version: 66.08
glider: 503
mission: 7
dive: 766
start: 1 18 111 4 25 54
data:
$ID,503
$MISSION,7
$DIVE,766
$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,-20491.904
$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,40
$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
$GPS1,180111,041902,-7622.609,17614.949,17,1.5,18,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.1
$GPS2,180111,042526,-7622.617,17614.961,12,1.2,12,122.9
$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,98.8,67708,-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,-170.3,0.0,0.0,0,94,0.00,0.00,-75.97,0.000,2,0.000,0.000,167,2798,3565,0,0,0,0,0,0
$GC,99,-0.71,-170.3,4.2,-9.9,12,120,9.20,2.30,-1.80,0.000,4,0.204,0.045,2567,1374,3659,0,0,1,0,0,0
$GC,145,-0.71,-170.3,21.0,-26.3,19,152,0.00,2.28,0.00,0.000,6,0.000,0.043,2563,2767,3661,0,0,0,0,0,0
$GC,288,-0.71,-170.3,40.3,-13.3,44,295,0.00,1.62,0.00,0.000,4,0.000,0.050,2563,3755,3662,0,0,0,0,0,0
$GC,342,-0.71,-170.3,47.7,-13.3,53,349,0.00,1.52,0.00,0.000,6,0.000,0.029,2563,2786,3661,0,0,0,0,0,0
$GC,483,-0.71,-170.3,66.1,-13.4,78,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3662,0,0,0,0,0,0
$GC,626,-0.71,-170.3,85.2,-13.3,103,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3662,0,0,0,0,0,0
$GC,772,-0.71,-170.3,104.1,-12.5,126,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2785,3662,0,0,0,0,0,0
$GC,899,-0.71,-170.3,120.3,-12.9,138,903,0.00,1.60,0.00,0.000,4,0.000,0.049,2556,3755,3662,0,0,0,0,0,0
$GC,949,-0.71,-170.3,127.3,-13.4,142,957,0.00,1.50,0.00,0.000,6,0.000,0.029,2556,2800,3662,0,0,0,0,0,0
$GC,1084,-0.71,-170.3,145.6,-13.8,155,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2800,3663,0,0,0,0,0,0
$GC,1212,-0.71,-170.3,164.0,-14.6,167,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2800,3663,0,0,0,0,0,0
$GC,1340,-0.71,-170.3,182.3,-14.3,179,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2800,3663,0,0,0,0,0,0
$GC,1466,-0.71,-170.3,200.5,-13.9,191,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2800,3663,0,0,0,0,0,0
$GC,1593,-0.71,-170.3,218.4,-14.3,203,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2800,3663,0,0,0,0,0,0
$GC,1722,-0.71,-170.3,236.0,-13.9,215,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2800,3663,0,0,0,0,0,0
$GC,1848,-0.71,-170.3,253.6,-13.8,227,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2800,3663,0,0,0,0,0,0
$GC,2039,-0.71,-170.3,280.3,-13.9,245,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2800,3663,0,0,0,0,0,0
$GC,2231,-0.71,-170.3,306.9,-13.5,263,2235,0.00,1.60,0.00,0.000,4,0.000,0.048,2548,3767,3663,0,0,0,0,0,0
$GC,2278,-0.71,-170.3,313.7,-14.4,267,2281,0.00,1.55,0.00,0.000,6,0.000,0.028,2548,2777,3662,0,0,0,0,0,0
$GC,2483,-0.71,-170.3,342.3,-13.8,286,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2777,3662,0,0,0,0,0,0
$GC,2673,-0.71,-170.3,368.4,-13.7,304,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2777,3662,0,0,0,0,0,0
$STATE,2723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2723,begin apogee
$GC,2730,-0.16,0.0,375.5,13.3,309,2877,0.57,0.00,139.40,0.978,4,0.118,0.000,2741,2690,2958,0,0,0,0,0,0
$STATE,2878,end apogee,CONTROL_FINISHED_OK
$STATE,2878,begin climb
$GC,2881,0.71,170.3,382.9,0.0,322,3042,0.85,2.35,151.07,0.929,4,0.073,0.034,3027,1315,2264,0,0,0,0,0,0
$GC,3048,0.79,235.6,377.4,7.4,336,3123,0.00,2.50,62.70,0.894,6,0.000,0.041,3026,2701,1999,0,0,1,0,0,0
$GC,3313,0.79,235.6,350.8,10.7,361,3317,0.00,1.80,0.00,0.000,4,0.000,0.048,3026,3766,1995,0,0,0,0,0,0
$GC,3375,0.79,235.6,343.0,12.5,366,3383,0.00,1.73,0.00,0.000,6,0.000,0.030,3034,2713,1994,0,0,1,0,0,0
$GC,3573,0.79,235.6,320.4,11.7,385,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2713,1993,0,0,0,0,0,0
$GC,3765,0.79,235.6,299.4,10.9,403,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2713,1992,0,0,0,0,0,0
$GC,3955,0.79,235.6,278.5,10.8,421,3959,0.00,1.75,0.00,0.000,4,0.000,0.049,3034,3765,1991,0,0,0,0,0,0
$GC,3990,0.79,235.6,274.4,11.8,424,3993,0.00,1.70,0.00,0.000,6,0.000,0.030,3041,2705,1991,0,0,0,0,0,0
$GC,4195,0.79,235.6,252.1,10.8,443,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2705,1991,0,0,0,0,0,0
$GC,4384,0.79,235.6,231.4,10.8,461,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2705,1990,0,0,0,0,0,0
$GC,4512,0.79,235.6,217.0,11.0,473,4516,0.00,1.70,0.00,0.000,4,0.000,0.049,3041,3767,1990,0,0,0,0,0,0
$GC,4573,0.79,235.6,209.0,13.1,478,4580,0.00,1.67,0.00,0.000,6,0.000,0.030,3047,2708,1990,0,0,0,0,0,0
$GC,4708,0.79,235.6,193.7,11.6,491,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2708,1990,0,0,0,0,0,0
$GC,4836,0.79,235.6,179.3,11.0,503,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2708,1989,0,0,0,0,0,0
$GC,4962,0.79,235.6,165.3,10.9,515,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2708,1989,0,0,0,0,0,0
$GC,5090,0.79,235.6,150.7,11.3,527,5093,0.00,1.73,0.00,0.000,4,0.000,0.047,3047,3758,1989,0,0,0,0,0,0
$GC,5128,0.79,235.6,145.5,13.3,530,5136,0.00,1.65,0.00,0.000,6,0.000,0.031,3054,2713,1989,0,0,0,0,0,0
$GC,5264,0.79,235.6,129.7,11.6,543,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2713,1989,0,0,0,0,0,0
$GC,5390,0.79,235.6,115.1,11.4,555,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2713,1989,0,0,0,0,0,0
$GC,5517,0.79,235.6,101.0,11.0,567,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2713,1989,0,0,0,0,0,0
$GC,5651,0.79,235.6,86.4,11.0,590,5659,0.00,1.73,0.00,0.000,4,0.000,0.048,3054,3764,1989,0,0,0,0,0,0
$GC,5688,0.79,235.6,81.8,12.7,596,5695,0.00,1.62,0.00,0.000,6,0.000,0.031,3062,2734,1989,0,0,0,0,0,0
$GC,5833,0.79,235.6,64.8,12.4,621,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2733,1989,0,0,0,0,0,0
$GC,5976,0.79,235.6,47.0,12.6,646,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2733,1989,0,0,0,0,0,0
$GC,6121,0.79,235.6,29.9,11.6,671,6127,0.00,1.70,0.00,0.000,4,0.000,0.049,3062,3759,1989,0,0,0,0,0,0
$GC,6157,0.79,235.6,25.0,13.5,677,6163,0.00,1.65,0.00,0.000,6,0.000,0.032,3069,2726,1988,0,0,0,0,0,0
$FREEZE,8.79,0.023,-1.895,2,1,0
$FREEZE,8.13,0.020,-1.895,2,1,0
$FREEZE,7.15,0.019,-1.894,2,1,0
$GC,6299,0.79,235.6,7.2,13.0,702,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2725,1988,0,0,0,0,0,0
$FREEZE,5.19,0.035,-1.893,2,1,0
$FREEZE,4.62,0.036,-1.892,2,1,0
$FREEZE,3.94,0.032,-1.892,2,1,0
$FREEZE,3.28,0.036,-1.891,2,1,0
$FREEZE,2.60,0.036,-1.891,2,1,0
$STATE,6333,end climb,SURFACE_DEPTH_REACHED
$STATE,6333,begin surface coast
$FREEZE,1.82,0.040,-1.890,2,1,0
$FREEZE,1.10,0.031,-1.889,2,1,0
$FREEZE,0.42,0.023,-1.889,2,1,0
$FREEZE,0.04,0.017,-1.153,2,1,0
$FINISH,0.0,1.017038
$STATE,6355,end surface coast,CONTROL_FINISHED_OK
$STATE,6355,begin surface
$SM_CCo,6375,5.00,0.104,0,0,1940,250.20
$SM_GC,1.92,0.00,0.00,5.00,0.000,0.000,0.104,184,2802,1940,-8.18,0.65,250.20
$IRIDIUM_FIX,-7536.68,17630.53,180111,020227
$TT8_MAMPS,0.026964
$HUMID,53.74
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,351.0,74.3
$24V_AH,21.7,80.905
$10V_AH,9.7,31.877
$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,18.175,39.425,353.175,5.000,0.000,29.028,37.499,171.363,1.250,0.000,14.749,1756.130,2890.004,439.392,1406.426,278.567,0.000,1103.001,0.000,1115.915,0.000,10.662,0.000
$DEVICE_MAMPS,204.255,97.920,978.435,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.092,917.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47039,712
$CAP_FILE_SIZE,89217,0
$CFSIZE,260165632,217006080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.112,157.2,1
$GPS,180111,061354,-7623.719,17612.373,57,1.1,58,123.0