version: 66.08
glider: 503
mission: 7
dive: 780
start: 1 19 111 8 33 53
data:
$ID,503
$MISSION,7
$DIVE,780
$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,616.91943
$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,-20511.562
$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,49
$R_STBD_OVSHOOT,30
$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
$GPS1,190111,082138,-7634.529,17550.443,23,1.7,24,124.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-66.1
$GPS2,190111,083326,-7634.600,17550.398,11,1.6,11,124.3
$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,126.8,43288,-16.1,-10.000
$D_GRID,376
$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,-170.3,0.0,0.0,0,161,0.00,0.00,-141.73,0.000,2,0.000,0.000,172,2756,3537,0,0,0,0,0,0
$GC,166,-0.71,-170.3,4.0,-8.6,23,187,9.15,2.25,-2.38,0.000,4,0.204,0.044,2566,1371,3660,0,0,0,0,0,0
$GC,235,-0.71,-170.3,23.7,-13.0,34,242,0.00,2.30,0.00,0.000,6,0.000,0.041,2562,2784,3662,0,0,0,0,0,0
$GC,376,-0.71,-170.3,43.4,-14.4,59,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2784,3662,0,0,0,0,0,0
$GC,518,-0.71,-170.3,62.9,-13.8,84,525,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3755,3663,0,0,0,0,0,0
$GC,577,-0.71,-170.3,71.1,-13.7,94,584,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2784,3663,0,0,0,0,0,0
$GC,718,-0.71,-170.3,90.3,-12.7,119,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3663,0,0,0,0,0,0
$GC,858,-0.71,-170.3,109.5,-13.9,138,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2784,3663,0,0,0,0,0,0
$GC,985,-0.71,-170.3,127.2,-13.8,150,989,0.00,1.62,0.00,0.000,4,0.000,0.049,2555,3792,3663,0,0,0,0,0,0
$GC,1044,-0.71,-170.3,135.5,-14.9,155,1047,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2785,3663,0,0,0,0,0,0
$GC,1184,-0.71,-170.3,156.0,-14.4,168,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2785,3663,0,0,0,0,0,0
$GC,1311,-0.71,-170.3,174.3,-14.2,180,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3663,0,0,0,0,0,0
$GC,1439,-0.71,-170.3,192.1,-13.4,192,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2785,3663,0,0,0,0,0,0
$GC,1567,-0.71,-170.3,208.9,-12.5,204,1571,0.00,1.60,0.00,0.000,4,0.000,0.048,2548,3752,3664,0,0,0,0,0,0
$GC,1605,-0.71,-170.3,214.4,-13.5,207,1612,0.00,1.50,0.00,0.000,6,0.000,0.029,2548,2796,3663,0,0,0,0,0,0
$GC,1741,-0.71,-170.3,232.6,-14.1,220,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2796,3663,0,0,0,0,0,0
$GC,1870,-0.71,-170.3,250.7,-14.2,232,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2796,3663,0,0,0,0,0,0
$GC,2068,-0.71,-170.3,278.1,-13.5,251,2072,0.00,1.60,0.00,0.000,4,0.000,0.049,2540,3764,3663,0,0,0,0,0,0
$GC,2118,-0.71,-170.3,285.3,-14.7,255,2125,0.08,1.52,0.00,0.000,6,0.131,0.028,2567,2792,3663,0,0,0,0,0,0
$GC,2318,-0.71,-170.3,308.5,-12.3,274,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2791,3662,0,0,0,0,0,0
$GC,2519,-0.71,-170.3,333.2,-12.2,293,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2792,3663,0,0,0,0,0,0
$GC,2717,-0.71,-170.3,356.8,-11.7,312,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2791,3662,0,0,0,0,0,0
$STATE,2884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2884,begin apogee
$GC,2891,-0.16,0.0,376.9,12.2,328,3039,0.52,0.00,139.70,0.978,4,0.114,0.000,2746,2690,2959,0,0,0,0,0,0
$STATE,3040,end apogee,CONTROL_FINISHED_OK
$STATE,3040,begin climb
$GC,3042,0.71,170.3,382.7,0.0,341,3205,0.85,2.35,150.25,0.928,4,0.071,0.033,3033,1304,2265,0,0,0,0,0,0
$GC,3211,0.78,224.1,376.9,7.9,355,3273,0.00,2.50,51.35,0.891,6,0.000,0.041,3033,2701,2046,0,0,1,0,0,0
$GC,3464,0.78,224.1,350.8,10.3,379,3468,0.00,1.80,0.00,0.000,4,0.000,0.047,3032,3765,2039,0,0,0,0,0,0
$GC,3525,0.78,224.1,343.3,12.2,384,3532,0.00,1.73,0.00,0.000,6,0.000,0.029,3040,2717,2037,0,0,1,0,0,0
$GC,3724,0.78,224.1,322.3,10.6,403,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2717,2036,0,0,0,0,0,0
$GC,3915,0.78,224.1,302.3,10.2,421,3918,0.00,1.70,0.00,0.000,4,0.000,0.049,3040,3765,2034,0,0,0,0,0,0
$GC,3950,0.78,224.1,298.3,11.9,424,3953,0.00,1.65,0.00,0.000,6,0.000,0.031,3048,2708,2034,0,0,0,0,0,0
$GC,4154,0.78,224.1,276.4,10.4,443,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2708,2033,0,0,0,0,0,0
$GC,4345,0.78,224.1,257.0,10.9,461,4348,0.00,1.70,0.00,0.000,4,0.000,0.048,3048,3765,2033,0,0,0,0,0,0
$GC,4380,0.78,224.1,252.6,13.4,464,4383,0.00,1.65,0.00,0.000,6,0.000,0.030,3055,2700,2032,0,0,0,0,0,0
$GC,4584,0.78,224.1,226.9,11.8,483,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2699,2032,0,0,0,0,0,0
$GC,4711,0.78,224.1,212.9,10.9,495,4715,0.00,1.75,0.00,0.000,4,0.000,0.048,3055,3759,2032,0,0,0,0,0,0
$GC,4745,0.78,224.1,208.8,12.5,498,4749,0.00,1.65,0.00,0.000,6,0.000,0.031,3062,2722,2032,0,0,0,0,0,0
$GC,4886,0.78,224.1,192.0,11.9,511,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2723,2032,0,0,0,0,0,0
$GC,5013,0.78,224.1,177.0,11.6,523,5016,0.00,1.67,0.00,0.000,4,0.000,0.048,3062,3768,2031,0,0,0,0,0,0
$GC,5049,0.78,224.1,172.4,13.3,526,5052,0.00,1.65,0.00,0.000,6,0.000,0.030,3070,2699,2031,0,0,0,0,0,0
$GC,5190,0.78,224.1,155.4,12.1,539,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2698,2031,0,0,0,0,0,0
$GC,5316,0.78,224.1,140.3,12.0,551,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2698,2031,0,0,0,0,0,0
$GC,5444,0.78,224.1,125.3,12.2,563,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2698,2031,0,0,0,0,0,0
$GC,5572,0.78,224.1,109.4,12.6,575,5576,0.00,1.75,0.00,0.000,4,0.000,0.048,3070,3762,2030,0,0,0,0,0,0
$GC,5629,0.78,224.1,101.3,13.9,580,5632,0.00,1.62,0.00,0.000,6,0.000,0.030,3079,2736,2030,0,0,0,0,0,0
$GC,5771,0.78,224.1,83.2,12.7,604,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2734,2030,0,0,0,0,0,0
$GC,5915,0.78,224.1,65.0,12.8,629,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2734,2030,0,0,0,0,0,0
$GC,6057,0.78,224.1,47.7,12.1,654,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2734,2030,0,0,0,0,0,0
$GC,6199,0.78,224.1,29.8,12.7,679,6206,0.00,1.70,0.00,0.000,4,0.000,0.048,3079,3758,2030,0,0,0,0,0,0
$GC,6246,0.78,224.1,23.2,14.3,687,6253,0.10,1.60,0.00,0.000,6,0.127,0.031,3049,2753,2030,0,0,0,0,0,0
$FREEZE,8.42,-0.038,-1.897,2,3,0
$FREEZE,7.64,-0.038,-1.896,2,3,0
$FREEZE,7.12,-0.038,-1.896,2,3,0
$GC,6389,0.78,224.1,7.1,11.7,712,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2753,2028,0,0,0,0,0,0
$FREEZE,5.35,-0.038,-1.895,2,3,0
$FREEZE,4.80,-0.037,-1.894,2,3,0
$FREEZE,4.29,-0.035,-1.894,2,3,0
$FREEZE,3.75,-0.038,-1.893,2,3,0
$FREEZE,3.29,-0.038,-1.893,2,3,0
$FREEZE,2.62,-0.045,-1.893,2,3,0
$STATE,6426,end climb,SURFACE_DEPTH_REACHED
$STATE,6427,begin surface coast
$FREEZE,2.04,-0.048,-1.892,2,3,0
$FREEZE,1.43,-0.051,-1.892,2,3,0
$FREEZE,0.86,-0.053,-1.891,2,3,0
$FREEZE,0.34,-0.055,-1.891,2,3,0
$FREEZE,-0.04,-0.066,-0.239,2,3,0
$FINISH,-0.0,1.003382
$STATE,6456,end surface coast,CONTROL_FINISHED_OK
$STATE,6456,begin surface
$SM_CCo,6474,214.12,0.098,0,0,444,616.92
$SM_GC,0.72,0.00,0.00,214.12,0.000,0.000,0.098,184,2753,444,-8.17,-0.79,616.92
$IRIDIUM_FIX,-7545.40,17550.25,190111,080801
$TT8_MAMPS,0.027713
$HUMID,50.15
$INTERNAL_PRESSURE,8.62338
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.3
$24V_AH,21.8,82.428
$10V_AH,9.7,32.695
$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,18.225,45.675,341.300,214.125,0.000,98.910,225.324,0.000,1.000,0.000,14.216,1771.985,3015.398,689.313,1557.835,364.828,0.000,1382.487,0.000,1148.702,0.000,7.758,0.000
$DEVICE_MAMPS,204.255,80.325,977.670,97.920,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.367,924.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,46946,724
$CAP_FILE_SIZE,91354,0
$CFSIZE,260165632,216268800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.152,149.9,1
$GPS,190111,102700,-7635.344,17547.236,55,1.0,56,124.4