version: 66.08
glider: 503
mission: 7
dive: 785
start: 1 19 111 18 34 42
data:
$ID,503
$MISSION,7
$DIVE,785
$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,-20517.852
$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,47
$R_STBD_OVSHOOT,37
$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
$GPS1,190111,182737,-7636.765,17540.381,37,1.1,38,124.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-75.3
$GPS2,190111,183413,-7636.718,17540.396,10,1.6,10,124.6
$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,71.5,37857,-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,-74.97,0.000,2,0.000,0.000,171,2794,3530,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.9,-9.6,13,118,9.27,0.00,-2.55,0.000,6,0.208,0.000,2564,2794,3659,0,0,0,0,0,0
$GC,256,-0.71,-170.3,36.3,-14.1,40,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2794,3662,0,0,0,0,0,0
$GC,397,-0.71,-170.3,55.7,-12.3,65,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2794,3662,0,0,0,0,0,0
$GC,540,-0.71,-170.3,74.2,-13.1,90,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2794,3663,0,0,0,0,0,0
$GC,681,-0.71,-170.3,92.6,-12.6,115,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2794,3663,0,0,0,0,0,0
$GC,826,-0.71,-170.3,112.3,-14.1,133,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2794,3663,0,0,0,0,0,0
$GC,952,-0.71,-170.3,129.9,-13.9,145,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2794,3663,0,0,0,0,0,0
$GC,1080,-0.71,-170.3,147.2,-13.4,157,1084,0.00,2.25,0.00,0.000,4,0.000,0.031,2564,1367,3663,0,0,0,0,0,0
$GC,1107,-0.71,-170.3,151.2,-13.6,159,1116,0.00,2.28,0.00,0.000,6,0.000,0.043,2560,2775,3663,0,0,0,0,0,0
$GC,1243,-0.71,-170.3,169.2,-13.6,172,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2775,3663,0,0,0,0,0,0
$GC,1370,-0.71,-170.3,186.2,-13.2,184,1373,0.00,1.62,0.00,0.000,4,0.000,0.050,2560,3793,3663,0,0,0,0,0,0
$GC,1418,-0.71,-170.3,192.7,-13.7,188,1421,0.00,1.60,0.00,0.000,6,0.000,0.028,2560,2773,3662,0,0,0,0,0,0
$GC,1558,-0.71,-170.3,211.0,-12.6,201,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2773,3663,0,0,0,0,0,0
$GC,1685,-0.71,-170.3,227.3,-12.5,213,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2773,3663,0,0,0,0,0,0
$GC,1813,-0.71,-170.3,242.8,-12.0,225,1817,0.00,1.62,0.00,0.000,4,0.000,0.048,2553,3784,3663,0,0,0,0,0,0
$GC,1849,-0.71,-170.3,247.2,-12.5,228,1852,0.00,1.58,0.00,0.000,6,0.000,0.029,2553,2781,3663,0,0,0,0,0,0
$GC,1989,-0.71,-170.3,264.2,-11.9,241,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2780,3663,0,0,0,0,0,0
$GC,2181,-0.71,-170.3,287.7,-12.5,259,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2780,3663,0,0,0,0,0,0
$GC,2373,-0.71,-170.3,311.7,-12.8,277,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2781,3663,0,0,0,0,0,0
$GC,2562,-0.71,-170.3,336.1,-12.8,295,2566,0.00,1.62,0.00,0.000,4,0.000,0.048,2547,3785,3663,0,0,0,0,0,0
$GC,2601,-0.71,-170.3,341.7,-13.8,298,2608,0.00,1.58,0.00,0.000,6,0.000,0.029,2547,2787,3662,0,0,0,0,0,0
$GC,2800,-0.71,-170.3,368.6,-13.7,317,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2787,3662,0,0,0,0,0,0
$STATE,2850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2850,begin apogee
$GC,2858,-0.16,0.0,375.7,13.4,322,3005,0.60,0.00,140.18,0.977,4,0.118,0.000,2747,2686,2959,0,0,0,0,0,0
$STATE,3006,end apogee,CONTROL_FINISHED_OK
$STATE,3006,begin climb
$GC,3008,0.71,170.3,382.5,0.0,335,3170,0.82,2.33,150.68,0.929,4,0.072,0.033,3025,1310,2265,0,0,0,0,0,0
$GC,3176,0.78,227.9,376.5,7.7,349,3239,0.00,2.50,55.22,0.892,6,0.000,0.042,3025,2699,2030,0,0,1,0,0,0
$GC,3430,0.79,233.8,352.1,9.8,373,3443,0.00,1.83,6.38,0.747,4,0.000,0.047,3026,3765,2005,0,0,0,0,0,0
$GC,3523,0.79,233.8,341.8,11.3,381,3526,0.00,1.67,0.00,0.000,6,0.000,0.030,3032,2717,2005,0,0,1,0,0,0
$GC,3728,0.79,233.8,320.9,10.1,400,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2715,2004,0,0,0,0,0,0
$GC,3917,0.79,233.8,300.8,10.8,418,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2715,2002,0,0,0,0,0,0
$GC,4109,0.79,233.8,280.6,10.8,436,4113,0.00,1.70,0.00,0.000,4,0.000,0.049,3033,3765,2002,0,0,0,0,0,0
$GC,4156,0.79,233.8,274.8,12.4,440,4160,0.00,1.62,0.00,0.000,6,0.000,0.031,3039,2709,2002,0,0,1,0,0,0
$GC,4360,0.79,233.8,251.8,11.4,459,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2708,2001,0,0,0,0,0,0
$GC,4551,0.79,233.8,230.2,11.4,477,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2708,2001,0,0,0,0,0,0
$GC,4678,0.79,233.8,216.1,11.1,489,4682,0.00,1.70,0.00,0.000,4,0.000,0.047,3039,3766,2001,0,0,0,0,0,0
$GC,4727,0.79,233.8,209.8,12.2,493,4734,0.00,1.67,0.00,0.000,6,0.000,0.029,3047,2713,2001,0,0,0,0,0,0
$GC,4863,0.79,233.8,195.0,11.0,506,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2713,2000,0,0,0,0,0,0
$GC,4989,0.79,233.8,181.2,11.0,518,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2713,2001,0,0,0,0,0,0
$GC,5116,0.79,233.8,167.0,11.3,530,5120,0.00,1.75,0.00,0.000,4,0.000,0.049,3047,3768,2000,0,0,0,0,0,0
$GC,5156,0.79,233.8,162.0,12.7,533,5163,0.00,1.67,0.00,0.000,6,0.000,0.031,3052,2716,2000,0,0,0,0,0,0
$GC,5293,0.79,233.8,146.4,11.4,546,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2717,2000,0,0,0,0,0,0
$GC,5428,0.79,233.8,130.9,11.3,559,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2717,1999,0,0,0,0,0,0
$GC,5556,0.79,233.8,116.6,11.2,571,5560,0.00,1.70,0.00,0.000,4,0.000,0.049,3052,3771,1999,0,0,0,0,0,0
$GC,5595,0.79,233.8,111.5,13.1,574,5602,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2735,1999,0,0,0,0,0,0
$GC,5731,0.79,233.8,95.5,11.8,590,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2735,1999,0,0,0,0,0,0
$GC,5872,0.79,233.8,79.1,11.3,615,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2736,1999,0,0,0,0,0,0
$GC,6014,0.79,233.8,62.2,11.5,640,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2735,1999,0,0,0,0,0,0
$GC,6155,0.79,233.8,46.0,11.4,665,6161,0.00,1.70,0.00,0.000,4,0.000,0.048,3059,3762,1998,0,0,0,0,0,0
$GC,6191,0.79,233.8,41.5,12.7,671,6199,0.00,1.62,0.00,0.000,6,0.000,0.030,3066,2737,1999,0,0,0,0,0,0
$GC,6338,0.79,233.8,24.6,11.7,696,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2737,1998,0,0,0,0,0,0
$FREEZE,8.92,-0.087,-1.895,2,1,0
$FREEZE,8.33,-0.075,-1.894,2,1,0
$FREEZE,7.65,-0.075,-1.894,2,1,0
$GC,6482,0.79,233.8,7.7,12.8,721,6489,0.00,2.28,0.00,0.000,4,0.000,0.035,3077,1301,1998,0,0,0,0,0,0
$FREEZE,5.44,-0.072,-1.892,2,1,0
$FREEZE,4.82,-0.073,-1.892,2,1,0
$FREEZE,4.19,-0.073,-1.892,2,1,0
$FREEZE,3.68,-0.071,-1.891,2,1,0
$FREEZE,3.20,-0.071,-1.891,2,1,0
$GC,6517,0.79,233.8,3.2,10.7,727,6526,0.00,2.33,0.00,0.000,6,0.000,0.043,3077,2737,1998,0,0,0,0,0,0
$FREEZE,1.14,-0.072,-1.889,2,1,0
$STATE,6531,end climb,SURFACE_DEPTH_REACHED
$STATE,6531,begin surface coast
$FREEZE,0.52,-0.070,-1.889,2,1,0
$FREEZE,-0.07,-0.077,-1.889,2,1,0
$FREEZE,-0.10,-0.131,-1.027,2,1,0
$FREEZE,0.04,-0.091,-1.889,2,1,0
$FREEZE,0.12,-0.119,-1.892,2,1,0
$FINISH,0.1,1.027678
$STATE,6559,end surface coast,CONTROL_FINISHED_OK
$STATE,6560,begin surface
$SM_CCo,6579,5.97,0.102,0,0,1939,250.20
$SM_GC,2.06,0.00,0.00,5.97,0.000,0.000,0.102,188,2780,1939,-8.16,-0.03,250.20
$IRIDIUM_FIX,-7545.40,17540.34,190111,161604
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.5
$ALTIM_BOTTOM_PING,351.0,59.4
$24V_AH,21.7,82.969
$10V_AH,9.8,32.984
$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,18.350,44.025,352.450,5.975,0.000,30.363,40.288,177.354,1.250,0.000,12.924,1814.111,2976.099,442.928,1463.926,291.550,0.000,1134.977,0.000,1163.598,0.000,10.624,0.000
$DEVICE_MAMPS,208.080,146.115,976.905,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.685,942.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258164
$DATA_FILE_SIZE,47116,734
$CAP_FILE_SIZE,92469,0
$CFSIZE,260165632,216010752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.196,  9.4,1
$GPS,190111,202554,-7637.037,17539.457,28,1.2,45,124.7