version: 66.08
glider: 503
mission: 7
dive: 757
start: 1 17 111 10 39 50
data:
$ID,503
$MISSION,7
$DIVE,757
$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,-20478.791
$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,46
$R_STBD_OVSHOOT,26
$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
$GPS1,170111,103236,-7616.659,17629.908,56,1.1,57,122.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-71.5
$GPS2,170111,103921,-7616.657,17629.922,11,1.8,11,122.2
$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,109.3,80398,-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,-170.3,0.0,0.0,0,99,0.00,0.00,-80.82,0.000,2,0.000,0.000,127,2756,3485,0,0,0,0,0,0
$GC,102,-0.71,-170.3,3.8,-8.0,13,124,9.25,2.22,-3.50,0.000,4,0.202,0.041,2565,1365,3659,0,0,0,0,0,0
$GC,308,-0.71,-170.3,40.0,-13.2,49,315,0.00,2.30,0.00,0.000,6,0.000,0.041,2560,2781,3661,0,0,0,0,0,0
$GC,450,-0.71,-170.3,59.7,-13.9,74,457,0.00,1.60,0.00,0.000,4,0.000,0.048,2554,3757,3661,0,0,0,0,0,0
$GC,492,-0.71,-170.3,65.9,-14.6,81,499,0.00,1.55,0.00,0.000,6,0.000,0.029,2554,2778,3662,0,0,0,0,0,0
$GC,633,-0.71,-170.3,85.8,-13.9,106,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2777,3662,0,0,0,0,0,0
$GC,778,-0.71,-170.3,106.2,-13.9,128,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3662,0,0,0,0,0,0
$GC,906,-0.71,-170.3,124.3,-14.3,140,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3662,0,0,0,0,0,0
$GC,1034,-0.71,-170.3,141.8,-13.4,152,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3662,0,0,0,0,0,0
$GC,1160,-0.71,-170.3,159.4,-13.9,164,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2777,3662,0,0,0,0,0,0
$GC,1287,-0.71,-170.3,177.1,-13.6,176,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3663,0,0,0,0,0,0
$GC,1416,-0.71,-170.3,194.7,-13.8,188,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3663,0,0,0,0,0,0
$GC,1542,-0.71,-170.3,212.2,-13.7,200,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3662,0,0,0,0,0,0
$GC,1669,-0.71,-170.3,229.3,-12.9,212,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3662,0,0,0,0,0,0
$GC,1798,-0.71,-170.3,246.4,-13.1,224,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3662,0,0,0,0,0,0
$GC,1924,-0.71,-170.3,262.7,-12.5,236,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2777,3662,0,0,0,0,0,0
$GC,2116,-0.71,-170.3,286.4,-12.1,254,2120,0.00,1.62,0.00,0.000,4,0.000,0.048,2546,3788,3662,0,0,0,0,0,0
$GC,2163,-0.71,-170.3,292.5,-13.2,258,2166,0.00,1.60,0.00,0.000,6,0.000,0.028,2546,2770,3662,0,0,0,0,0,0
$GC,2367,-0.71,-170.3,319.2,-13.1,277,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2770,3662,0,0,0,0,0,0
$GC,2558,-0.71,-170.3,343.9,-12.7,295,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2770,3662,0,0,0,0,0,0
$GC,2750,-0.71,-170.3,368.8,-13.2,313,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2769,3662,0,0,0,0,0,0
$STATE,2799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2799,begin apogee
$GC,2806,-0.16,0.0,375.8,13.2,318,2953,0.60,0.00,138.88,0.977,4,0.118,0.000,2746,2691,2958,0,0,0,0,0,0
$STATE,2954,end apogee,CONTROL_FINISHED_OK
$STATE,2954,begin climb
$GC,2957,0.71,170.3,382.1,0.0,331,3119,0.85,2.35,150.18,0.927,4,0.073,0.032,3033,1303,2264,0,0,0,0,0,0
$GC,3289,0.73,186.2,361.2,9.4,360,3313,0.00,2.40,14.57,0.868,6,0.000,0.040,3033,2705,2201,0,0,0,0,0,0
$GC,3508,0.73,186.2,339.6,10.3,380,3512,0.00,2.30,0.00,0.000,4,0.000,0.034,3043,1304,2198,0,0,0,0,0,0
$GC,3718,0.74,189.5,319.0,9.9,398,3722,0.00,2.28,0.00,0.000,6,0.000,0.041,3043,2705,2196,0,0,0,0,0,0
$GC,3917,0.74,189.5,298.7,10.2,416,3920,0.00,1.70,0.00,0.000,4,0.000,0.050,3043,3762,2195,0,0,0,0,0,0
$GC,3974,0.74,189.5,292.0,12.5,421,3978,0.00,1.65,0.00,0.000,6,0.000,0.031,3051,2701,2195,0,0,0,0,0,0
$GC,4179,0.74,189.5,269.3,11.1,440,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2701,2194,0,0,0,0,0,0
$GC,4369,0.74,189.5,247.9,10.8,458,4373,0.00,1.70,0.00,0.000,4,0.000,0.050,3051,3761,2194,0,0,1,0,0,0
$GC,4430,0.74,189.5,240.2,12.4,463,4436,0.00,1.67,0.00,0.000,6,0.000,0.030,3059,2707,2193,0,0,0,0,0,0
$GC,4565,0.74,189.5,224.7,11.5,476,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2706,2193,0,0,0,0,0,0
$GC,4691,0.74,189.5,210.3,11.2,488,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2707,2193,0,0,0,0,0,0
$GC,4820,0.74,189.5,196.1,11.6,500,4824,0.00,1.70,0.00,0.000,4,0.000,0.048,3059,3765,2193,0,0,0,0,0,0
$GC,4879,0.74,189.5,188.4,14.2,505,4883,0.00,1.65,0.00,0.000,6,0.000,0.029,3067,2692,2193,0,0,0,0,0,0
$GC,5019,0.74,189.5,171.4,11.6,518,5021,0.10,0.00,0.00,0.000,6,0.177,0.000,3039,2691,2192,0,0,0,0,0,0
$GC,5146,0.74,189.5,158.3,10.0,530,5149,0.00,1.73,0.00,0.000,4,0.000,0.050,3038,3762,2192,0,0,0,0,0,0
$GC,5192,0.74,189.5,153.1,12.2,534,5196,0.00,1.65,0.00,0.000,6,0.000,0.030,3045,2697,2192,0,0,0,0,0,0
$GC,5332,0.74,189.5,138.3,10.5,547,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2697,2192,0,0,0,0,0,0
$GC,5460,0.74,189.5,125.2,10.3,559,5463,0.00,1.70,0.00,0.000,4,0.000,0.049,3045,3758,2192,0,0,0,0,0,0
$GC,5496,0.74,189.5,121.2,11.6,562,5499,0.00,1.62,0.00,0.000,6,0.000,0.031,3053,2734,2192,0,0,0,0,0,0
$GC,5636,0.74,189.5,105.7,11.2,575,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2734,2192,0,0,0,0,0,0
$GC,5767,0.74,189.5,91.0,11.0,594,5773,0.00,1.70,0.00,0.000,4,0.000,0.050,3053,3761,2191,0,0,0,0,0,0
$GC,5803,0.74,189.5,86.7,12.7,600,5811,0.00,1.65,0.00,0.000,6,0.000,0.031,3061,2724,2192,0,0,0,0,0,0
$GC,5950,0.74,189.5,70.1,11.5,625,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2724,2192,0,0,0,0,0,0
$GC,6091,0.74,189.5,54.1,11.5,650,6098,0.00,1.70,0.00,0.000,4,0.000,0.049,3060,3757,2191,0,0,0,0,0,0
$GC,6143,0.74,189.5,47.6,12.9,659,6151,0.08,1.60,0.00,0.000,6,0.147,0.031,3041,2749,2191,0,0,0,0,0,0
$GC,6287,0.74,193.9,33.2,9.8,684,6301,0.00,0.00,6.78,0.724,6,0.000,0.000,3041,2749,2169,0,0,0,0,0,0
$GC,6438,0.74,193.9,17.3,10.9,710,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2749,2169,0,0,0,0,0,0
$FREEZE,8.82,-0.331,-1.895,2,1,0
$FREEZE,8.18,-0.330,-1.894,2,1,0
$FREEZE,7.59,-0.330,-1.894,2,1,0
$FREEZE,7.08,-0.330,-1.893,2,1,0
$FREEZE,6.50,-0.330,-1.893,2,1,0
$FREEZE,5.96,-0.332,-1.892,2,1,0
$FREEZE,5.48,-0.329,-1.892,2,1,0
$FREEZE,4.99,-0.332,-1.892,2,1,0
$FREEZE,4.32,-0.332,-1.891,2,1,0
$FREEZE,3.45,-0.331,-1.891,2,1,0
$FREEZE,2.90,-0.330,-1.890,2,1,0
$STATE,6576,end climb,SURFACE_DEPTH_REACHED
$STATE,6576,begin surface coast
$FREEZE,2.32,-0.331,-1.890,2,1,0
$FREEZE,1.87,-0.334,-1.889,2,1,0
$FREEZE,1.38,-0.333,-1.889,2,1,0
$FREEZE,0.80,-0.332,-1.889,2,1,0
$FREEZE,0.15,-0.336,-1.888,2,1,0
$FINISH,0.2,1.027639
$STATE,6604,end surface coast,CONTROL_FINISHED_OK
$STATE,6604,begin surface
$SM_CCo,6621,26.55,0.099,0,0,1940,250.20
$SM_GC,0.58,0.00,0.00,26.55,0.000,0.000,0.099,181,2749,1940,-8.19,-0.88,250.20
$IRIDIUM_FIX,-7528.04,17632.18,170111,080857
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.0
$24V_AH,21.9,79.950
$10V_AH,9.8,31.368
$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,18.425,43.700,310.400,26.550,0.000,27.608,44.068,179.138,1.250,0.000,13.777,1862.934,2981.660,416.748,1499.019,297.955,0.000,1107.054,0.000,1200.318,0.000,7.759,0.000
$DEVICE_MAMPS,201.960,133.875,976.905,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.058,951.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47139,740
$CAP_FILE_SIZE,93120,0
$CFSIZE,260165632,217468928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.075,121.0,1
$GPS,170111,123144,-7617.373,17627.961,21,1.5,22,122.3