version: 66.08
glider: 503
mission: 7
dive: 764
start: 1 18 111 0 32 5
data:
$ID,503
$MISSION,7
$DIVE,764
$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,-20487.586
$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,29
$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
$GPS1,180111,002206,-7620.501,17619.596,28,1.0,39,122.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.3
$GPS2,180111,003138,-7620.479,17619.621,10,1.4,10,122.7
$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,90.8,72121,-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,-170.3,0.0,0.0,0,88,0.00,0.00,-69.38,0.000,2,0.000,0.000,152,2788,3402,0,0,0,0,0,0
$GC,91,-0.71,-170.3,3.5,-6.8,12,112,9.18,0.00,-5.45,0.000,6,0.203,0.000,2568,2787,3659,0,0,0,0,0,0
$GC,249,-0.71,-170.3,33.3,-13.4,39,256,0.00,2.20,0.00,0.000,4,0.000,0.031,2568,1377,3662,0,0,0,0,0,0
$GC,292,-0.71,-170.3,39.6,-13.4,46,300,0.00,2.28,0.00,0.000,6,0.000,0.043,2563,2778,3662,0,0,0,0,0,0
$GC,437,-0.71,-170.3,60.5,-15.2,71,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2778,3663,0,0,0,0,0,0
$GC,579,-0.71,-170.3,80.9,-14.2,96,587,0.00,1.60,0.00,0.000,4,0.000,0.051,2563,3761,3663,0,0,0,0,0,0
$GC,628,-0.71,-170.3,87.8,-14.0,104,635,0.00,1.55,0.00,0.000,6,0.000,0.029,2563,2775,3662,0,0,0,0,0,0
$GC,772,-0.71,-170.3,108.0,-14.9,125,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2775,3663,0,0,0,0,0,0
$GC,900,-0.71,-170.3,125.2,-14.0,137,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2775,3663,0,0,0,0,0,0
$GC,1027,-0.71,-170.3,142.8,-13.9,149,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2775,3663,0,0,0,0,0,0
$GC,1154,-0.71,-170.3,160.1,-13.4,161,1158,0.00,1.62,0.00,0.000,4,0.000,0.048,2556,3790,3663,0,0,0,0,0,0
$GC,1205,-0.71,-170.3,167.6,-14.3,165,1212,0.00,1.58,0.00,0.000,6,0.000,0.028,2556,2778,3663,0,0,0,0,0,0
$GC,1340,-0.71,-170.3,186.1,-13.8,178,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2778,3663,0,0,0,0,0,0
$GC,1467,-0.71,-170.3,203.9,-14.2,190,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2778,3663,0,0,0,0,0,0
$GC,1595,-0.71,-170.3,221.3,-13.4,202,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2779,3663,0,0,0,0,0,0
$GC,1722,-0.71,-170.3,238.4,-12.9,214,1725,0.00,1.62,0.00,0.000,4,0.000,0.048,2548,3794,3663,0,0,0,0,0,0
$GC,1772,-0.71,-170.3,246.3,-14.6,218,1779,0.00,1.58,0.00,0.000,6,0.000,0.028,2547,2781,3663,0,0,0,0,0,0
$GC,1908,-0.71,-170.3,264.6,-13.8,231,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2781,3663,0,0,0,0,0,0
$GC,2097,-0.71,-170.3,291.1,-14.0,249,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2781,3663,0,0,0,0,0,0
$GC,2289,-0.71,-170.3,317.1,-13.4,267,2293,0.00,1.60,0.00,0.000,4,0.000,0.048,2540,3755,3663,0,0,0,0,0,0
$GC,2357,-0.71,-170.3,327.0,-14.5,273,2361,0.00,1.50,0.00,0.000,6,0.000,0.029,2540,2795,3663,0,0,0,0,0,0
$GC,2561,-0.71,-170.3,356.0,-14.0,292,2563,0.10,0.00,0.00,0.000,6,0.171,0.000,2568,2796,3662,0,0,0,0,0,0
$STATE,2728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2736,-0.16,0.0,376.1,11.5,308,2882,0.52,0.00,139.20,0.977,4,0.113,0.000,2747,2688,2958,0,0,0,0,0,0
$STATE,2883,end apogee,CONTROL_FINISHED_OK
$STATE,2883,begin climb
$GC,2886,0.71,170.3,382.8,0.0,321,3047,0.85,2.33,150.77,0.929,4,0.071,0.032,3033,1311,2265,0,0,0,0,0,0
$GC,3053,0.78,222.0,377.3,8.0,335,3109,0.00,2.47,50.15,0.894,6,0.000,0.041,3033,2697,2054,0,0,1,0,0,0
$GC,3301,0.78,222.0,352.3,10.0,358,3305,0.00,1.80,0.00,0.000,4,0.000,0.048,3033,3765,2050,0,0,0,0,0,0
$GC,3381,0.78,222.0,342.9,11.7,365,3385,0.00,1.65,0.00,0.000,6,0.000,0.030,3040,2725,2048,0,0,1,0,0,0
$GC,3585,0.78,222.0,321.1,10.5,384,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2724,2047,0,0,0,0,0,0
$GC,3776,0.78,222.0,301.1,10.1,402,3780,0.00,1.70,0.00,0.000,4,0.000,0.049,3041,3773,2046,0,0,0,0,0,0
$GC,3834,0.78,222.0,294.4,12.2,407,3838,0.00,1.65,0.00,0.000,6,0.000,0.031,3047,2711,2045,0,0,0,0,0,0
$GC,4039,0.78,222.0,272.2,10.4,426,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2711,2045,0,0,0,0,0,0
$GC,4229,0.78,222.0,252.1,10.3,444,4233,0.00,1.70,0.00,0.000,4,0.000,0.049,3047,3767,2045,0,0,0,0,0,0
$GC,4298,0.78,222.0,244.0,12.3,450,4302,0.00,1.65,0.00,0.000,6,0.000,0.029,3054,2701,2044,0,0,0,0,0,0
$GC,4439,0.78,222.0,228.8,10.5,463,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2699,2043,0,0,0,0,0,0
$GC,4566,0.78,222.0,215.9,10.1,475,4569,0.00,1.73,0.00,0.000,4,0.000,0.049,3054,3772,2043,0,0,0,0,0,0
$GC,4601,0.78,222.0,212.0,12.1,478,4605,0.00,1.65,0.00,0.000,6,0.000,0.029,3061,2701,2043,0,0,0,0,0,0
$GC,4742,0.78,222.0,197.4,10.4,491,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2700,2043,0,0,0,0,0,0
$GC,4870,0.78,222.6,184.4,10.0,503,4873,0.00,1.73,0.00,0.000,4,0.000,0.048,3061,3774,2043,0,0,0,0,0,0
$GC,4909,0.78,222.6,179.6,12.0,506,4917,0.00,1.65,0.00,0.000,6,0.000,0.029,3069,2733,2043,0,0,0,0,0,0
$GC,5044,0.78,222.6,164.8,11.0,519,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2733,2043,0,0,0,0,0,0
$GC,5172,0.78,222.6,150.9,10.9,531,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2733,2043,0,0,0,0,0,0
$GC,5300,0.78,222.6,136.5,11.3,543,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2733,2043,0,0,0,0,0,0
$GC,5426,0.78,222.6,122.3,11.5,555,5430,0.00,1.70,0.00,0.000,4,0.000,0.049,3069,3767,2043,0,0,0,0,0,0
$GC,5465,0.78,222.6,117.0,13.0,558,5474,0.08,1.62,0.00,0.000,6,0.150,0.030,3050,2737,2042,0,0,0,0,0,0
$GC,5601,0.78,222.6,103.1,10.0,571,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2737,2042,0,0,0,0,0,0
$GC,5732,0.79,233.3,90.3,9.6,591,5745,0.00,0.00,9.20,0.790,6,0.000,0.000,3049,2737,2008,0,0,0,0,0,0
$GC,5883,0.79,233.3,75.2,10.0,617,5889,0.00,1.70,0.00,0.000,4,0.000,0.050,3050,3765,2008,0,0,0,0,0,0
$GC,5930,0.79,233.3,69.2,12.1,625,5937,0.00,1.60,0.00,0.000,6,0.000,0.031,3057,2757,2008,0,0,0,0,0,0
$GC,6073,0.79,233.3,53.2,11.5,650,6081,0.00,2.30,0.00,0.000,4,0.000,0.035,3067,1302,2008,0,0,0,0,0,0
$GC,6095,0.79,233.3,50.6,11.5,653,6102,0.00,2.35,0.00,0.000,6,0.000,0.043,3067,2756,2008,0,0,0,0,0,0
$GC,6236,0.79,233.3,33.9,11.7,678,6244,0.00,1.65,0.00,0.000,4,0.000,0.050,3067,3764,2008,0,0,0,0,0,0
$GC,6273,0.79,233.3,29.1,13.4,684,6280,0.00,1.60,0.00,0.000,6,0.000,0.031,3076,2753,2008,0,0,0,0,0,0
$GC,6417,0.79,233.3,11.4,12.8,709,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2753,2008,0,0,0,0,0,0
$FREEZE,8.92,-0.045,-1.897,2,1,0
$FREEZE,8.36,-0.043,-1.896,2,1,0
$FREEZE,7.71,-0.042,-1.896,2,1,0
$FREEZE,7.15,-0.044,-1.895,2,1,0
$FREEZE,6.50,-0.044,-1.895,2,1,0
$FREEZE,5.88,-0.048,-1.894,2,1,0
$FREEZE,5.19,-0.048,-1.894,2,1,0
$FREEZE,4.61,-0.049,-1.893,2,1,0
$FREEZE,3.85,-0.047,-1.893,2,1,0
$FREEZE,3.22,-0.045,-1.892,2,1,0
$FREEZE,2.59,-0.044,-1.892,2,1,0
$STATE,6485,end climb,SURFACE_DEPTH_REACHED
$STATE,6485,begin surface coast
$FREEZE,1.93,-0.045,-1.891,2,1,0
$FREEZE,0.79,-0.051,-1.890,2,1,0
$FREEZE,0.05,-0.049,-1.890,2,1,0
$FREEZE,0.16,-0.088,-1.093,2,1,0
$FINISH,0.2,1.016157
$STATE,6509,end surface coast,CONTROL_FINISHED_OK
$STATE,6509,begin surface
$SM_CCo,6528,7.50,0.103,0,0,1940,250.45
$SM_GC,2.17,0.00,0.00,7.50,0.000,0.000,0.103,174,2752,1940,-8.19,-0.79,250.45
$IRIDIUM_FIX,-7536.68,17620.87,180111,000030
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$24V_AH,21.8,80.693
$10V_AH,9.8,31.767
$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,18.325,53.450,349.325,7.500,0.000,58.645,111.171,185.017,1.000,0.000,13.134,1811.350,3003.630,430.631,1563.568,302.376,0.000,1119.584,0.000,1161.264,0.000,7.759,0.000
$DEVICE_MAMPS,202.725,79.560,976.905,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.124,934.397,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,47074,726
$CAP_FILE_SIZE,95684,0
$CFSIZE,260165632,217104384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.063,145.6,1
$GPS,180111,022208,-7621.497,17617.527,24,1.6,25,122.8