version: 66.08
glider: 503
mission: 7
dive: 763
start: 1 17 111 22 27 23
data:
$ID,503
$MISSION,7
$DIVE,763
$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,-20486.33
$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,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
$GPS1,170111,221630,-7619.834,17621.109,51,0.8,57,122.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.6
$GPS2,170111,222656,-7619.805,17621.223,12,1.0,12,122.6
$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,91.5,73539,-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,-170.3,0.0,0.0,0,89,0.00,0.00,-70.40,0.000,2,0.000,0.000,124,2758,3422,0,0,0,0,0,0
$GC,92,-0.71,-170.3,3.4,-6.7,12,114,9.27,1.70,-5.05,0.000,4,0.200,0.063,2560,3773,3659,0,0,1,0,0,0
$GC,144,-0.71,-170.3,18.2,-18.9,20,150,0.00,1.58,0.00,0.000,6,0.000,0.029,2560,2780,3661,0,0,0,0,0,0
$GC,285,-0.71,-170.3,39.0,-14.5,45,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2780,3663,0,0,0,0,0,0
$GC,427,-0.71,-170.3,58.6,-13.6,70,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2780,3662,0,0,0,0,0,0
$GC,570,-0.71,-170.3,78.4,-13.7,95,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2780,3663,0,0,0,0,0,0
$GC,711,-0.71,-170.3,97.4,-13.7,120,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2780,3663,0,0,0,0,0,0
$GC,846,-0.71,-170.3,116.2,-13.5,134,850,0.00,1.62,0.00,0.000,4,0.000,0.048,2551,3761,3663,0,0,0,0,0,0
$GC,896,-0.71,-170.3,123.5,-13.8,138,903,0.00,1.55,0.00,0.000,6,0.000,0.028,2552,2777,3663,0,0,0,0,0,0
$GC,1031,-0.71,-170.3,142.3,-14.2,151,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2777,3663,0,0,0,0,0,0
$GC,1159,-0.71,-170.3,160.2,-13.9,163,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2777,3664,0,0,0,0,0,0
$GC,1285,-0.71,-170.3,177.9,-13.7,175,1289,0.00,1.62,0.00,0.000,4,0.000,0.049,2544,3758,3664,0,0,0,0,0,0
$GC,1335,-0.71,-170.3,185.5,-14.4,179,1342,0.00,1.55,0.00,0.000,6,0.000,0.029,2544,2775,3664,0,0,0,0,0,0
$GC,1470,-0.71,-170.3,204.5,-14.2,192,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2776,3664,0,0,0,0,0,0
$GC,1598,-0.71,-170.3,222.2,-13.7,204,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2775,3663,0,0,0,0,0,0
$GC,1724,-0.71,-170.3,239.7,-13.8,216,1728,0.00,1.62,0.00,0.000,4,0.000,0.049,2537,3763,3663,0,0,0,0,0,0
$GC,1782,-0.71,-170.3,248.1,-14.6,221,1786,0.08,1.55,0.00,0.000,6,0.130,0.029,2579,2777,3663,0,0,0,0,0,0
$GC,1921,-0.71,-170.3,264.4,-11.1,234,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2777,3663,0,0,0,0,0,0
$GC,2113,-0.71,-170.3,285.1,-10.7,252,2117,0.00,1.62,0.00,0.000,4,0.000,0.049,2572,3791,3663,0,0,0,0,0,0
$GC,2174,-0.71,-170.3,292.3,-11.7,257,2181,0.00,1.58,0.00,0.000,6,0.000,0.028,2572,2782,3663,0,0,0,0,0,0
$GC,2372,-0.71,-170.3,314.5,-10.7,276,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2781,3663,0,0,0,0,0,0
$GC,2564,-0.71,-170.3,335.3,-11.3,294,2568,0.00,1.62,0.00,0.000,4,0.000,0.049,2565,3763,3662,0,0,0,0,0,0
$GC,2609,-0.71,-170.3,340.8,-11.9,298,2613,0.00,1.50,0.00,0.000,6,0.000,0.030,2565,2808,3663,0,0,0,0,0,0
$GC,2814,-0.71,-170.3,364.1,-11.3,317,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2809,3663,0,0,0,0,0,0
$STATE,2905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2905,begin apogee
$GC,2913,-0.16,0.0,375.2,11.6,326,3060,0.52,0.00,139.55,0.977,4,0.116,0.000,2743,2690,2958,0,0,0,0,0,0
$STATE,3060,end apogee,CONTROL_FINISHED_OK
$STATE,3061,begin climb
$GC,3064,0.71,170.3,381.5,0.0,339,3224,0.85,2.33,150.62,0.929,4,0.073,0.032,3028,1310,2265,0,0,0,0,0,0
$GC,3401,0.73,187.7,360.2,9.3,368,3422,0.00,2.38,16.20,0.877,6,0.000,0.041,3028,2701,2194,0,0,0,0,0,0
$GC,3619,0.73,187.7,338.8,10.3,388,3623,0.00,2.25,0.00,0.000,4,0.000,0.034,3039,1311,2191,0,0,1,0,0,0
$GC,3797,0.73,187.7,320.5,10.1,403,3804,0.00,2.28,0.00,0.000,6,0.000,0.041,3038,2711,2190,0,0,0,0,0,0
$GC,3997,0.73,188.3,300.9,10.0,422,4001,0.00,1.67,0.00,0.000,4,0.000,0.050,3039,3761,2189,0,0,0,0,0,0
$GC,4056,0.73,188.3,294.2,12.2,427,4060,0.00,1.65,0.00,0.000,6,0.000,0.031,3045,2695,2187,0,0,0,0,0,0
$GC,4260,0.73,188.3,273.1,10.4,446,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2695,2187,0,0,0,0,0,0
$GC,4451,0.73,188.3,253.3,10.5,464,4455,0.00,1.73,0.00,0.000,4,0.000,0.050,3045,3767,2187,0,0,0,0,0,0
$GC,4534,0.73,188.3,243.2,13.0,471,4541,0.00,1.65,0.00,0.000,6,0.000,0.030,3053,2724,2187,0,0,0,0,0,0
$GC,4669,0.73,188.3,228.5,11.1,484,4672,0.00,1.67,0.00,0.000,4,0.000,0.048,3053,3766,2187,0,0,0,0,0,0
$GC,4715,0.73,188.3,223.0,12.7,488,4719,0.00,1.62,0.00,0.000,6,0.000,0.031,3061,2742,2187,0,0,0,0,0,0
$GC,4855,0.73,188.3,206.9,11.3,501,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2742,2186,0,0,0,0,0,0
$GC,4983,0.73,188.3,192.5,11.4,513,4986,0.00,1.65,0.00,0.000,4,0.000,0.049,3061,3770,2186,0,0,0,0,0,0
$GC,5041,0.73,188.3,185.2,13.1,518,5045,0.08,1.60,0.00,0.000,6,0.149,0.030,3041,2759,2186,0,0,0,0,0,0
$GC,5181,0.74,190.0,170.6,9.9,531,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2759,2186,0,0,0,0,0,0
$GC,5308,0.74,190.0,157.9,10.0,543,5312,0.00,1.62,0.00,0.000,4,0.000,0.050,3041,3770,2186,0,0,0,0,0,0
$GC,5355,0.74,190.0,152.9,11.2,547,5359,0.00,1.60,0.00,0.000,6,0.000,0.031,3047,2761,2186,0,0,0,0,0,0
$GC,5496,0.75,201.1,138.6,9.6,560,5514,0.00,0.00,11.85,0.822,6,0.000,0.000,3047,2760,2140,0,0,0,0,0,0
$GC,5642,0.75,201.1,123.8,10.2,574,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2760,2140,0,0,0,0,0,0
$GC,5770,0.75,201.1,110.6,10.6,586,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2760,2140,0,0,0,0,0,0
$GC,5898,0.75,201.1,97.1,10.5,600,5905,0.00,1.65,0.00,0.000,4,0.000,0.050,3047,3759,2139,0,0,0,0,0,0
$GC,5945,0.75,201.1,91.8,12.8,608,5952,0.00,1.55,0.00,0.000,6,0.000,0.031,3053,2781,2139,0,0,0,0,0,0
$GC,6088,0.75,201.1,76.5,11.2,633,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2781,2139,0,0,0,0,0,0
$GC,6229,0.76,209.9,62.0,9.7,658,6244,0.00,1.65,9.35,0.770,4,0.000,0.050,3053,3768,2104,0,0,1,0,0,0
$GC,6280,0.76,209.9,56.6,11.7,666,6287,0.00,1.55,0.00,0.000,6,0.000,0.030,3061,2787,2104,0,0,0,0,0,0
$GC,6425,0.76,209.9,40.8,11.4,691,6433,0.00,2.35,0.00,0.000,4,0.000,0.034,3072,1303,2103,0,0,0,0,0,0
$GC,6457,0.76,209.9,37.1,10.9,696,6464,0.00,2.40,0.00,0.000,6,0.000,0.042,3072,2785,2103,0,0,0,0,0,0
$GC,6604,0.76,209.9,20.0,11.8,721,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2785,2103,0,0,0,0,0,0
$FREEZE,8.38,-0.133,-1.896,2,1,0
$FREEZE,7.59,-0.132,-1.896,2,1,0
$FREEZE,7.31,-0.131,-1.896,2,1,0
$FREEZE,6.50,-0.130,-1.895,2,1,0
$FREEZE,5.80,-0.136,-1.895,2,1,0
$FREEZE,5.02,-0.136,-1.894,2,1,0
$FREEZE,4.28,-0.136,-1.893,2,1,0
$FREEZE,3.59,-0.136,-1.893,2,1,0
$FREEZE,3.15,-0.128,-1.892,2,1,0
$FREEZE,2.18,-0.128,-1.892,2,1,0
$STATE,6742,end climb,SURFACE_DEPTH_REACHED
$STATE,6742,begin surface coast
$FREEZE,1.36,-0.128,-1.891,2,1,0
$FREEZE,0.65,-0.127,-1.890,2,1,0
$FREEZE,-0.06,-0.148,-1.891,2,1,0
$FREEZE,0.31,-0.128,-1.890,2,1,0
$FINISH,0.3,1.027657
$STATE,6765,end surface coast,CONTROL_FINISHED_OK
$STATE,6765,begin surface
$SM_CCo,6783,18.92,0.101,0,0,1940,250.20
$SM_GC,0.66,0.00,0.00,18.92,0.000,0.000,0.101,188,2787,1940,-8.16,0.20,250.20
$IRIDIUM_FIX,-7536.68,17631.08,170111,222247
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.0
$24V_AH,21.9,80.582
$10V_AH,9.8,31.709
$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,18.400,56.100,327.575,18.925,0.000,60.032,75.053,246.394,1.000,0.000,15.207,1889.135,3093.149,433.671,1702.274,312.836,0.000,1160.852,0.000,1246.588,0.000,7.757,0.000
$DEVICE_MAMPS,199.665,70.380,976.905,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.303,955.911,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258048
$DATA_FILE_SIZE,50430,750
$CAP_FILE_SIZE,101042,0
$CFSIZE,260165632,217153536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.047, 65.3,1
$GPS,180111,002206,-7620.501,17619.596,28,1.0,39,122.7