version: 66.08
glider: 503
mission: 7
dive: 769
start: 1 18 111 10 34 42
data:
$ID,503
$MISSION,7
$DIVE,769
$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,-20495.771
$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,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
$GPS1,180111,102743,-7625.680,17608.289,20,1.5,20,123.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-72.5
$GPS2,180111,103414,-7625.683,17608.393,12,1.5,12,123.3
$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,104.2,61400,-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,-69.70,0.000,2,0.000,0.000,166,2753,3380,0,0,0,0,0,0
$GC,92,-0.71,-170.3,3.2,-5.2,12,114,9.10,1.70,-6.03,0.000,4,0.203,0.063,2556,3767,3658,0,0,1,0,0,0
$GC,161,-0.71,-170.3,20.7,-16.6,23,168,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2776,3661,0,0,0,0,0,0
$GC,304,-0.71,-170.3,41.8,-15.5,48,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2776,3662,0,0,0,0,0,0
$GC,448,-0.71,-170.3,62.6,-14.0,73,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2776,3662,0,0,0,0,0,0
$GC,591,-0.71,-170.3,82.7,-14.1,98,598,0.00,1.62,0.00,0.000,4,0.000,0.048,2547,3761,3662,0,0,0,0,0,0
$GC,639,-0.71,-170.3,90.0,-15.4,106,647,0.00,1.55,0.00,0.000,6,0.000,0.030,2547,2780,3662,0,0,0,0,0,0
$GC,785,-0.71,-170.3,111.4,-14.5,125,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2780,3662,0,0,0,0,0,0
$GC,912,-0.71,-170.3,129.9,-14.3,137,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2780,3662,0,0,0,0,0,0
$GC,1041,-0.71,-170.3,148.2,-14.5,149,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2780,3663,0,0,0,0,0,0
$GC,1167,-0.71,-170.3,166.6,-14.2,161,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2780,3663,0,0,0,0,0,0
$GC,1295,-0.71,-170.3,184.8,-14.3,173,1299,0.00,1.62,0.00,0.000,4,0.000,0.050,2539,3765,3663,0,0,0,0,0,0
$GC,1342,-0.71,-170.3,191.7,-15.4,177,1345,0.00,1.55,0.00,0.000,6,0.000,0.029,2539,2779,3663,0,0,0,0,0,0
$GC,1482,-0.71,-170.3,212.3,-14.7,190,1484,0.10,0.00,0.00,0.000,6,0.172,0.000,2567,2779,3663,0,0,0,0,0,0
$GC,1609,-0.71,-170.3,229.0,-13.4,202,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2778,3663,0,0,0,0,0,0
$GC,1737,-0.71,-170.3,245.7,-13.3,214,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2779,3663,0,0,0,0,0,0
$GC,1865,-0.71,-170.3,262.4,-13.0,226,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2779,3663,0,0,0,0,0,0
$GC,2054,-0.71,-170.3,287.6,-12.8,244,2058,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3793,3662,0,0,0,0,0,0
$GC,2105,-0.71,-170.3,294.7,-13.7,248,2112,0.00,1.58,0.00,0.000,6,0.000,0.029,2563,2791,3663,0,0,0,0,0,0
$GC,2304,-0.71,-170.3,319.5,-12.4,267,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2791,3662,0,0,0,0,0,0
$GC,2495,-0.71,-170.3,343.5,-12.5,285,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2792,3662,0,0,0,0,0,0
$GC,2686,-0.71,-170.3,366.2,-11.6,303,2690,0.00,1.60,0.00,0.000,4,0.000,0.049,2556,3762,3662,0,0,0,0,0,0
$GC,2721,-0.71,-170.3,370.5,-12.7,306,2725,0.00,1.52,0.00,0.000,6,0.000,0.030,2556,2795,3662,0,0,0,0,0,0
$STATE,2763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2763,begin apogee
$GC,2770,-0.16,0.0,376.1,12.5,310,2917,0.55,0.00,139.27,0.979,4,0.116,0.000,2741,2694,2958,0,0,0,0,0,0
$STATE,2918,end apogee,CONTROL_FINISHED_OK
$STATE,2918,begin climb
$GC,2921,0.71,170.3,382.2,0.0,323,3080,0.85,2.35,150.75,0.929,4,0.073,0.034,3027,1305,2265,0,0,0,0,0,0
$GC,3230,0.73,189.0,362.6,9.3,350,3254,0.00,2.40,17.50,0.879,6,0.000,0.042,3027,2702,2189,0,0,0,0,0,0
$GC,3449,0.73,189.0,339.7,10.7,370,3453,0.00,2.30,0.00,0.000,4,0.000,0.034,3036,1301,2187,0,0,0,0,0,0
$GC,3622,0.73,189.0,320.9,10.6,385,3626,0.00,2.30,0.00,0.000,6,0.000,0.042,3037,2711,2185,0,0,0,0,0,0
$GC,3821,0.73,189.0,299.2,10.8,403,3825,0.00,1.73,0.00,0.000,4,0.000,0.050,3037,3755,2183,0,0,0,0,0,0
$GC,3878,0.73,189.0,292.0,12.9,408,3882,0.00,1.65,0.00,0.000,6,0.000,0.031,3043,2699,2183,0,0,0,0,0,0
$GC,4083,0.73,189.0,269.7,11.1,427,4087,0.00,1.75,0.00,0.000,4,0.000,0.049,3044,3755,2183,0,0,0,0,0,0
$GC,4130,0.73,189.0,263.8,12.4,431,4134,0.00,1.65,0.00,0.000,6,0.000,0.031,3052,2691,2183,0,0,0,0,0,0
$GC,4335,0.73,189.0,240.7,11.6,450,4339,0.00,1.77,0.00,0.000,4,0.000,0.049,3052,3762,2182,0,0,0,0,0,0
$GC,4380,0.73,189.0,234.8,13.9,454,4384,0.00,1.62,0.00,0.000,6,0.000,0.030,3059,2740,2182,0,0,0,0,0,0
$GC,4521,0.73,189.0,218.4,11.5,467,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2738,2182,0,0,0,0,0,0
$GC,4649,0.73,189.0,203.7,11.6,479,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2739,2182,0,0,0,0,0,0
$GC,4775,0.73,189.0,189.1,11.4,491,4778,0.00,1.65,0.00,0.000,4,0.000,0.049,3059,3767,2182,0,0,0,0,0,0
$GC,4832,0.73,189.0,181.7,13.2,496,4835,0.00,1.62,0.00,0.000,6,0.000,0.030,3067,2738,2181,0,0,0,0,0,0
$GC,4972,0.73,189.0,165.1,11.5,509,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2736,2181,0,0,0,0,0,0
$GC,5099,0.73,189.0,150.2,11.8,521,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2737,2181,0,0,0,0,0,0
$GC,5227,0.73,189.0,135.5,11.5,533,5230,0.00,1.67,0.00,0.000,4,0.000,0.048,3067,3754,2181,0,0,0,0,0,0
$GC,5297,0.73,189.0,126.5,13.5,539,5301,0.10,1.60,0.00,0.000,6,0.132,0.030,3038,2746,2181,0,0,0,0,0,0
$GC,5437,0.74,190.5,112.0,9.9,552,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2746,2181,0,0,0,0,0,0
$GC,5564,0.74,190.5,99.2,10.0,564,5571,0.00,1.67,0.00,0.000,4,0.000,0.049,3038,3761,2181,0,0,0,0,0,0
$GC,5609,0.74,190.5,94.7,11.4,571,5615,0.00,1.60,0.00,0.000,6,0.000,0.031,3045,2750,2181,0,0,0,0,0,0
$GC,5752,0.74,190.5,79.9,10.2,596,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2750,2181,0,0,0,0,0,0
$GC,5896,0.75,201.7,65.6,9.6,621,5910,0.00,0.00,11.12,0.786,6,0.000,0.000,3044,2751,2137,0,0,0,0,0,0
$GC,6047,0.77,218.5,51.4,9.3,647,6073,0.00,1.70,16.50,0.779,4,0.000,0.050,3045,3764,2069,0,0,1,0,0,0
$GC,6126,0.77,218.5,42.8,11.4,660,6133,0.00,1.58,0.00,0.000,6,0.000,0.031,3051,2768,2070,0,0,1,0,0,0
$GC,6269,0.77,218.5,27.1,11.5,685,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2768,2069,0,0,0,0,0,0
$GC,6412,0.77,218.5,11.7,11.0,710,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2768,2069,0,0,0,0,0,0
$FREEZE,8.91,0.039,-1.896,2,1,0
$FREEZE,8.30,0.037,-1.895,2,1,0
$FREEZE,7.81,0.038,-1.895,2,1,0
$FREEZE,7.35,0.040,-1.895,2,1,0
$FREEZE,6.83,0.040,-1.894,2,1,0
$FREEZE,6.34,0.039,-1.894,2,1,0
$FREEZE,5.64,0.036,-1.893,2,1,0
$FREEZE,5.06,0.039,-1.893,2,1,0
$FREEZE,4.32,0.040,-1.892,2,1,0
$FREEZE,3.77,0.036,-1.892,2,1,0
$FREEZE,3.12,0.038,-1.892,2,1,0
$FREEZE,2.61,0.039,-1.891,2,1,0
$STATE,6492,end climb,SURFACE_DEPTH_REACHED
$STATE,6494,begin surface coast
$FREEZE,1.72,0.043,-1.890,2,1,0
$FREEZE,1.04,0.041,-1.890,2,1,0
$FREEZE,0.25,0.044,-1.889,2,1,0
$FREEZE,-0.05,0.036,-0.464,2,1,0
$FINISH,-0.1,1.006776
$STATE,6517,end surface coast,CONTROL_FINISHED_OK
$STATE,6517,begin surface
$SM_CCo,6535,14.88,0.102,0,0,1940,250.20
$SM_GC,1.54,0.00,0.00,14.88,0.000,0.000,0.102,191,2767,1940,-8.16,-0.37,250.20
$IRIDIUM_FIX,-7545.40,17601.40,180111,080812
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,21.9,81.249
$10V_AH,9.9,32.058
$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,18.275,48.675,335.150,14.875,0.000,30.327,40.084,172.289,1.250,0.000,15.019,1837.405,2907.045,416.709,1493.838,291.786,0.000,1117.316,0.000,1193.889,0.000,12.443,0.000
$DEVICE_MAMPS,203.490,79.560,979.200,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.492,940.662,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258132
$DATA_FILE_SIZE,47100,729
$CAP_FILE_SIZE,94479,0
$CFSIZE,260165632,216838144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.075, 97.1,1
$GPS,180111,122531,-7626.327,17606.488,54,1.1,55,123.4