version: 66.08
glider: 503
mission: 7
dive: 775
start: 1 18 111 22 16 42
data:
$ID,503
$MISSION,7
$DIVE,775
$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,-20505.18
$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,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
$GPS1,180111,220957,-7628.579,17558.307,21,2.2,41,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-74.1
$GPS2,180111,221614,-7628.574,17558.344,9,1.4,9,123.7
$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,66.0,54713,-16.1,-10.000
$D_GRID,377
$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,-170.3,0.0,0.0,0,102,0.00,0.00,-83.25,0.000,2,0.000,0.000,176,2758,3531,0,0,0,0,0,0
$GC,106,-0.71,-170.3,3.9,-9.9,14,127,9.10,1.67,-2.55,0.000,4,0.203,0.060,2557,3773,3660,0,0,1,0,0,0
$GC,168,-0.71,-170.3,23.3,-16.3,24,176,0.00,1.58,0.00,0.000,6,0.000,0.028,2557,2776,3661,0,0,0,0,0,0
$GC,314,-0.71,-170.3,44.5,-14.5,49,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2776,3662,0,0,0,0,0,0
$GC,457,-0.71,-170.3,65.1,-14.2,74,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2776,3662,0,0,0,0,0,0
$GC,599,-0.71,-170.3,85.4,-14.2,99,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2776,3662,0,0,0,0,0,0
$GC,742,-0.71,-170.3,105.2,-14.3,121,745,0.00,1.62,0.00,0.000,4,0.000,0.048,2549,3786,3663,0,0,0,0,0,0
$GC,802,-0.71,-170.3,114.6,-14.9,126,809,0.00,1.58,0.00,0.000,6,0.000,0.028,2549,2782,3663,0,0,0,0,0,0
$GC,937,-0.71,-170.3,133.9,-14.6,139,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2782,3663,0,0,0,0,0,0
$GC,1065,-0.71,-170.3,152.4,-14.5,151,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2782,3663,0,0,0,0,0,0
$GC,1191,-0.71,-170.3,170.8,-14.6,163,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2782,3663,0,0,0,0,0,0
$GC,1318,-0.71,-170.3,188.9,-13.9,175,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2782,3663,0,0,0,0,0,0
$GC,1447,-0.71,-170.3,206.7,-14.2,187,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2782,3663,0,0,0,0,0,0
$GC,1573,-0.71,-170.3,224.2,-13.6,199,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2782,3663,0,0,0,0,0,0
$GC,1701,-0.71,-170.3,241.4,-13.7,211,1705,0.00,1.62,0.00,0.000,4,0.000,0.048,2541,3761,3663,0,0,0,0,0,0
$GC,1750,-0.71,-170.3,248.7,-14.3,215,1757,0.00,1.52,0.00,0.000,6,0.000,0.030,2541,2793,3663,0,0,0,0,0,0
$GC,1886,-0.71,-170.3,267.6,-14.4,228,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2793,3663,0,0,0,0,0,0
$GC,2075,-0.71,-170.3,293.8,-13.4,246,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2793,3663,0,0,0,0,0,0
$GC,2267,-0.71,-170.3,319.9,-14.1,264,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2793,3663,0,0,0,0,0,0
$GC,2459,-0.71,-170.3,347.0,-14.3,282,2463,0.00,1.60,0.00,0.000,4,0.000,0.047,2534,3764,3663,0,0,0,0,0,0
$GC,2497,-0.71,-170.3,352.7,-15.2,285,2502,0.10,1.52,0.00,0.000,6,0.128,0.029,2584,2796,3663,0,0,0,0,0,0
$GC,2702,-0.71,-170.3,375.5,-10.6,304,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2796,3663,0,0,0,0,0,0
$STATE,2720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2720,begin apogee
$GC,2727,-0.16,0.0,377.8,10.5,306,2874,0.47,0.00,139.35,0.980,4,0.113,0.000,2746,2690,2959,0,0,0,0,0,0
$STATE,2874,end apogee,CONTROL_FINISHED_OK
$STATE,2875,begin climb
$GC,2877,0.71,170.3,384.2,0.0,319,3039,0.85,2.35,151.02,0.929,4,0.072,0.033,3033,1304,2265,0,0,0,0,0,0
$GC,3045,0.76,211.4,378.0,8.4,333,3096,0.00,2.50,40.35,0.887,6,0.000,0.041,3033,2700,2098,0,0,1,0,0,0
$GC,3287,0.76,211.4,353.9,10.1,356,3291,0.00,1.83,0.00,0.000,4,0.000,0.048,3033,3768,2092,0,0,0,0,0,0
$GC,3378,0.76,211.4,343.0,12.3,364,3382,0.00,1.65,0.00,0.000,6,0.000,0.029,3041,2726,2091,0,0,1,0,0,0
$GC,3583,0.76,211.4,321.0,10.8,383,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2724,2089,0,0,0,0,0,0
$GC,3774,0.76,211.4,300.0,10.7,401,3777,0.00,1.70,0.00,0.000,4,0.000,0.049,3041,3774,2089,0,0,0,0,0,0
$GC,3801,0.76,211.4,296.3,12.5,403,3808,0.00,1.70,0.00,0.000,6,0.000,0.029,3049,2684,2087,0,0,0,0,0,0
$GC,3999,0.76,211.4,274.6,10.7,422,4003,0.00,1.75,0.00,0.000,4,0.000,0.049,3048,3770,2087,0,0,0,0,0,0
$GC,4046,0.76,211.4,269.0,12.5,426,4050,0.00,1.65,0.00,0.000,6,0.000,0.031,3055,2735,2087,0,0,0,0,0,0
$GC,4251,0.76,211.4,246.3,11.1,445,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2735,2087,0,0,0,0,0,0
$GC,4379,0.76,211.4,231.9,11.3,457,4382,0.00,1.70,0.00,0.000,4,0.000,0.050,3056,3764,2086,0,0,0,0,0,0
$GC,4418,0.76,211.4,226.8,12.3,460,4425,0.00,1.62,0.00,0.000,6,0.000,0.030,3063,2737,2086,0,0,0,0,0,0
$GC,4553,0.76,211.4,211.1,11.9,473,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2737,2085,0,0,0,0,0,0
$GC,4681,0.76,211.4,196.0,11.8,485,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2737,2085,0,0,0,0,0,0
$GC,4810,0.76,211.4,180.4,12.4,497,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2737,2085,0,0,0,0,0,0
$GC,4944,0.76,211.4,163.3,12.5,510,4948,0.00,1.70,0.00,0.000,4,0.000,0.050,3063,3767,2085,0,0,0,0,0,0
$GC,4980,0.76,211.4,158.6,13.8,513,4984,0.00,1.62,0.00,0.000,6,0.000,0.030,3071,2739,2085,0,0,0,0,0,0
$GC,5120,0.76,211.4,140.6,12.4,526,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2738,2085,0,0,0,0,0,0
$GC,5247,0.76,211.4,124.6,12.4,538,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2738,2084,0,0,0,0,0,0
$GC,5375,0.76,211.4,109.3,12.0,550,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2739,2084,0,0,0,0,0,0
$GC,5504,0.76,211.4,93.6,11.9,566,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2739,2084,0,0,0,0,0,0
$GC,5645,0.76,211.4,76.5,12.6,591,5652,0.00,1.70,0.00,0.000,4,0.000,0.049,3071,3768,2084,0,0,0,0,0,0
$GC,5703,0.76,211.4,68.7,13.9,601,5711,0.08,1.62,0.00,0.000,6,0.141,0.030,3051,2744,2084,0,0,0,0,0,0
$GC,5850,0.76,211.4,53.0,10.8,626,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2744,2084,0,0,0,0,0,0
$GC,5990,0.76,211.4,37.6,11.6,651,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2744,2084,0,0,0,0,0,0
$GC,6133,0.76,211.4,22.4,10.0,676,6141,0.00,1.67,0.00,0.000,4,0.000,0.049,3050,3755,2084,0,0,0,0,0,0
$GC,6181,0.76,211.4,16.6,11.8,684,6189,0.00,1.60,0.00,0.000,6,0.000,0.030,3057,2749,2084,0,0,0,0,0,0
$FREEZE,8.59,-0.386,-1.897,2,1,0
$FREEZE,8.14,-0.375,-1.897,2,1,0
$FREEZE,7.56,-0.372,-1.896,2,1,0
$FREEZE,6.95,-0.314,-1.895,2,1,0
$FREEZE,6.42,-0.314,-1.895,2,1,0
$FREEZE,5.95,-0.332,-1.895,2,1,0
$FREEZE,5.33,-0.321,-1.895,2,1,0
$FREEZE,4.67,-0.326,-1.894,2,1,0
$FREEZE,4.04,-0.324,-1.894,2,1,0
$FREEZE,3.23,-0.325,-1.893,2,1,0
$FREEZE,2.63,-0.332,-1.893,2,1,0
$STATE,6305,end climb,SURFACE_DEPTH_REACHED
$STATE,6305,begin surface coast
$FREEZE,1.97,-0.324,-1.892,2,1,0
$FREEZE,1.30,-0.317,-1.892,2,1,0
$FREEZE,0.80,-0.319,-1.891,2,1,0
$FREEZE,0.09,-0.315,-1.891,2,1,0
$FREEZE,0.06,-0.312,-1.891,2,1,0
$FINISH,0.1,1.027681
$STATE,6333,end surface coast,CONTROL_FINISHED_OK
$STATE,6333,begin surface
$SM_CCo,6351,16.67,0.102,0,0,1940,250.20
$SM_GC,1.16,0.00,0.00,16.67,0.000,0.000,0.102,185,2749,1940,-8.18,-0.88,250.20
$IRIDIUM_FIX,-7545.40,17601.40,180111,202024
$TT8_MAMPS,0.027713
$HUMID,52.99
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,350.7,64.5
$24V_AH,21.8,81.907
$10V_AH,9.7,32.394
$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,18.175,41.200,330.725,16.675,0.000,30.412,35.943,165.270,1.500,0.000,11.837,1768.264,2860.794,434.866,1404.198,281.993,0.000,1103.588,0.000,1125.390,0.000,10.637,0.000
$DEVICE_MAMPS,203.490,79.560,979.965,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.612,910.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258212
$DATA_FILE_SIZE,46998,711
$CAP_FILE_SIZE,89999,0
$CFSIZE,260165632,216543232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.037,351.0,1
$GPS,190111,000418,-7629.454,17557.441,34,1.4,45,123.8