version: 66.08
glider: 503
mission: 7
dive: 772
start: 1 18 111 16 26 15
data:
$ID,503
$MISSION,7
$DIVE,772
$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,-20499.545
$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,34
$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
$GPS1,180111,161907,-7627.252,17602.221,45,1.3,46,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-75.6
$GPS2,180111,162546,-7627.207,17602.100,9,2.7,28,123.5
$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,74.0,57682,-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,12,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,-75.97,0.000,2,0.000,0.000,182,2796,3507,0,0,0,0,0,0
$GC,98,-0.71,-170.3,3.8,-8.8,13,119,9.18,1.55,-3.05,0.000,4,0.206,0.059,2556,3765,3659,0,0,0,0,0,0
$GC,177,-0.71,-170.3,25.0,-16.3,26,184,0.00,1.55,0.00,0.000,6,0.000,0.028,2556,2780,3661,0,0,0,0,0,0
$GC,320,-0.71,-170.3,45.7,-14.0,51,328,0.00,2.22,0.00,0.000,4,0.000,0.031,2556,1377,3662,0,0,0,0,0,0
$GC,358,-0.71,-170.3,51.1,-13.0,57,365,0.00,2.28,0.00,0.000,6,0.000,0.043,2547,2776,3662,0,0,0,0,0,0
$GC,500,-0.71,-170.3,70.8,-13.2,82,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2776,3662,0,0,0,0,0,0
$GC,642,-0.71,-170.3,90.1,-13.8,107,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2776,3662,0,0,0,0,0,0
$GC,787,-0.71,-170.3,111.5,-15.0,126,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2776,3662,0,0,0,0,0,0
$GC,914,-0.71,-170.3,130.3,-14.7,138,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2776,3662,0,0,0,0,0,0
$GC,1042,-0.71,-170.3,148.9,-14.8,150,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2777,3662,0,0,0,0,0,0
$GC,1169,-0.71,-170.3,167.6,-14.8,162,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2777,3662,0,0,0,0,0,0
$GC,1296,-0.71,-170.3,186.2,-14.4,174,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2777,3663,0,0,0,0,0,0
$GC,1425,-0.71,-170.3,205.2,-15.3,186,1428,0.00,1.60,0.00,0.000,4,0.000,0.050,2547,3760,3662,0,0,0,0,0,0
$GC,1460,-0.71,-170.3,210.6,-15.7,189,1463,0.00,1.52,0.00,0.000,6,0.000,0.030,2547,2784,3662,0,0,0,0,0,0
$GC,1600,-0.71,-170.3,231.4,-14.4,202,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3662,0,0,0,0,0,0
$GC,1728,-0.71,-170.3,249.3,-14.0,214,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3662,0,0,0,0,0,0
$GC,1855,-0.71,-170.3,266.6,-13.4,226,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2784,3662,0,0,0,0,0,0
$GC,2046,-0.71,-170.3,291.7,-13.0,244,2050,0.00,1.60,0.00,0.000,4,0.000,0.049,2539,3756,3663,0,0,0,0,0,0
$GC,2097,-0.71,-170.3,298.8,-13.3,248,2105,0.08,1.52,0.00,0.000,6,0.132,0.029,2566,2783,3662,0,0,0,0,0,0
$GC,2297,-0.71,-170.3,321.4,-11.6,267,2301,0.00,2.20,0.00,0.000,4,0.000,0.032,2566,1372,3662,0,0,0,0,0,0
$GC,2341,-0.71,-170.3,327.1,-11.6,270,2349,0.00,2.30,0.00,0.000,6,0.000,0.044,2563,2786,3662,0,0,0,0,0,0
$GC,2541,-0.71,-170.3,351.9,-12.6,289,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2786,3662,0,0,0,0,0,0
$STATE,2728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2735,-0.16,0.0,376.1,12.7,307,2883,0.52,0.00,139.80,0.976,4,0.116,0.000,2741,2693,2958,0,0,0,0,0,0
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin climb
$GC,2887,0.71,170.3,383.7,0.0,320,3048,0.85,2.35,150.98,0.930,4,0.073,0.034,3026,1308,2265,0,0,0,0,0,0
$GC,3054,0.83,263.3,379.6,6.3,334,3153,0.12,2.53,89.00,0.897,6,0.083,0.042,3087,2702,1886,0,0,1,0,0,0
$GC,3343,0.83,263.3,340.4,14.9,361,3347,0.00,1.80,0.00,0.000,4,0.000,0.047,3087,3767,1884,0,0,0,0,0,0
$GC,3435,0.83,263.3,325.1,16.2,369,3438,0.00,1.67,0.00,0.000,6,0.000,0.029,3095,2711,1884,0,0,1,0,0,0
$GC,3641,0.83,263.3,293.8,15.0,388,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2710,1882,0,0,0,0,0,0
$GC,3839,0.83,263.3,262.2,16.1,407,3843,0.00,1.73,0.00,0.000,4,0.000,0.048,3095,3772,1882,0,0,0,0,0,0
$GC,3908,0.83,263.3,250.0,17.9,413,3912,0.12,1.65,0.00,0.000,6,0.163,0.029,3069,2712,1881,0,0,0,0,0,0
$GC,4112,0.83,263.3,221.0,13.8,432,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2712,1881,0,0,0,0,0,0
$GC,4238,0.83,263.3,204.0,13.3,444,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2711,1880,0,0,0,0,0,0
$GC,4366,0.83,263.3,187.6,12.8,456,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2711,1880,0,0,0,0,0,0
$GC,4494,0.83,263.3,171.6,12.3,468,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2711,1880,0,0,0,0,0,0
$GC,4620,0.83,263.3,155.2,13.0,480,4624,0.00,1.73,0.00,0.000,4,0.000,0.047,3068,3758,1880,0,0,0,0,0,0
$GC,4666,0.83,263.3,148.6,14.7,484,4670,0.00,1.65,0.00,0.000,6,0.000,0.031,3076,2695,1880,0,0,0,0,0,0
$GC,4807,0.83,263.3,129.6,13.1,497,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2693,1880,0,0,0,0,0,0
$GC,4934,0.83,263.3,112.9,13.1,509,4937,0.00,1.73,0.00,0.000,4,0.000,0.049,3076,3768,1880,0,0,0,0,0,0
$GC,4981,0.83,263.3,106.3,14.5,513,4985,0.00,1.65,0.00,0.000,6,0.000,0.030,3083,2700,1880,0,0,0,0,0,0
$GC,5121,0.83,263.3,87.7,13.3,533,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2698,1880,0,0,0,0,0,0
$GC,5263,0.83,263.3,69.3,12.9,558,5270,0.00,1.75,0.00,0.000,4,0.000,0.047,3083,3783,1879,0,0,0,0,0,0
$GC,5300,0.83,263.3,64.2,15.2,564,5307,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2742,1879,0,0,0,0,0,0
$GC,5443,0.83,263.3,44.2,13.9,589,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2742,1879,0,0,0,0,0,0
$GC,5584,0.83,263.3,24.4,13.7,614,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2742,1879,0,0,0,0,0,0
$FREEZE,8.79,-0.418,-1.896,2,1,0
$FREEZE,7.95,-0.414,-1.895,2,1,0
$FREEZE,7.32,-0.415,-1.895,2,1,0
$FREEZE,6.47,-0.415,-1.894,2,1,0
$FREEZE,5.77,-0.414,-1.894,2,1,0
$FREEZE,4.72,-0.417,-1.893,2,1,0
$GC,5725,0.83,263.3,4.7,14.3,639,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2742,1878,0,0,0,0,0,0
$FREEZE,2.46,-0.411,-1.891,2,1,0
$STATE,5738,end climb,SURFACE_DEPTH_REACHED
$STATE,5738,begin surface coast
$FREEZE,1.58,-0.409,-1.890,2,1,0
$FREEZE,0.96,-0.408,-1.890,2,1,0
$FREEZE,0.10,-0.405,-1.889,2,1,0
$FREEZE,0.06,-0.406,-1.889,2,1,0
$FINISH,0.1,1.027659
$STATE,5762,end surface coast,CONTROL_FINISHED_OK
$STATE,5762,begin surface
$SM_CCo,5841,0.00,0.000,0,0,1876,265.90
$SM_GC,0.92,7.70,0.00,0.00,0.047,0.000,0.000,186,2793,1876,-8.08,0.37,265.90
$IRIDIUM_FIX,-7536.68,17602.03,180111,141413
$TT8_MAMPS,0.026964
$HUMID,53.11
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.4
$24V_AH,21.7,81.584
$10V_AH,9.7,32.222
$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,18.575,40.400,379.775,0.000,0.000,25.020,41.599,168.440,1.000,0.000,32.113,1589.513,2621.447,435.964,1332.750,264.447,0.000,1064.619,0.000,1037.526,0.000,7.760,0.000
$DEVICE_MAMPS,205.785,112.455,976.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.547,829.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40405,645
$CAP_FILE_SIZE,82858,0
$CFSIZE,260165632,216707072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.159,357.9,1
$GPS,180111,180452,-7627.642,17600.607,17,4.4,37,123.6