version: 66.08
glider: 503
mission: 7
dive: 753
start: 1 17 111 2 47 4
data:
$ID,503
$MISSION,7
$DIVE,753
$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,-20473.764
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,170111,023532,-7611.633,17638.760,16,1.6,17,121.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.4
$GPS2,170111,024637,-7611.667,17638.613,41,1.1,41,121.6
$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,85.0,90276,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.71,-170.3,0.0,0.0,0,91,0.00,0.00,-70.88,0.000,2,0.000,0.000,139,2782,3437,0,0,0,0,0,0
$GC,95,-0.71,-170.3,3.6,-8.1,12,116,9.30,2.33,-4.50,0.000,4,0.203,0.043,2567,1363,3659,0,0,0,0,0,0
$GC,256,-0.71,-170.3,34.1,-12.8,40,263,0.00,2.30,0.00,0.000,6,0.000,0.042,2562,2783,3661,0,0,0,0,0,0
$GC,398,-0.71,-170.3,55.0,-15.2,65,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,541,-0.71,-170.3,75.2,-13.3,90,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3662,0,0,0,0,0,0
$GC,682,-0.71,-170.3,95.0,-18.8,115,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,820,-0.71,-170.3,113.7,-13.8,131,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,946,-0.71,-170.3,131.5,-14.3,143,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,1075,-0.71,-170.3,149.1,-13.6,155,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3663,0,0,0,0,0,0
$GC,1211,-0.71,-170.3,167.4,-13.2,168,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,1337,-0.71,-170.3,184.4,-13.1,180,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,1465,-0.71,-170.3,201.2,-13.2,192,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2782,3663,0,0,0,0,0,0
$GC,1593,-0.71,-170.3,217.9,-13.4,204,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,1720,-0.71,-170.3,234.7,-13.4,216,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,1847,-0.71,-170.3,251.5,-13.0,228,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2783,3663,0,0,0,0,0,0
$GC,2039,-0.71,-170.3,277.0,-13.4,246,2043,0.00,2.22,0.00,0.000,4,0.000,0.031,2562,1366,3663,0,0,0,0,0,0
$GC,2071,-0.71,-170.3,281.5,-12.7,248,2078,0.00,2.28,0.00,0.000,6,0.000,0.043,2560,2772,3663,0,0,0,0,0,0
$GC,2270,-0.71,-170.3,306.7,-12.9,267,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3662,0,0,0,0,0,0
$GC,2462,-0.71,-170.3,331.9,-13.2,285,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3663,0,0,0,0,0,0
$GC,2652,-0.71,-170.3,357.0,-12.9,303,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2772,3663,0,0,0,0,0,0
$STATE,2798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2798,begin apogee
$GC,2805,-0.16,0.0,376.0,12.9,317,2952,0.55,0.00,139.48,0.976,4,0.119,0.000,2744,2683,2958,0,0,0,0,0,0
$STATE,2952,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2955,0.71,170.3,382.5,0.0,330,3117,0.85,2.33,150.25,0.931,4,0.073,0.031,3029,1304,2264,0,0,0,0,0,0
$GC,3123,0.79,231.8,376.8,7.6,344,3188,0.00,2.50,58.72,0.894,6,0.000,0.040,3029,2697,2015,0,0,1,0,0,0
$GC,3387,0.79,231.8,350.4,10.2,369,3391,0.00,1.80,0.00,0.000,4,0.000,0.049,3029,3764,2009,0,0,0,0,0,0
$GC,3460,0.79,231.8,341.5,12.7,375,3467,0.00,1.70,0.00,0.000,6,0.000,0.030,3037,2701,2009,0,0,1,0,0,0
$GC,3659,0.79,231.8,320.3,10.4,394,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2701,2007,0,0,0,0,0,0
$GC,3849,0.79,231.8,300.2,10.3,412,3853,0.00,1.73,0.00,0.000,4,0.000,0.049,3037,3765,2006,0,0,0,0,0,0
$GC,3907,0.79,231.8,293.4,12.4,417,3911,0.00,1.65,0.00,0.000,6,0.000,0.031,3044,2706,2006,0,0,0,0,0,0
$GC,4112,0.79,231.8,272.0,10.3,436,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2706,2005,0,0,0,0,0,0
$GC,4301,0.79,231.8,252.1,10.5,454,4305,0.00,1.73,0.00,0.000,4,0.000,0.048,3044,3771,2004,0,0,0,0,0,0
$GC,4360,0.79,231.8,245.2,12.3,459,4364,0.00,1.65,0.00,0.000,6,0.000,0.029,3052,2706,2004,0,0,0,0,0,0
$GC,4501,0.79,231.8,229.3,11.1,472,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2706,2004,0,0,0,0,0,0
$GC,4628,0.79,231.8,215.0,11.5,484,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2706,2005,0,0,0,0,0,0
$GC,4759,0.79,231.8,200.9,11.0,496,4762,0.00,1.70,0.00,0.000,4,0.000,0.048,3052,3766,2004,0,0,0,0,0,0
$GC,4797,0.79,231.8,195.4,13.5,499,4805,0.00,1.65,0.00,0.000,6,0.000,0.031,3058,2728,2004,0,0,0,0,0,0
$GC,4933,0.79,231.8,179.7,11.6,512,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2728,2004,0,0,0,0,0,0
$GC,5060,0.79,231.8,164.6,11.8,524,5063,0.00,1.67,0.00,0.000,4,0.000,0.048,3059,3773,2004,0,0,0,0,0,0
$GC,5096,0.79,231.8,160.0,13.1,527,5099,0.00,1.62,0.00,0.000,6,0.000,0.029,3066,2745,2004,0,0,0,0,0,0
$GC,5236,0.79,231.8,143.0,11.9,540,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2744,2003,0,0,0,0,0,0
$GC,5364,0.79,231.8,128.3,11.4,552,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2744,2004,0,0,0,0,0,0
$GC,5492,0.79,231.8,113.6,11.6,564,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2744,2003,0,0,0,0,0,0
$GC,5618,0.79,231.8,99.1,11.2,576,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2744,2003,0,0,0,0,0,0
$GC,5761,0.79,231.8,82.7,11.3,601,5768,0.00,1.67,0.00,0.000,4,0.000,0.049,3066,3762,2003,0,0,0,0,0,0
$GC,5804,0.79,231.8,77.4,13.1,608,5811,0.00,1.60,0.00,0.000,6,0.000,0.031,3073,2747,2003,0,0,0,0,0,0
$GC,5947,0.79,231.8,59.5,12.0,633,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2747,2003,0,0,0,0,0,0
$GC,6089,0.79,231.8,42.1,12.3,658,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2747,2003,0,0,0,0,0,0
$GC,6230,0.79,231.8,24.2,12.6,683,6238,0.00,1.67,0.00,0.000,4,0.000,0.049,3073,3765,2003,0,0,0,0,0,0
$GC,6273,0.79,231.8,17.9,15.3,690,6279,0.00,1.60,0.00,0.000,6,0.000,0.030,3081,2755,2003,0,0,0,0,0,0
$FREEZE,8.66,-0.353,-1.894,2,1,0
$FREEZE,7.94,-0.355,-1.894,2,1,0
$FREEZE,7.28,-0.359,-1.893,2,1,0
$FREEZE,6.53,-0.357,-1.893,2,1,0
$FREEZE,5.53,-0.353,-1.892,2,1,0
$FREEZE,5.10,-0.358,-1.892,2,1,0
$FREEZE,4.30,-0.352,-1.891,2,1,0
$FREEZE,3.56,-0.354,-1.890,2,1,0
$FREEZE,2.85,-0.355,-1.890,2,1,0
$STATE,6385,end climb,SURFACE_DEPTH_REACHED
$STATE,6385,begin surface coast
$FREEZE,1.54,-0.344,-1.889,2,1,0
$FREEZE,1.06,-0.337,-1.888,2,1,0
$FREEZE,0.17,-0.341,-1.888,2,1,0
$FREEZE,0.10,-0.353,-0.522,2,1,0
$FINISH,0.1,1.007630
$STATE,6407,end surface coast,CONTROL_FINISHED_OK
$STATE,6408,begin surface
$SM_CCo,6425,6.65,0.103,0,0,1939,250.20
$SM_GC,2.14,0.00,0.00,6.65,0.000,0.000,0.103,183,2754,1939,-8.18,-0.71,250.20
$IRIDIUM_FIX,-7528.04,17624.30,170111,020243
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.4
$24V_AH,21.8,79.526
$10V_AH,9.8,31.139
$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,18.325,37.500,348.450,6.650,0.000,53.678,76.936,271.446,1.000,0.000,44.455,1760.472,3020.250,421.126,1598.719,303.166,0.000,1078.399,0.000,1119.253,0.000,7.756,0.000
$DEVICE_MAMPS,203.490,80.325,976.140,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.983,912.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258240
$DATA_FILE_SIZE,47085,714
$CAP_FILE_SIZE,90527,0
$CFSIZE,260165632,217677824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.149,183.6,1
$GPS,170111,043515,-7613.134,17636.730,15,1.4,16,121.8