version: 66.08
glider: 503
mission: 7
dive: 755
start: 1 17 111 6 38 54
data:
$ID,503
$MISSION,7
$DIVE,755
$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,-20476.277
$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,51
$R_STBD_OVSHOOT,27
$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
$GPS1,170111,063206,-7614.522,17634.631,48,0.9,49,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.9
$GPS2,170111,063825,-7614.544,17634.615,9,1.7,9,121.9
$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,109.6,84775,-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,12,begin dive
$GC,15,-0.71,-170.3,0.0,0.0,0,90,0.00,0.00,-72.05,0.000,2,0.000,0.000,142,2758,3449,0,0,0,0,0,0
$GC,94,-0.71,-170.3,3.6,-7.0,12,116,9.23,2.25,-4.35,0.000,4,0.203,0.044,2566,1366,3662,0,0,0,0,0,0
$GC,262,-0.71,-170.3,36.2,-14.4,41,269,0.00,2.30,0.00,0.000,6,0.000,0.042,2562,2780,3665,0,0,0,0,0,0
$GC,405,-0.71,-170.3,55.7,-13.6,66,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3664,0,0,0,0,0,0
$GC,548,-0.71,-170.3,75.0,-13.1,91,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3665,0,0,0,0,0,0
$GC,689,-0.71,-170.3,93.7,-12.3,116,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2780,3666,0,0,0,0,0,0
$GC,826,-0.71,-170.3,112.2,-13.6,133,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3666,0,0,0,0,0,0
$GC,953,-0.71,-170.3,129.6,-13.7,145,957,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3763,3666,0,0,0,0,0,0
$GC,987,-0.71,-170.3,134.4,-14.6,148,992,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2781,3666,0,0,0,0,0,0
$GC,1128,-0.71,-170.3,153.6,-13.8,161,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3666,0,0,0,0,0,0
$GC,1255,-0.71,-170.3,171.2,-13.8,173,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3666,0,0,0,0,0,0
$GC,1383,-0.71,-170.3,188.8,-13.8,185,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3666,0,0,0,0,0,0
$GC,1510,-0.71,-170.3,205.6,-13.3,197,1513,0.00,1.62,0.00,0.000,4,0.000,0.049,2555,3794,3666,0,0,0,0,0,0
$GC,1556,-0.71,-170.3,212.2,-14.5,201,1560,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2784,3666,0,0,0,0,0,0
$GC,1696,-0.71,-170.3,231.4,-13.7,214,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2783,3666,0,0,0,0,0,0
$GC,1824,-0.71,-170.3,248.8,-13.5,226,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2783,3666,0,0,0,0,0,0
$GC,1951,-0.71,-170.3,266.2,-13.5,238,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2783,3666,0,0,0,0,0,0
$GC,2143,-0.71,-170.3,292.2,-13.8,256,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2783,3666,0,0,0,0,0,0
$GC,2333,-0.71,-170.3,318.6,-14.0,274,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2783,3666,0,0,0,0,0,0
$GC,2525,-0.71,-170.3,345.1,-14.1,292,2528,0.00,1.62,0.00,0.000,4,0.000,0.049,2547,3795,3666,0,0,0,0,0,0
$GC,2582,-0.71,-170.3,353.4,-14.3,297,2586,0.00,1.58,0.00,0.000,6,0.000,0.028,2547,2783,3665,0,0,0,0,0,0
$STATE,2743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2743,begin apogee
$GC,2749,-0.16,0.0,376.3,13.6,312,2896,0.57,0.00,139.95,0.975,4,0.118,0.000,2740,2693,2958,0,0,0,0,0,0
$STATE,2897,end apogee,CONTROL_FINISHED_OK
$STATE,2897,begin climb
$GC,2900,0.71,170.3,383.1,0.0,325,3060,0.88,2.33,150.43,0.928,4,0.074,0.032,3033,1310,2265,0,0,0,0,0,0
$GC,3241,0.74,195.2,360.9,9.0,355,3269,0.00,2.38,23.00,0.891,6,0.000,0.041,3033,2704,2163,0,0,0,0,0,0
$GC,3462,0.74,195.2,338.1,10.6,375,3466,0.00,2.28,0.00,0.000,4,0.000,0.034,3043,1309,2161,0,0,0,0,0,0
$GC,3661,0.74,195.2,316.7,10.5,392,3668,0.00,2.30,0.00,0.000,6,0.000,0.042,3042,2713,2160,0,0,0,0,0,0
$GC,3861,0.74,195.2,294.6,11.3,411,3864,0.00,1.67,0.00,0.000,4,0.000,0.050,3043,3761,2158,0,0,0,0,0,0
$GC,3908,0.74,195.2,288.8,12.5,415,3911,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2698,2158,0,0,0,0,0,0
$GC,4112,0.74,195.2,265.9,11.1,434,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2698,2157,0,0,0,0,0,0
$GC,4303,0.74,195.2,244.9,10.9,452,4306,0.00,1.73,0.00,0.000,4,0.000,0.050,3051,3772,2157,0,0,0,0,0,0
$GC,4370,0.74,195.2,236.4,13.5,458,4374,0.00,1.65,0.00,0.000,6,0.000,0.030,3059,2701,2157,0,0,0,0,0,0
$GC,4511,0.74,195.2,220.0,11.4,471,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2701,2157,0,0,0,0,0,0
$GC,4638,0.74,195.2,205.3,11.5,483,4641,0.00,1.75,0.00,0.000,4,0.000,0.048,3059,3763,2157,0,0,0,0,0,0
$GC,4684,0.74,195.2,199.2,13.4,487,4688,0.00,1.65,0.00,0.000,6,0.000,0.030,3067,2712,2156,0,0,0,0,0,0
$GC,4825,0.74,195.2,181.8,12.3,500,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2712,2157,0,0,0,0,0,0
$GC,4952,0.74,195.2,166.3,11.7,512,4955,0.00,1.67,0.00,0.000,4,0.000,0.048,3067,3763,2156,0,0,0,0,0,0
$GC,4999,0.74,195.2,160.3,14.0,516,5003,0.12,1.62,0.00,0.000,6,0.164,0.030,3039,2734,2156,0,0,0,0,0,0
$GC,5140,0.75,203.1,145.6,9.7,529,5149,0.00,0.00,6.97,0.777,6,0.000,0.000,3039,2734,2132,0,0,0,0,0,0
$GC,5276,0.76,208.0,132.2,9.8,542,5287,0.00,0.00,6.28,0.741,6,0.000,0.000,3039,2734,2111,0,0,0,0,0,0
$GC,5414,0.77,217.5,119.0,9.6,555,5426,0.00,0.00,10.15,0.792,6,0.000,0.000,3039,2734,2072,0,0,0,0,0,0
$GC,5551,0.77,217.5,105.1,10.2,568,5555,0.00,1.65,0.00,0.000,4,0.000,0.050,3039,3761,2072,0,0,0,0,0,0
$GC,5590,0.77,217.5,100.5,11.8,571,5597,0.00,1.65,0.00,0.000,6,0.000,0.031,3045,2722,2072,0,0,0,0,0,0
$GC,5737,0.77,220.4,85.7,9.9,596,5744,0.00,0.00,4.38,0.637,6,0.000,0.000,3044,2722,2061,0,0,0,0,0,0
$GC,5878,0.77,220.4,70.8,10.5,621,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2722,2061,0,0,0,0,0,0
$GC,6020,0.78,224.3,56.3,9.8,646,6028,0.00,0.00,5.25,0.678,6,0.000,0.000,3045,2722,2045,0,0,0,0,0,0
$GC,6165,0.78,224.3,41.1,10.9,671,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2722,2045,0,0,0,0,0,0
$GC,6308,0.78,228.7,26.5,9.8,696,6323,0.00,1.73,5.65,0.680,4,0.000,0.050,3045,3753,2027,0,0,0,0,0,0
$GC,6358,0.78,228.7,21.0,11.2,704,6364,0.00,1.62,0.00,0.000,6,0.000,0.031,3051,2726,2027,0,0,0,0,0,0
$FREEZE,8.72,-0.331,-1.894,2,1,0
$FREEZE,8.11,-0.333,-1.894,2,1,0
$FREEZE,7.47,-0.329,-1.893,2,1,0
$FREEZE,6.78,-0.330,-1.893,2,1,0
$FREEZE,6.08,-0.329,-1.892,2,1,0
$FREEZE,5.59,-0.328,-1.892,2,1,0
$GC,6500,0.78,228.7,5.6,11.6,729,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2725,2027,0,0,0,0,0,0
$FREEZE,3.83,-0.330,-1.891,2,1,0
$FREEZE,3.26,-0.329,-1.890,2,1,0
$FREEZE,2.61,-0.329,-1.890,2,1,0
$STATE,6522,end climb,SURFACE_DEPTH_REACHED
$STATE,6522,begin surface coast
$FREEZE,2.04,-0.327,-1.889,2,1,0
$FREEZE,1.45,-0.327,-1.889,2,1,0
$FREEZE,0.82,-0.327,-1.888,2,1,0
$FREEZE,0.10,-0.327,-1.888,2,1,0
$FREEZE,-0.05,-0.344,-1.795,2,1,0
$FINISH,-0.1,1.026330
$STATE,6550,end surface coast,CONTROL_FINISHED_OK
$STATE,6550,begin surface
$SM_CCo,6568,9.57,0.102,0,0,1940,250.20
$SM_GC,1.38,0.00,0.00,9.57,0.000,0.000,0.102,185,2803,1940,-8.17,0.65,250.20
$IRIDIUM_FIX,-7528.04,17623.73,170111,040429
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.0
$24V_AH,21.9,79.736
$10V_AH,9.8,31.252
$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,18.275,43.575,352.050,9.575,0.000,29.455,37.656,169.150,1.000,0.000,11.921,1852.156,2912.499,418.348,1500.893,279.830,0.000,1121.839,0.000,1211.360,0.000,7.758,0.000
$DEVICE_MAMPS,203.490,97.920,974.610,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.322,954.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47016,738
$CAP_FILE_SIZE,93820,0
$CFSIZE,260165632,217579520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,159.5,1
$GPS,170111,082944,-7615.726,17632.498,29,1.7,30,122.1