version: 66.08
glider: 503
mission: 7
dive: 771
start: 1 18 111 14 29 55
data:
$ID,503
$MISSION,7
$DIVE,771
$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,-20498.285
$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,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
$GPS1,180111,142301,-7626.896,17604.277,17,1.2,29,123.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.9
$GPS2,180111,142926,-7626.866,17604.219,14,1.7,14,123.4
$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,88.7,58649,-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,-170.3,0.0,0.0,0,89,0.00,0.00,-70.65,0.000,2,0.000,0.000,179,2798,3409,0,0,0,0,0,0
$GC,93,-0.71,-170.3,3.3,-6.0,12,115,9.15,1.62,-5.35,0.000,4,0.203,0.063,2558,3763,3658,0,0,0,0,0,0
$GC,183,-0.71,-170.3,23.7,-13.6,27,190,0.00,1.58,0.00,0.000,6,0.000,0.030,2557,2772,3661,0,0,0,0,0,0
$GC,327,-0.71,-170.3,43.4,-13.4,52,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2772,3662,0,0,0,0,0,0
$GC,470,-0.71,-170.3,63.2,-13.5,77,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2772,3662,0,0,0,0,0,0
$GC,613,-0.71,-170.3,82.8,-13.9,102,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2772,3662,0,0,0,0,0,0
$GC,762,-0.71,-170.3,103.6,-14.1,126,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2772,3662,0,0,0,0,0,0
$GC,889,-0.71,-170.3,121.4,-13.9,138,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2773,3662,0,0,0,0,0,0
$GC,1016,-0.71,-170.3,138.8,-13.7,150,1020,0.00,1.62,0.00,0.000,4,0.000,0.048,2550,3757,3662,0,0,0,0,0,0
$GC,1066,-0.71,-170.3,146.0,-14.1,154,1074,0.00,1.55,0.00,0.000,6,0.000,0.029,2550,2776,3663,0,0,0,0,0,0
$GC,1201,-0.71,-170.3,164.1,-13.4,167,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2776,3662,0,0,0,0,0,0
$GC,1328,-0.71,-170.3,181.0,-13.3,179,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2776,3663,0,0,0,0,0,0
$GC,1457,-0.71,-170.3,197.6,-13.2,191,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2776,3663,0,0,0,0,0,0
$GC,1586,-0.71,-170.3,215.0,-13.6,203,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2776,3662,0,0,0,0,0,0
$GC,1720,-0.71,-170.3,234.0,-13.7,216,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2776,3663,0,0,0,0,0,0
$GC,1849,-0.71,-170.3,251.1,-13.1,228,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2776,3663,0,0,0,0,0,0
$GC,2038,-0.71,-170.3,275.7,-12.8,246,2042,0.00,1.60,0.00,0.000,4,0.000,0.049,2542,3743,3662,0,0,0,0,0,0
$GC,2078,-0.71,-170.3,281.2,-13.8,249,2085,0.00,1.50,0.00,0.000,6,0.000,0.029,2542,2774,3662,0,0,1,0,0,0
$GC,2277,-0.71,-170.3,308.5,-14.2,268,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3662,0,0,0,0,0,0
$GC,2467,-0.71,-170.3,335.4,-14.1,286,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3662,0,0,0,0,0,0
$GC,2658,-0.71,-170.3,361.6,-13.8,304,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2774,3662,0,0,0,0,0,0
$STATE,2761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2761,begin apogee
$GC,2768,-0.16,0.0,375.6,13.1,314,2916,0.60,0.00,139.50,0.978,4,0.119,0.000,2741,2689,2958,0,0,0,0,0,0
$STATE,2917,end apogee,CONTROL_FINISHED_OK
$STATE,2917,begin climb
$GC,2919,0.71,170.3,381.6,0.0,327,3080,0.85,2.35,151.15,0.927,4,0.073,0.034,3027,1307,2265,0,0,0,0,0,0
$GC,3240,0.77,215.6,361.8,8.2,355,3289,0.00,2.38,41.62,0.907,6,0.000,0.042,3027,2689,2081,0,0,0,0,0,0
$GC,3489,0.80,238.4,338.2,9.1,378,3516,0.00,2.30,21.45,0.886,4,0.000,0.036,3037,1313,1988,0,0,1,0,0,0
$GC,3647,0.82,255.1,323.7,9.3,392,3670,0.00,2.33,16.48,0.874,6,0.000,0.043,3037,2713,1920,0,0,0,0,0,0
$GC,3863,0.82,255.1,302.2,10.1,412,3867,0.00,1.70,0.00,0.000,4,0.000,0.049,3037,3762,1920,0,0,0,0,0,0
$GC,3933,0.82,255.1,294.2,11.4,418,3937,0.00,1.62,0.00,0.000,6,0.000,0.031,3043,2710,1920,0,0,1,0,0,0
$GC,4138,0.82,255.1,273.3,10.3,437,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2710,1920,0,0,0,0,0,0
$GC,4328,0.82,255.1,252.8,10.7,455,4332,0.00,1.75,0.00,0.000,4,0.000,0.049,3043,3764,1919,0,0,0,0,0,0
$GC,4363,0.82,255.1,248.5,12.5,458,4367,0.00,1.67,0.00,0.000,6,0.000,0.031,3050,2717,1919,0,0,0,0,0,0
$GC,4505,0.82,255.1,231.9,11.6,471,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2716,1919,0,0,0,0,0,0
$GC,4631,0.82,255.1,217.5,11.2,483,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2716,1918,0,0,0,0,0,0
$GC,4760,0.82,255.1,203.4,11.1,495,4763,0.00,1.70,0.00,0.000,4,0.000,0.049,3050,3772,1918,0,0,0,0,0,0
$GC,4798,0.82,255.1,198.1,13.1,498,4806,0.00,1.65,0.00,0.000,6,0.000,0.029,3056,2734,1918,0,0,0,0,0,0
$GC,4934,0.82,255.1,182.4,11.6,511,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2734,1918,0,0,0,0,0,0
$GC,5060,0.82,255.1,167.4,11.8,523,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2734,1918,0,0,0,0,0,0
$GC,5188,0.82,255.1,151.7,12.3,535,5191,0.00,1.65,0.00,0.000,4,0.000,0.049,3056,3764,1918,0,0,0,0,0,0
$GC,5248,0.82,255.1,143.8,14.2,540,5251,0.00,1.62,0.00,0.000,6,0.000,0.030,3063,2739,1918,0,0,0,0,0,0
$GC,5388,0.82,255.1,125.3,12.7,553,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2737,1917,0,0,0,0,0,0
$GC,5515,0.82,255.1,109.3,12.4,565,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2737,1917,0,0,0,0,0,0
$GC,5646,0.82,255.1,92.3,13.0,582,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2737,1917,0,0,0,0,0,0
$GC,5788,0.82,255.1,74.2,11.8,607,5795,0.00,1.67,0.00,0.000,4,0.000,0.048,3064,3755,1917,0,0,0,0,0,0
$GC,5831,0.82,255.1,68.5,13.4,614,5838,0.00,1.60,0.00,0.000,6,0.000,0.030,3070,2743,1918,0,0,0,0,0,0
$GC,5976,0.82,255.1,50.8,12.7,639,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2743,1917,0,0,0,0,0,0
$GC,6118,0.82,255.1,32.7,11.8,664,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2743,1916,0,0,0,0,0,0
$GC,6260,0.82,255.1,14.9,12.6,689,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2744,1917,0,0,0,0,0,0
$FREEZE,8.87,-0.437,-1.896,2,1,0
$FREEZE,8.26,-0.436,-1.896,2,1,0
$FREEZE,7.83,-0.437,-1.896,2,1,0
$FREEZE,7.03,-0.438,-1.895,2,1,0
$FREEZE,6.30,-0.437,-1.894,2,1,0
$FREEZE,5.62,-0.435,-1.894,2,1,0
$FREEZE,5.05,-0.434,-1.893,2,1,0
$FREEZE,4.44,-0.434,-1.893,2,1,0
$FREEZE,3.75,-0.435,-1.892,2,1,0
$FREEZE,3.18,-0.436,-1.892,2,1,0
$FREEZE,2.59,-0.435,-1.892,2,1,0
$STATE,6360,end climb,SURFACE_DEPTH_REACHED
$STATE,6360,begin surface coast
$FREEZE,1.34,-0.432,-1.891,2,1,0
$FREEZE,0.69,-0.433,-1.890,2,1,0
$FREEZE,0.10,-0.432,-1.889,2,1,0
$FREEZE,0.11,-0.405,-1.030,2,1,0
$FREEZE,-0.04,-0.372,-1.525,2,1,0
$FINISH,-0.0,1.022461
$STATE,6388,end surface coast,CONTROL_FINISHED_OK
$STATE,6388,begin surface
$SM_CCo,6467,0.00,0.000,0,0,1914,256.33
$SM_GC,0.97,7.62,0.00,0.00,0.044,0.000,0.000,186,2794,1914,-8.08,0.40,256.33
$IRIDIUM_FIX,-7545.40,17619.70,180111,121204
$TT8_MAMPS,0.026964
$HUMID,52.36
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.1
$24V_AH,21.8,81.470
$10V_AH,9.9,32.170
$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,18.225,35.625,370.200,0.000,0.000,27.836,37.655,169.958,1.250,0.000,17.412,1769.172,2932.006,429.604,1444.328,280.626,0.000,1107.482,0.000,1154.855,0.000,10.662,0.000
$DEVICE_MAMPS,203.490,113.985,977.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.488,911.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258160
$DATA_FILE_SIZE,47109,712
$CAP_FILE_SIZE,88129,0
$CFSIZE,260165632,216743936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.122,  5.1,1
$GPS,180111,161907,-7627.252,17602.221,45,1.3,46,123.5