-0.262,-1.888,2,1,0
$STATE,6353,end climb,SURFACE_DEPTH_REACHED
$STATE,6353,begin surface coast
$FREEZE,2.07,-0.259,-1.887,2,1,0
$FREEZE,1.55,-0.255,-1.886,2,1,0
$FREEZE,1.05,-0.257,-1.886,2,1,0
$FREEZE,0.37,-0.254,-1.886,2,1,0
$FREEZE,-0.10,-0.257,-1.881,2,1,0
$FINISH,-0.1,1.027544
$STATE,6380,end surface coast,CONTROL_FINISHED_OK
$STATE,6380,begin surface
$SM_CCo,6398,16.17,0.101,0,0,1940,250.20
$SM_GC,1.46,0.00,0.00,16.17,0.000,0.000,0.101,187,2768,1940,-8.17,-0.31,250.20
$IRIDIUM_FIX,-7519.49,17652.19,160111,181842
$TT8_MAMPS,0.027713
$HUMID,53.38
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$24V_AH,21.9,79.201
$10V_AH,9.8,30.973
$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,18.200,50.675,328.700,16.175,0.000,22.525,41.167,173.485,1.000,0.000,32.699,1791.256,2831.396,433.090,1482.043,283.186,0.000,1124.337,0.000,1174.638,0.000,7.757,0.000
$DEVICE_MAMPS,202.725,97.920,978.435,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.038,912.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,47125,713
$CAP_FILE_SIZE,92441,0
$CFSIZE,260165632,217829376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,289.5,1
$GPS,160111,224237,-7609.199,17642.152,19,1.9,25,121.4