version: 66.08
glider: 503
mission: 7
dive: 765
start: 1 18 111 2 29 59
data:
$ID,503
$MISSION,7
$DIVE,765
$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,-20490.646
$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,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
$GPS1,180111,022208,-7621.497,17617.527,24,1.6,25,122.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.9
$GPS2,180111,022930,-7621.499,17617.498,43,1.2,43,122.8
$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,96.4,70037,-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,-170.3,0.0,0.0,0,89,0.00,0.00,-71.38,0.000,2,0.000,0.000,138,2751,3425,0,0,0,0,0,0
$GC,93,-0.71,-170.3,3.3,-6.1,12,115,9.23,2.25,-5.00,0.000,4,0.202,0.044,2568,1374,3659,0,0,0,0,0,0
$GC,233,-0.71,-170.3,29.3,-13.4,36,240,0.00,2.30,0.00,0.000,6,0.000,0.043,2563,2785,3662,0,0,0,0,0,0
$GC,375,-0.71,-170.3,48.6,-14.4,61,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3663,0,0,0,0,0,0
$GC,518,-0.71,-170.3,68.2,-13.4,86,525,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3761,3662,0,0,0,0,0,0
$GC,566,-0.71,-170.3,75.2,-14.4,94,574,0.00,1.55,0.00,0.000,6,0.000,0.028,2562,2778,3662,0,0,0,0,0,0
$GC,710,-0.71,-170.3,94.4,-12.8,119,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3663,0,0,0,0,0,0
$GC,847,-0.71,-170.3,114.0,-13.9,135,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2778,3663,0,0,0,0,0,0
$GC,976,-0.71,-170.3,131.7,-13.9,147,979,0.00,1.62,0.00,0.000,4,0.000,0.049,2562,3787,3663,0,0,0,0,0,0
$GC,1014,-0.71,-170.3,137.5,-13.9,150,1022,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2780,3663,0,0,0,0,0,0
$GC,1150,-0.71,-170.3,155.1,-13.0,163,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3664,0,0,0,0,0,0
$GC,1278,-0.71,-170.3,172.0,-13.2,175,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3663,0,0,0,0,0,0
$GC,1404,-0.71,-170.3,189.0,-13.3,187,1408,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3793,3663,0,0,0,0,0,0
$GC,1451,-0.71,-170.3,195.5,-14.3,191,1455,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2788,3663,0,0,0,0,0,0
$GC,1592,-0.71,-170.3,214.3,-13.6,204,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2788,3663,0,0,0,0,0,0
$GC,1719,-0.71,-170.3,230.6,-12.6,216,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2787,3663,0,0,0,0,0,0
$GC,1846,-0.71,-170.3,246.9,-12.8,228,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2788,3663,0,0,0,0,0,0
$GC,1974,-0.71,-170.3,263.3,-13.1,240,1977,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3757,3663,0,0,0,0,0,0
$GC,2020,-0.71,-170.3,269.5,-13.2,244,2024,0.00,1.50,0.00,0.000,6,0.000,0.029,2562,2801,3663,0,0,0,0,0,0
$GC,2225,-0.71,-170.3,295.8,-12.8,263,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2801,3663,0,0,0,0,0,0
$GC,2416,-0.71,-170.3,320.2,-12.8,281,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2801,3663,0,0,0,0,0,0
$GC,2607,-0.71,-170.3,344.8,-12.8,299,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2802,3663,0,0,0,0,0,0
$GC,2798,-0.71,-170.3,369.3,-12.5,317,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2801,3663,0,0,0,0,0,0
$STATE,2848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2848,begin apogee
$GC,2856,-0.16,0.0,376.1,12.3,322,3003,0.55,0.00,139.25,0.981,4,0.117,0.000,2747,2681,2958,0,0,0,0,0,0
$STATE,3004,end apogee,CONTROL_FINISHED_OK
$STATE,3004,begin climb
$GC,3007,0.71,170.3,383.1,0.0,335,3168,0.85,2.35,150.85,0.929,4,0.072,0.033,3033,1304,2265,0,0,0,0,0,0
$GC,3174,0.78,222.3,377.7,7.9,349,3230,0.00,2.53,50.28,0.890,6,0.000,0.040,3033,2702,2053,0,0,0,0,0,0
$GC,3422,0.78,222.3,352.2,10.7,372,3426,0.00,1.80,0.00,0.000,4,0.000,0.048,3033,3766,2049,0,0,0,0,0,0
$GC,3502,0.78,222.3,342.4,12.5,379,3506,0.00,1.65,0.00,0.000,6,0.000,0.030,3041,2725,2047,0,0,1,0,0,0
$GC,3706,0.78,222.3,320.4,10.8,398,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2724,2046,0,0,0,0,0,0
$GC,3897,0.78,222.3,300.1,10.4,416,3900,0.00,1.70,0.00,0.000,4,0.000,0.048,3041,3773,2044,0,0,0,0,0,0
$GC,3936,0.78,222.3,295.3,12.4,419,3943,0.00,1.65,0.00,0.000,6,0.000,0.030,3048,2712,2044,0,0,0,0,0,0
$GC,4134,0.78,222.3,273.8,10.6,438,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2713,2044,0,0,0,0,0,0
$GC,4325,0.78,222.3,252.9,11.0,456,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2713,2043,0,0,0,0,0,0
$GC,4518,0.78,222.3,232.8,10.4,474,4521,0.00,1.70,0.00,0.000,4,0.000,0.049,3048,3771,2043,0,0,0,0,0,0
$GC,4556,0.78,222.3,228.1,12.0,477,4563,0.00,1.65,0.00,0.000,6,0.000,0.030,3055,2729,2043,0,0,0,0,0,0
$GC,4691,0.78,222.3,213.3,10.9,490,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2729,2043,0,0,0,0,0,0
$GC,4819,0.78,222.3,199.2,11.0,502,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2730,2043,0,0,0,0,0,0
$GC,4946,0.78,222.3,185.1,11.3,514,4949,0.00,1.70,0.00,0.000,4,0.000,0.047,3055,3765,2042,0,0,0,0,0,0
$GC,4984,0.78,222.3,180.1,12.3,517,4991,0.00,1.62,0.00,0.000,6,0.000,0.030,3062,2734,2042,0,0,0,0,0,0
$GC,5119,0.78,222.3,164.6,11.5,530,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2734,2042,0,0,0,0,0,0
$GC,5246,0.78,222.3,149.5,11.9,542,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2734,2042,0,0,0,0,0,0
$GC,5373,0.78,222.3,134.5,12.1,554,5377,0.00,1.70,0.00,0.000,4,0.000,0.048,3061,3768,2042,0,0,0,0,0,0
$GC,5408,0.78,222.3,130.0,13.4,557,5412,0.00,1.62,0.00,0.000,6,0.000,0.030,3069,2736,2042,0,0,0,0,0,0
$GC,5549,0.78,222.3,112.1,12.4,570,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2736,2042,0,0,0,0,0,0
$GC,5677,0.78,222.3,96.2,12.7,584,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2736,2042,0,0,0,0,0,0
$GC,5822,0.78,222.3,78.5,12.5,609,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2736,2042,0,0,0,0,0,0
$GC,5965,0.78,222.3,60.8,11.8,634,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2736,2041,0,0,0,0,0,0
$GC,6105,0.78,222.3,43.8,12.5,659,6112,0.00,1.70,0.00,0.000,4,0.000,0.048,3069,3771,2041,0,0,0,0,0,0
$GC,6152,0.78,222.3,37.5,13.3,667,6159,0.00,1.62,0.00,0.000,6,0.000,0.030,3078,2737,2041,0,0,0,0,0,0
$GC,6300,0.78,222.3,19.4,11.9,692,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2737,2041,0,0,0,0,0,0
$FREEZE,8.76,0.028,-1.895,2,1,0
$FREEZE,8.09,0.030,-1.895,2,1,0
$FREEZE,7.31,0.043,-1.894,2,1,0
$FREEZE,6.68,0.037,-1.894,2,1,0
$FREEZE,5.87,0.038,-1.893,2,1,0
$FREEZE,5.09,0.036,-1.893,2,1,0
$FREEZE,4.44,0.055,-1.891,2,1,0
$FREEZE,3.82,0.055,-1.891,2,1,0
$FREEZE,3.15,0.059,-1.890,2,1,0
$FREEZE,2.38,0.070,-1.890,2,1,0
$STATE,6429,end climb,SURFACE_DEPTH_REACHED
$STATE,6429,begin surface coast
$FREEZE,1.35,0.070,-1.889,2,1,0
$FREEZE,0.59,0.066,-1.888,2,1,0
$FREEZE,0.02,0.064,-1.888,2,1,0
$FREEZE,0.05,0.068,-1.888,2,1,0
$FINISH,0.0,1.027613
$STATE,6451,end surface coast,CONTROL_FINISHED_OK
$STATE,6451,begin surface
$SM_CCo,6470,11.55,0.103,0,0,1940,250.20
$SM_GC,1.89,0.00,0.00,11.55,0.000,0.000,0.103,182,2796,1940,-8.18,0.48,250.20
$IRIDIUM_FIX,-7536.68,17612.37,180111,000015
$TT8_MAMPS,0.027713
$HUMID,53.74
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,350.4,75.9
$24V_AH,21.8,80.798
$10V_AH,9.9,31.823
$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,18.225,42.400,340.375,11.550,0.000,27.376,40.556,185.454,1.250,0.000,50.104,1786.219,2962.324,422.258,1470.644,289.529,0.000,1091.200,0.000,1135.357,0.000,10.667,0.000
$DEVICE_MAMPS,201.960,111.690,980.730,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.417,921.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258116
$DATA_FILE_SIZE,47061,719
$CAP_FILE_SIZE,90546,0
$CFSIZE,260165632,217051136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1
$CURRENT,0.093,161.2,1
$GPS,180111,041902,-7622.609,17614.949,17,1.5,18,122.9