version: 66.08
glider: 503
mission: 7
dive: 752
start: 1 17 111 0 47 55
data:
$ID,503
$MISSION,7
$DIVE,752
$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,-20472.504
$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,32
$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
$GPS1,170111,004106,-7610.321,17640.533,47,0.8,53,121.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.7
$GPS2,170111,004726,-7610.328,17640.451,12,1.2,12,121.5
$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,71.2,92833,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-170.3,0.0,0.0,0,90,0.00,0.00,-72.03,0.000,2,0.000,0.000,157,2795,3453,0,0,0,0,0,0
$GC,94,-0.71,-170.3,3.7,-7.3,12,116,9.23,2.30,-4.15,0.000,4,0.204,0.041,2564,1363,3658,0,0,0,0,0,0
$GC,224,-0.71,-170.3,30.1,-13.8,34,232,0.00,2.30,0.00,0.000,6,0.000,0.041,2555,2783,3661,0,0,0,0,0,0
$GC,369,-0.71,-170.3,51.7,-15.4,59,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2783,3662,0,0,0,0,0,0
$GC,512,-0.71,-170.3,73.1,-15.1,84,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2783,3662,0,0,0,0,0,0
$GC,652,-0.71,-170.3,93.5,-14.4,109,659,0.00,1.60,0.00,0.000,4,0.000,0.047,2547,3763,3662,0,0,0,0,0,0
$GC,703,-0.71,-170.3,101.4,-15.0,117,710,0.00,1.55,0.00,0.000,6,0.000,0.029,2547,2765,3662,0,0,0,0,0,0
$GC,837,-0.71,-170.3,120.9,-14.6,130,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2765,3662,0,0,0,0,0,0
$GC,965,-0.71,-170.3,139.4,-14.6,142,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2765,3662,0,0,0,0,0,0
$GC,1092,-0.71,-170.3,157.8,-14.3,154,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2765,3662,0,0,0,0,0,0
$GC,1220,-0.71,-170.3,175.9,-14.2,166,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2765,3662,0,0,0,0,0,0
$GC,1347,-0.71,-170.3,193.5,-13.5,178,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2765,3662,0,0,0,0,0,0
$GC,1475,-0.71,-170.3,210.8,-13.6,190,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2765,3662,0,0,0,0,0,0
$GC,1602,-0.71,-170.3,228.2,-13.5,202,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2765,3662,0,0,0,0,0,0
$GC,1730,-0.71,-170.3,245.5,-13.5,214,1733,0.00,1.65,0.00,0.000,4,0.000,0.049,2540,3764,3662,0,0,0,0,0,0
$GC,1768,-0.71,-170.3,250.5,-14.4,217,1771,0.00,1.55,0.00,0.000,6,0.000,0.029,2540,2776,3662,0,0,0,0,0,0
$GC,1972,-0.71,-170.3,279.3,-14.3,236,1973,0.10,0.00,0.00,0.000,6,0.172,0.000,2567,2775,3662,0,0,0,0,0,0
$GC,2164,-0.71,-170.3,301.9,-11.7,254,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2775,3662,0,0,0,0,0,0
$GC,2354,-0.71,-170.3,325.3,-12.4,272,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2775,3662,0,0,0,0,0,0
$GC,2544,-0.71,-170.3,348.7,-12.0,290,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2775,3662,0,0,0,0,0,0
$GC,2738,-0.71,-170.3,371.9,-12.5,308,2741,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3776,3662,0,0,0,0,0,0
$STATE,2759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2759,begin apogee
$GC,2767,-0.16,0.0,375.3,12.9,310,2915,0.52,0.00,139.23,0.978,4,0.114,0.000,2742,2691,2959,0,0,0,0,0,0
$STATE,2916,end apogee,CONTROL_FINISHED_OK
$STATE,2916,begin climb
$GC,2918,0.71,170.3,382.7,0.0,323,3079,0.85,2.38,150.57,0.929,4,0.073,0.033,3027,1294,2265,0,0,0,0,0,0
$GC,3086,0.79,232.9,377.9,7.5,337,3152,0.00,2.53,60.17,0.894,6,0.000,0.041,3027,2698,2009,0,0,0,0,0,0
$GC,3351,0.79,232.9,351.7,10.1,362,3354,0.00,1.80,0.00,0.000,4,0.000,0.049,3027,3763,2004,0,0,0,0,0,0
$GC,3413,0.79,232.9,344.2,12.1,367,3420,0.00,1.73,0.00,0.000,6,0.000,0.030,3034,2714,2002,0,0,1,0,0,0
$GC,3611,0.79,232.9,322.2,11.3,386,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2713,2001,0,0,0,0,0,0
$GC,3803,0.79,232.9,301.6,10.6,404,3806,0.00,1.70,0.00,0.000,4,0.000,0.049,3034,3766,2000,0,0,0,0,0,0
$GC,3838,0.79,232.9,297.5,12.1,407,3842,0.00,1.67,0.00,0.000,6,0.000,0.031,3040,2698,2000,0,0,0,0,0,0
$GC,4042,0.79,232.9,275.1,11.0,426,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2697,1999,0,0,0,0,0,0
$GC,4234,0.79,232.9,254.5,10.4,444,4237,0.00,1.73,0.00,0.000,4,0.000,0.050,3040,3768,1999,0,0,0,0,0,0
$GC,4302,0.79,232.9,246.2,12.2,450,4306,0.00,1.65,0.00,0.000,6,0.000,0.031,3047,2706,1998,0,0,0,0,0,0
$GC,4443,0.79,232.9,231.0,10.7,463,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2706,1999,0,0,0,0,0,0
$GC,4571,0.79,232.9,217.4,10.8,475,4574,0.00,1.70,0.00,0.000,4,0.000,0.047,3047,3766,1998,0,0,0,0,0,0
$GC,4606,0.79,232.9,213.2,12.1,478,4609,0.00,1.65,0.00,0.000,6,0.000,0.031,3054,2701,1998,0,0,0,0,0,0
$GC,4746,0.79,232.9,197.6,11.0,491,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2700,1998,0,0,0,0,0,0
$GC,4874,0.79,232.9,183.6,10.9,503,4878,0.00,1.73,0.00,0.000,4,0.000,0.049,3053,3774,1998,0,0,0,0,0,0
$GC,4909,0.79,232.9,179.4,12.4,506,4913,0.00,1.65,0.00,0.000,6,0.000,0.030,3061,2707,1998,0,0,0,0,0,0
$GC,5050,0.79,232.9,163.0,11.5,519,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2707,1997,0,0,0,0,0,0
$GC,5178,0.79,232.9,148.4,11.5,531,5182,0.00,1.70,0.00,0.000,4,0.000,0.048,3061,3771,1997,0,0,0,0,0,0
$GC,5205,0.79,232.9,144.6,12.9,533,5212,0.00,1.62,0.00,0.000,6,0.000,0.030,3069,2737,1997,0,0,0,0,0,0
$GC,5340,0.79,232.9,128.2,12.5,546,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2737,1997,0,0,0,0,0,0
$GC,5467,0.79,232.9,113.3,11.7,558,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2737,1997,0,0,0,0,0,0
$GC,5597,0.79,232.9,98.5,11.7,571,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2737,1997,0,0,0,0,0,0
$GC,5738,0.79,232.9,81.9,11.4,596,5745,0.00,1.67,0.00,0.000,4,0.000,0.049,3069,3757,1997,0,0,0,0,0,0
$GC,5769,0.79,232.9,77.9,12.8,601,5775,0.00,1.60,0.00,0.000,6,0.000,0.031,3077,2743,1997,0,0,0,0,0,0
$GC,5911,0.79,232.9,59.8,12.9,626,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2743,1997,0,0,0,0,0,0
$GC,6052,0.79,232.9,41.8,12.3,651,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2744,1997,0,0,0,0,0,0
$GC,6193,0.79,232.9,24.2,14.1,676,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2743,1997,0,0,0,0,0,0
$FREEZE,8.62,-0.131,-1.893,2,1,0
$FREEZE,8.01,-0.135,-1.893,2,1,0
$FREEZE,7.40,-0.128,-1.892,2,1,0
$FREEZE,6.57,-0.129,-1.892,2,1,0
$GC,6337,0.79,232.9,6.6,13.3,701,6344,0.00,1.67,0.00,0.000,4,0.000,0.049,3077,3762,1996,0,0,0,0,0,0
$FREEZE,3.98,-0.126,-1.890,2,1,0
$FREEZE,3.17,-0.122,-1.889,2,1,0
$FREEZE,2.37,-0.123,-1.888,2,1,0
$STATE,6360,end climb,SURFACE_DEPTH_REACHED
$STATE,6360,begin surface coast
$FREEZE,1.63,-0.122,-1.888,2,1,0
$FREEZE,0.73,-0.120,-1.887,2,1,0
$FINISH,0.7,1.027610
$STATE,6372,end surface coast,CONTROL_FINISHED_OK
$STATE,6372,begin surface
$SM_CCo,6393,5.78,0.103,0,0,1939,250.20
$SM_GC,1.94,0.00,0.00,5.78,0.000,0.000,0.103,185,2783,1939,-8.18,0.08,250.20
$IRIDIUM_FIX,-7528.04,17633.27,160111,222243
$TT8_MAMPS,0.027713
$HUMID,53.66
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.1
$ALTIM_BOTTOM_PING,350.0,93.5
$24V_AH,21.8,79.411
$10V_AH,9.9,31.082
$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,18.225,46.050,349.975,5.775,0.000,24.848,35.880,172.214,1.250,0.000,14.598,1756.132,2935.027,421.688,1399.501,272.385,0.000,1084.705,0.000,1115.586,0.000,10.712,0.000
$DEVICE_MAMPS,204.255,49.725,978.435,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.035,900.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258136
$DATA_FILE_SIZE,47013,707
$CAP_FILE_SIZE,89055,0
$CFSIZE,260165632,217731072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.095,209.0,1
$GPS,170111,023532,-7611.633,17638.760,16,1.6,17,121.6