version: 66.08
glider: 503
mission: 7
dive: 786
start: 1 19 111 20 33 15
data:
$ID,503
$MISSION,7
$DIVE,786
$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,-20519.111
$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,29
$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
$GPS1,190111,202554,-7637.037,17539.457,28,1.2,45,124.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-75.6
$GPS2,190111,203246,-7636.982,17539.482,11,3.9,30,124.7
$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,69.8,37249,-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,-170.3,0.0,0.0,0,88,0.00,0.00,-69.75,0.000,2,0.000,0.000,187,2780,3386,0,0,0,0,0,0
$GC,92,-0.71,-170.3,3.3,-6.9,12,113,9.27,0.00,-5.88,0.000,6,0.210,0.000,2563,2780,3659,0,0,0,0,0,0
$GC,250,-0.71,-170.3,32.0,-13.6,39,256,0.00,2.22,0.00,0.000,4,0.000,0.032,2563,1376,3663,0,0,0,0,0,0
$GC,291,-0.71,-170.3,38.1,-13.2,46,299,0.00,2.30,0.00,0.000,6,0.000,0.044,2560,2777,3663,0,0,0,0,0,0
$GC,436,-0.71,-170.3,58.1,-13.8,71,443,0.00,1.62,0.00,0.000,4,0.000,0.051,2559,3761,3663,0,0,0,0,0,0
$GC,489,-0.71,-170.3,65.9,-14.4,80,496,0.00,1.55,0.00,0.000,6,0.000,0.029,2559,2781,3662,0,0,0,0,0,0
$GC,630,-0.71,-170.3,85.4,-13.6,105,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2781,3663,0,0,0,0,0,0
$GC,771,-0.71,-170.3,104.6,-13.4,127,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2781,3663,0,0,0,0,0,0
$GC,898,-0.71,-170.3,121.7,-13.5,139,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2781,3664,0,0,0,0,0,0
$GC,1026,-0.71,-170.3,138.4,-13.1,151,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2781,3663,0,0,0,0,0,0
$GC,1152,-0.71,-170.3,154.8,-13.0,163,1156,0.00,1.62,0.00,0.000,4,0.000,0.048,2553,3757,3663,0,0,0,0,0,0
$GC,1191,-0.71,-170.3,160.4,-13.8,166,1199,0.00,1.52,0.00,0.000,6,0.000,0.029,2552,2786,3663,0,0,0,0,0,0
$GC,1327,-0.71,-170.3,177.9,-13.0,179,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2786,3663,0,0,0,0,0,0
$GC,1453,-0.71,-170.3,195.4,-13.6,191,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2786,3663,0,0,0,0,0,0
$GC,1582,-0.71,-170.3,212.4,-13.2,203,1586,0.00,1.62,0.00,0.000,4,0.000,0.049,2547,3790,3663,0,0,0,0,0,0
$GC,1633,-0.71,-170.3,219.9,-14.0,207,1639,0.00,1.55,0.00,0.000,6,0.000,0.028,2547,2803,3663,0,0,0,0,0,0
$GC,1767,-0.71,-170.3,238.4,-13.9,220,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2803,3663,0,0,0,0,0,0
$GC,1895,-0.71,-170.3,256.1,-14.0,232,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2803,3663,0,0,0,0,0,0
$GC,2086,-0.71,-170.3,282.8,-13.9,250,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2803,3663,0,0,0,0,0,0
$GC,2277,-0.71,-170.3,309.4,-13.7,268,2281,0.00,1.58,0.00,0.000,4,0.000,0.047,2540,3758,3663,0,0,0,0,0,0
$GC,2322,-0.71,-170.3,316.1,-14.4,272,2326,0.08,1.50,0.00,0.000,6,0.130,0.029,2567,2803,3663,0,0,0,0,0,0
$GC,2528,-0.71,-170.3,341.8,-12.3,291,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2803,3663,0,0,0,0,0,0
$GC,2719,-0.71,-170.3,365.6,-12.3,309,2723,0.00,1.58,0.00,0.000,4,0.000,0.049,2562,3754,3663,0,0,0,0,0,0
$GC,2755,-0.71,-170.3,370.2,-13.1,312,2758,0.00,1.50,0.00,0.000,6,0.000,0.029,2562,2803,3663,0,0,0,0,0,0
$STATE,2796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2796,begin apogee
$GC,2803,-0.16,0.0,376.1,13.1,316,2949,0.52,0.00,139.98,0.978,4,0.115,0.000,2740,2686,2960,0,0,0,0,0,0
$STATE,2950,end apogee,CONTROL_FINISHED_OK
$STATE,2950,begin climb
$GC,2953,0.71,170.3,383.0,0.0,329,3115,0.85,2.35,151.12,0.929,4,0.073,0.033,3025,1308,2265,0,0,0,0,0,0
$GC,3290,0.75,202.0,363.8,8.7,358,3324,0.00,2.40,28.92,0.903,6,0.000,0.042,3025,2703,2136,0,0,0,0,0,0
$GC,3519,0.78,222.7,342.9,9.2,379,3545,0.00,2.40,19.40,0.888,4,0.000,0.035,3035,1304,2052,0,0,1,0,0,0
$GC,3701,0.78,225.0,325.0,9.9,395,3712,0.00,2.33,4.12,0.638,6,0.000,0.043,3035,2711,2041,0,0,0,0,0,0
$GC,3914,0.78,225.0,303.5,10.1,415,3918,0.00,1.70,0.00,0.000,4,0.000,0.049,3035,3765,2041,0,0,0,0,0,0
$GC,3971,0.78,225.0,296.6,11.9,420,3975,0.00,1.65,0.00,0.000,6,0.000,0.031,3042,2708,2040,0,0,0,0,0,0
$GC,4176,0.78,225.0,274.7,10.4,439,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2708,2040,0,0,0,0,0,0
$GC,4367,0.78,225.0,254.9,10.2,457,4370,0.00,1.70,0.00,0.000,4,0.000,0.048,3042,3764,2039,0,0,0,0,0,0
$GC,4424,0.78,225.0,248.3,11.7,462,4428,0.00,1.67,0.00,0.000,6,0.000,0.030,3050,2714,2039,0,0,0,0,0,0
$GC,4565,0.78,225.0,233.5,10.5,475,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2713,2039,0,0,0,0,0,0
$GC,4691,0.78,225.0,219.9,10.8,487,4695,0.00,1.70,0.00,0.000,4,0.000,0.049,3050,3771,2038,0,0,0,0,0,0
$GC,4730,0.78,225.0,215.1,12.3,490,4739,0.00,1.67,0.00,0.000,6,0.000,0.030,3057,2714,2038,0,0,0,0,0,0
$GC,4865,0.78,225.0,200.3,11.2,503,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2714,2038,0,0,0,0,0,0
$GC,4991,0.78,225.0,186.2,11.2,515,4995,0.00,1.73,0.00,0.000,4,0.000,0.049,3057,3762,2038,0,0,0,0,0,0
$GC,5030,0.78,225.0,181.1,12.8,518,5038,0.00,1.65,0.00,0.000,6,0.000,0.030,3064,2729,2038,0,0,0,0,0,0
$GC,5166,0.78,225.0,165.5,11.8,531,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2729,2038,0,0,0,0,0,0
$GC,5294,0.78,225.0,151.0,11.3,543,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2729,2038,0,0,0,0,0,0
$GC,5420,0.78,225.0,136.6,11.2,555,5424,0.00,1.70,0.00,0.000,4,0.000,0.048,3064,3762,2037,0,0,0,0,0,0
$GC,5455,0.78,225.0,132.3,12.2,558,5459,0.00,1.62,0.00,0.000,6,0.000,0.031,3072,2736,2037,0,0,0,0,0,0
$GC,5596,0.78,225.0,115.8,11.4,571,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2735,2037,0,0,0,0,0,0
$GC,5722,0.78,225.0,100.9,11.6,583,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2735,2037,0,0,0,0,0,0
$GC,5854,0.78,225.0,85.6,11.6,606,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2735,2037,0,0,0,0,0,0
$GC,5997,0.78,225.0,69.4,11.9,631,6004,0.00,1.70,0.00,0.000,4,0.000,0.047,3072,3759,2037,0,0,0,0,0,0
$GC,6046,0.78,225.0,63.1,13.0,639,6052,0.00,1.62,0.00,0.000,6,0.000,0.031,3079,2736,2037,0,0,0,0,0,0
$GC,6190,0.78,225.0,46.6,11.6,664,6197,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3765,2037,0,0,0,0,0,0
$GC,6226,0.78,225.0,41.7,12.7,670,6234,0.10,1.60,0.00,0.000,6,0.132,0.031,3050,2759,2037,0,0,0,0,0,0
$GC,6373,0.79,231.8,27.0,9.7,695,6385,0.00,0.00,6.60,0.720,6,0.000,0.000,3050,2759,2014,0,0,0,0,0,0
$GC,6522,0.79,231.8,11.2,10.6,721,6529,0.00,2.33,0.00,0.000,4,0.000,0.034,3061,1296,2014,0,0,0,0,0,0
$FREEZE,8.96,-0.083,-1.896,2,1,0
$FREEZE,8.34,-0.086,-1.895,2,1,0
$FREEZE,7.89,-0.085,-1.895,2,1,0
$FREEZE,7.35,-0.082,-1.894,2,1,0
$GC,6560,0.79,231.8,7.4,10.6,727,6567,0.00,2.35,0.00,0.000,6,0.000,0.042,3061,2751,2014,0,0,0,0,0,0
$FREEZE,5.65,-0.083,-1.893,2,1,0
$FREEZE,4.97,-0.078,-1.892,2,1,0
$FREEZE,4.42,-0.079,-1.892,2,1,0
$FREEZE,3.78,-0.076,-1.891,2,1,0
$FREEZE,3.20,-0.059,-1.891,2,1,0
$FREEZE,2.60,-0.059,-1.890,2,1,0
$STATE,6598,end climb,SURFACE_DEPTH_REACHED
$STATE,6598,begin surface coast
$FREEZE,2.07,-0.060,-1.890,2,1,0
$FREEZE,1.39,-0.050,-1.889,2,1,0
$FREEZE,0.75,-0.053,-1.889,2,1,0
$FREEZE,0.10,-0.055,-1.889,2,1,0
$FREEZE,-0.01,-0.053,-1.250,2,1,0
$FINISH,-0.0,1.018464
$STATE,6629,end surface coast,CONTROL_FINISHED_OK
$STATE,6629,begin surface
$SM_CCo,6647,8.00,0.103,0,0,1939,250.20
$SM_GC,2.23,0.00,0.00,8.00,0.000,0.000,0.103,188,2751,1939,-8.16,-0.82,250.20
$IRIDIUM_FIX,-7554.21,17548.90,190111,181856
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.4
$ALTIM_BOTTOM_PING,351.1,57.0
$24V_AH,21.8,83.075
$10V_AH,9.7,33.043
$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,18.375,57.875,350.150,8.000,0.000,29.627,43.036,172.423,1.250,0.000,33.998,1855.622,2940.085,436.429,1530.883,309.725,0.000,1153.868,0.000,1212.413,0.000,10.620,0.000
$DEVICE_MAMPS,209.610,69.615,978.435,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.354,948.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258204
$DATA_FILE_SIZE,47031,739
$CAP_FILE_SIZE,97820,0
$CFSIZE,260165632,215953408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.154,  7.5,1
$GPS,190111,222537,-7637.337,17538.678,44,0.9,45,124.7