version: 66.08
glider: 503
mission: 7
dive: 768
start: 1 18 111 8 38 6
data:
$ID,503
$MISSION,7
$DIVE,768
$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,-20494.516
$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,28
$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
$GPS1,180111,082232,-7624.801,17610.242,26,1.3,27,123.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.1
$GPS2,180111,083737,-7624.829,17610.375,43,1.1,43,123.2
$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,104.0,63188,-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,16,-0.71,-170.3,0.0,0.0,0,88,0.00,0.00,-70.05,0.000,2,0.000,0.000,140,2754,3370,0,0,0,0,0,0
$GC,92,-0.71,-170.3,3.1,-4.9,12,113,9.20,0.00,-6.35,0.000,6,0.200,0.000,2568,2755,3659,0,0,0,0,0,0
$GC,250,-0.71,-170.3,31.8,-14.3,39,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2755,3662,0,0,0,0,0,0
$GC,394,-0.71,-170.3,52.4,-15.4,64,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2755,3662,0,0,0,0,0,0
$GC,536,-0.71,-170.3,72.5,-13.9,89,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2755,3663,0,0,0,0,0,0
$GC,679,-0.71,-170.3,92.1,-13.9,114,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2755,3663,0,0,0,0,0,0
$GC,822,-0.71,-170.3,111.7,-13.7,132,826,0.00,1.62,0.00,0.000,4,0.000,0.050,2560,3763,3663,0,0,0,0,0,0
$GC,883,-0.71,-170.3,120.9,-12.0,137,890,0.00,1.55,0.00,0.000,6,0.000,0.029,2560,2780,3663,0,0,0,0,0,0
$GC,1019,-0.71,-170.3,140.0,-14.5,150,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2780,3663,0,0,0,0,0,0
$GC,1145,-0.71,-170.3,157.6,-13.8,162,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2780,3663,0,0,0,0,0,0
$GC,1272,-0.71,-170.3,175.3,-14.1,174,1276,0.00,1.62,0.00,0.000,4,0.000,0.050,2552,3788,3663,0,0,0,0,0,0
$GC,1319,-0.71,-170.3,182.1,-15.1,178,1322,0.00,1.58,0.00,0.000,6,0.000,0.029,2552,2788,3663,0,0,0,0,0,0
$GC,1460,-0.71,-170.3,202.4,-14.1,191,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2788,3663,0,0,0,0,0,0
$GC,1588,-0.71,-170.3,220.5,-14.3,203,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2789,3663,0,0,0,0,0,0
$GC,1715,-0.71,-170.3,238.7,-14.0,215,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2788,3663,0,0,0,0,0,0
$GC,1841,-0.71,-170.3,256.3,-13.8,227,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2789,3663,0,0,0,0,0,0
$GC,2032,-0.71,-170.3,283.2,-13.8,245,2036,0.00,1.60,0.00,0.000,4,0.000,0.049,2547,3751,3663,0,0,0,0,0,0
$GC,2082,-0.71,-170.3,290.8,-14.4,249,2089,0.00,1.52,0.00,0.000,6,0.000,0.028,2547,2779,3662,0,0,0,0,0,0
$GC,2280,-0.71,-170.3,318.5,-14.0,268,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2779,3663,0,0,0,0,0,0
$GC,2472,-0.71,-170.3,344.7,-13.6,286,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2780,3662,0,0,0,0,0,0
$GC,2664,-0.71,-170.3,370.5,-13.2,304,2667,0.00,1.62,0.00,0.000,4,0.000,0.050,2540,3761,3662,0,0,1,0,0,0
$STATE,2697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2697,begin apogee
$GC,2705,-0.16,0.0,375.4,14.5,307,2851,0.60,0.00,138.77,0.976,4,0.118,0.000,2741,2706,2958,0,0,0,0,0,0
$STATE,2852,end apogee,CONTROL_FINISHED_OK
$STATE,2852,begin climb
$GC,2855,0.71,170.3,382.6,0.0,320,3016,0.85,2.40,150.57,0.926,4,0.073,0.034,3025,1296,2264,0,0,0,0,0,0
$GC,3174,0.73,188.4,363.6,9.3,348,3199,0.00,2.40,16.77,0.873,6,0.000,0.042,3025,2697,2191,0,0,0,0,0,0
$GC,3393,0.75,199.8,343.3,9.5,368,3410,0.00,2.35,11.80,0.860,4,0.000,0.034,3036,1293,2144,0,0,0,0,0,0
$GC,3572,0.77,216.0,325.4,9.4,383,3593,0.00,2.35,15.65,0.884,6,0.000,0.042,3036,2721,2078,0,0,0,0,0,0
$GC,3795,0.77,216.0,302.9,10.1,404,3798,0.00,1.67,0.00,0.000,4,0.000,0.049,3036,3765,2078,0,0,0,0,0,0
$GC,3852,0.77,216.0,296.0,11.6,409,3856,0.00,1.67,0.00,0.000,6,0.000,0.030,3042,2708,2078,0,0,1,0,0,0
$GC,4056,0.77,216.0,274.0,10.6,428,4060,0.00,1.70,0.00,0.000,4,0.000,0.048,3043,3762,2077,0,0,0,0,0,0
$GC,4106,0.77,216.0,267.7,12.3,432,4113,0.00,1.65,0.00,0.000,6,0.000,0.031,3050,2730,2076,0,0,0,0,0,0
$GC,4306,0.77,216.0,245.7,10.7,451,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2730,2076,0,0,0,0,0,0
$GC,4432,0.77,216.0,231.9,10.8,463,4435,0.00,1.65,0.00,0.000,4,0.000,0.048,3051,3762,2076,0,0,0,0,0,0
$GC,4471,0.77,216.0,226.9,12.4,466,4478,0.00,1.65,0.00,0.000,6,0.000,0.031,3057,2729,2075,0,0,0,0,0,0
$GC,4606,0.77,216.0,212.4,10.4,479,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2729,2075,0,0,0,0,0,0
$GC,4733,0.77,216.0,198.7,10.6,491,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2729,2075,0,0,0,0,0,0
$GC,4859,0.77,216.0,185.3,10.9,503,4863,0.00,1.70,0.00,0.000,4,0.000,0.048,3057,3761,2075,0,0,0,0,0,0
$GC,4909,0.77,216.0,179.1,12.6,507,4915,0.00,1.62,0.00,0.000,6,0.000,0.031,3064,2736,2075,0,0,0,0,0,0
$GC,5044,0.77,216.0,163.7,11.3,520,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2736,2075,0,0,0,0,0,0
$GC,5171,0.77,216.0,149.3,11.5,532,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2736,2074,0,0,0,0,0,0
$GC,5298,0.77,216.0,135.3,10.6,544,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2736,2074,0,0,0,0,0,0
$GC,5426,0.77,216.0,121.4,11.2,556,5430,0.00,1.70,0.00,0.000,4,0.000,0.048,3064,3764,2074,0,0,0,0,0,0
$GC,5462,0.77,216.0,117.0,12.9,559,5466,0.00,1.62,0.00,0.000,6,0.000,0.030,3071,2737,2074,0,0,0,0,0,0
$GC,5602,0.77,216.0,100.6,11.8,572,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2737,2074,0,0,0,0,0,0
$GC,5736,0.77,216.0,84.9,11.6,595,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2737,2074,0,0,0,0,0,0
$GC,5878,0.77,216.0,68.2,11.8,620,5885,0.00,1.67,0.00,0.000,4,0.000,0.049,3072,3753,2074,0,0,0,0,0,0
$GC,5925,0.77,216.0,62.1,13.4,628,5932,0.08,1.60,0.00,0.000,6,0.146,0.030,3052,2747,2073,0,0,0,0,0,0
$GC,6069,0.77,216.0,47.0,10.5,653,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2747,2074,0,0,0,0,0,0
$GC,6212,0.77,216.0,32.1,10.1,678,6220,0.00,1.67,0.00,0.000,4,0.000,0.048,3051,3762,2073,0,0,0,0,0,0
$GC,6255,0.77,216.0,26.9,12.0,685,6262,0.00,1.60,0.00,0.000,6,0.000,0.031,3057,2754,2073,0,0,0,0,0,0
$FREEZE,8.86,0.008,-1.895,2,1,0
$FREEZE,8.02,0.009,-1.894,2,1,0
$GC,6401,0.80,238.9,10.7,9.1,710,6429,0.00,0.00,20.55,0.767,6,0.000,0.000,3057,2754,1986,0,0,0,0,0,0
$FREEZE,6.32,0.006,-1.893,2,1,0
$FREEZE,5.69,0.007,-1.892,2,1,0
$FREEZE,5.18,0.008,-1.892,2,1,0
$FREEZE,4.63,0.008,-1.891,2,1,0
$FREEZE,4.11,0.009,-1.891,2,1,0
$FREEZE,3.38,0.009,-1.891,2,1,0
$FREEZE,2.69,0.009,-1.890,2,1,0
$STATE,6467,end climb,SURFACE_DEPTH_REACHED
$STATE,6467,begin surface coast
$FREEZE,2.02,0.009,-1.889,2,1,0
$FREEZE,0.96,0.009,-1.889,2,1,0
$FREEZE,0.23,0.006,-1.888,2,1,0
$FREEZE,0.44,0.010,-1.887,2,1,0
$FINISH,0.4,1.027602
$STATE,6492,end surface coast,CONTROL_FINISHED_OK
$STATE,6492,begin surface
$SM_CCo,6510,4.97,0.103,0,0,1940,250.20
$SM_GC,1.78,0.00,0.00,4.97,0.000,0.000,0.103,184,2753,1940,-8.18,-0.76,250.20
$IRIDIUM_FIX,-7536.68,17602.03,180111,080827
$TT8_MAMPS,0.027713
$HUMID,52.36
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,21.9,81.147
$10V_AH,9.8,32.002
$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,18.225,45.500,354.125,4.975,0.000,81.551,151.536,325.763,1.250,0.000,45.803,1808.107,3011.412,431.496,1842.307,333.018,0.000,1132.257,0.000,1191.809,0.000,7.758,0.000
$DEVICE_MAMPS,200.430,49.725,976.140,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.118,932.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258152
$DATA_FILE_SIZE,46952,725
$CAP_FILE_SIZE,97765,0
$CFSIZE,260165632,216891392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.096,131.5,1
$GPS,180111,102743,-7625.680,17608.289,20,1.5,20,123.3