version: 66.08
glider: 503
mission: 7
dive: 781
start: 1 19 111 10 39 41
data:
$ID,503
$MISSION,7
$DIVE,781
$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,-20512.814
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,190111,102700,-7635.344,17547.236,55,1.0,56,124.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.3
$GPS2,190111,103914,-7635.316,17547.281,5,2.0,5,124.4
$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,111.9,41495,-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,-170.3,0.0,0.0,0,161,0.00,0.00,-142.73,0.000,2,0.000,0.000,181,2752,3525,0,0,0,0,0,0
$GC,168,-0.71,-170.3,3.8,-8.5,23,189,9.15,2.22,-2.60,0.000,4,0.203,0.044,2566,1370,3661,0,0,0,0,0,0
$GC,274,-0.71,-170.3,28.5,-12.4,41,282,0.00,2.30,0.00,0.000,6,0.000,0.043,2562,2781,3662,0,0,0,0,0,0
$GC,419,-0.71,-170.3,47.4,-12.7,66,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3663,0,0,0,0,0,0
$GC,561,-0.71,-170.3,66.8,-14.6,91,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3663,0,0,0,0,0,0
$GC,701,-0.71,-170.3,84.1,-12.3,116,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2781,3663,0,0,0,0,0,0
$GC,849,-0.71,-170.3,103.3,-13.3,140,853,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3755,3664,0,0,0,0,0,0
$GC,896,-0.71,-170.3,109.7,-13.5,144,900,0.00,1.52,0.00,0.000,6,0.000,0.028,2563,2780,3663,0,0,0,0,0,0
$GC,1038,-0.71,-170.3,128.9,-13.9,157,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3664,0,0,0,0,0,0
$GC,1164,-0.71,-170.3,145.7,-13.0,169,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3664,0,0,0,0,0,0
$GC,1291,-0.71,-170.3,162.8,-13.4,181,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3664,0,0,0,0,0,0
$GC,1418,-0.71,-170.3,178.8,-12.4,193,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3664,0,0,0,0,0,0
$GC,1547,-0.71,-170.3,195.3,-13.0,205,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3664,0,0,0,0,0,0
$GC,1673,-0.71,-170.3,211.4,-12.4,217,1677,0.00,1.62,0.00,0.000,4,0.000,0.050,2555,3762,3664,0,0,1,0,0,0
$GC,1712,-0.71,-170.3,216.8,-13.6,220,1718,0.00,1.55,0.00,0.000,6,0.000,0.029,2555,2778,3663,0,0,0,0,0,0
$GC,1847,-0.71,-170.3,234.0,-12.7,233,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2779,3664,0,0,0,0,0,0
$GC,1974,-0.71,-170.3,250.6,-12.8,245,1978,0.00,2.20,0.00,0.000,4,0.000,0.031,2555,1375,3663,0,0,0,0,0,0
$GC,2018,-0.71,-170.3,256.8,-12.9,248,2025,0.00,2.28,0.00,0.000,6,0.000,0.043,2547,2784,3663,0,0,0,0,0,0
$GC,2217,-0.71,-170.3,283.6,-13.6,267,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3663,0,0,0,0,0,0
$GC,2407,-0.71,-170.3,310.1,-14.1,285,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2783,3663,0,0,0,0,0,0
$GC,2599,-0.71,-170.3,337.3,-13.7,303,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3663,0,0,0,0,0,0
$GC,2789,-0.71,-170.3,363.7,-13.2,321,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2783,3663,0,0,0,0,0,0
$STATE,2882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2883,begin apogee
$GC,2889,-0.16,0.0,376.2,12.9,330,3036,0.60,0.00,140.75,0.975,4,0.117,0.000,2747,2695,2960,0,0,0,0,0,0
$STATE,3037,end apogee,CONTROL_FINISHED_OK
$STATE,3037,begin climb
$GC,3040,0.71,170.3,382.5,0.0,343,3204,0.82,2.35,150.02,0.926,4,0.071,0.033,3025,1308,2265,0,0,0,0,0,0
$GC,3341,0.74,195.9,364.6,9.0,369,3374,0.00,2.40,23.27,0.890,6,0.000,0.041,3025,2699,2160,0,0,0,0,0,0
$GC,3566,0.74,195.9,342.1,10.1,390,3570,0.00,2.30,0.00,0.000,4,0.000,0.034,3036,1307,2156,0,0,0,0,0,0
$GC,3725,0.74,195.9,326.1,10.0,403,3732,0.00,2.30,0.00,0.000,6,0.000,0.041,3036,2712,2154,0,0,0,0,0,0
$GC,3924,0.75,204.3,306.3,9.7,422,3937,0.00,1.77,7.43,0.813,4,0.000,0.049,3036,3761,2127,0,0,0,0,0,0
$GC,4007,0.75,204.3,297.3,11.1,429,4011,0.00,1.65,0.00,0.000,6,0.000,0.030,3043,2703,2126,0,0,0,0,0,0
$GC,4213,0.75,204.3,276.2,10.6,448,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2703,2125,0,0,0,0,0,0
$GC,4412,0.76,206.3,255.8,9.9,467,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2703,2124,0,0,0,0,0,0
$GC,4604,0.76,206.3,235.5,10.8,485,4607,0.00,1.70,0.00,0.000,4,0.000,0.047,3043,3762,2124,0,0,0,0,0,0
$GC,4664,0.76,206.3,227.8,12.8,490,4671,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2727,2124,0,0,0,0,0,0
$GC,4799,0.76,206.3,212.7,11.4,503,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2727,2124,0,0,0,0,0,0
$GC,4927,0.76,206.3,198.8,10.8,515,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2727,2123,0,0,0,0,0,0
$GC,5054,0.76,206.3,185.2,10.6,527,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2727,2123,0,0,0,0,0,0
$GC,5181,0.76,206.3,171.3,11.0,539,5185,0.00,1.67,0.00,0.000,4,0.000,0.048,3051,3766,2123,0,0,0,0,0,0
$GC,5219,0.76,206.3,166.1,13.8,542,5226,0.00,1.65,0.00,0.000,6,0.000,0.030,3058,2727,2123,0,0,0,0,0,0
$GC,5355,0.76,206.3,149.7,12.1,555,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2727,2123,0,0,0,0,0,0
$GC,5481,0.76,206.3,134.5,12.1,567,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2727,2123,0,0,0,0,0,0
$GC,5609,0.76,206.3,119.6,11.6,579,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2727,2123,0,0,0,0,0,0
$GC,5737,0.76,206.3,105.4,10.8,591,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2727,2122,0,0,0,0,0,0
$GC,5866,0.76,206.3,90.7,11.8,610,5873,0.00,1.70,0.00,0.000,4,0.000,0.048,3058,3757,2122,0,0,0,0,0,0
$GC,5909,0.76,206.3,85.2,13.1,617,5915,0.00,1.60,0.00,0.000,6,0.000,0.031,3066,2734,2122,0,0,1,0,0,0
$GC,6054,0.76,206.3,67.9,11.5,642,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2735,2122,0,0,0,0,0,0
$GC,6194,0.76,206.3,51.6,11.2,667,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2734,2122,0,0,0,0,0,0
$GC,6337,0.76,206.3,35.6,11.3,692,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2735,2121,0,0,0,0,0,0
$GC,6479,0.76,206.3,19.2,11.8,717,6485,0.00,1.67,0.00,0.000,4,0.000,0.048,3066,3750,2121,0,0,0,0,0,0
$GC,6543,0.76,206.3,11.1,13.0,728,6551,0.08,1.60,0.00,0.000,6,0.140,0.030,3046,2739,2121,0,0,0,0,0,0
$FREEZE,8.51,-0.201,-1.896,2,1,0
$FREEZE,7.88,-0.203,-1.895,2,1,0
$FREEZE,7.42,-0.201,-1.895,2,1,0
$FREEZE,6.85,-0.200,-1.895,2,1,0
$FREEZE,6.41,-0.201,-1.894,2,1,0
$FREEZE,5.84,-0.199,-1.894,2,1,0
$FREEZE,5.44,-0.200,-1.894,2,1,0
$FREEZE,4.71,-0.201,-1.893,2,1,0
$FREEZE,4.23,-0.201,-1.893,2,1,0
$FREEZE,3.78,-0.200,-1.892,2,1,0
$FREEZE,3.22,-0.203,-1.892,2,1,0
$FREEZE,2.42,-0.203,-1.891,2,1,0
$STATE,6621,end climb,SURFACE_DEPTH_REACHED
$STATE,6621,begin surface coast
$FREEZE,1.89,-0.201,-1.891,2,1,0
$FREEZE,1.39,-0.205,-1.891,2,1,0
$FREEZE,0.86,-0.208,-1.890,2,1,0
$FREEZE,0.40,-0.212,-1.890,2,1,0
$FREEZE,0.03,-0.293,-1.665,2,1,0
$FINISH,0.0,1.024476
$STATE,6649,end surface coast,CONTROL_FINISHED_OK
$STATE,6649,begin surface
$SM_CCo,6668,20.05,0.099,0,0,1940,250.20
$SM_GC,0.59,0.00,0.00,20.05,0.000,0.000,0.099,183,2794,1940,-8.18,0.42,250.20
$IRIDIUM_FIX,-7545.40,17550.25,190111,080846
$TT8_MAMPS,0.027713
$HUMID,53.18
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$ALTIM_BOTTOM_PING,350.8,61.8
$24V_AH,21.8,82.541
$10V_AH,9.8,32.757
$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,18.150,41.500,321.475,20.050,0.000,30.250,44.402,388.190,1.250,0.000,10.068,1839.284,2977.121,481.568,1684.862,444.649,0.000,1186.661,0.000,1200.627,0.000,10.629,0.000
$DEVICE_MAMPS,203.490,110.160,975.375,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.068,963.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258156
$DATA_FILE_SIZE,47081,747
$CAP_FILE_SIZE,95554,0
$CFSIZE,260165632,216215552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.093, 91.1,1
$GPS,190111,123236,-7635.890,17545.246,27,1.0,44,124.5