version: 66.08
glider: 503
mission: 7
dive: 777
start: 1 19 111 2 10 37
data:
$ID,503
$MISSION,7
$DIVE,777
$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,-20507.697
$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
$GPS1,190111,020308,-7630.555,17556.367,21,1.6,22,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.0
$GPS2,190111,021008,-7630.571,17556.424,15,2.0,15,123.9
$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,94.8,51052,-16.1,-10.000
$D_GRID,380
$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,-170.3,0.0,0.0,0,90,0.00,0.00,-71.18,0.000,2,0.000,0.000,183,2777,3419,0,0,0,0,0,0
$GC,93,-0.71,-170.3,3.3,-6.4,12,115,9.18,1.67,-5.18,0.000,4,0.207,0.063,2556,3772,3659,0,0,0,0,0,0
$GC,155,-0.71,-170.3,19.7,-16.1,22,163,0.00,1.58,0.00,0.000,6,0.000,0.028,2555,2778,3661,0,0,0,0,0,0
$GC,301,-0.71,-170.3,39.6,-13.7,47,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2778,3662,0,0,0,0,0,0
$GC,443,-0.71,-170.3,58.5,-13.2,72,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2778,3663,0,0,0,0,0,0
$GC,586,-0.71,-170.3,77.6,-14.0,97,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2778,3662,0,0,0,0,0,0
$GC,726,-0.71,-170.3,96.8,-13.6,122,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2778,3663,0,0,0,0,0,0
$GC,869,-0.71,-170.3,116.0,-13.4,137,873,0.00,1.62,0.00,0.000,4,0.000,0.049,2547,3757,3663,0,0,0,0,0,0
$GC,907,-0.71,-170.3,121.6,-13.9,140,914,0.00,1.52,0.00,0.000,6,0.000,0.029,2548,2789,3663,0,0,0,0,0,0
$GC,1045,-0.71,-170.3,139.6,-13.2,153,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3663,0,0,0,0,0,0
$GC,1180,-0.71,-170.3,157.6,-12.9,166,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3663,0,0,0,0,0,0
$GC,1307,-0.71,-170.3,173.9,-12.7,178,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3663,0,0,0,0,0,0
$GC,1436,-0.71,-170.3,190.5,-13.0,190,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3663,0,0,0,0,0,0
$GC,1562,-0.71,-170.3,206.8,-13.0,202,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3663,0,0,0,0,0,0
$GC,1690,-0.71,-170.3,223.6,-13.2,214,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2789,3663,0,0,0,0,0,0
$GC,1818,-0.71,-170.3,240.3,-13.0,226,1822,0.00,1.60,0.00,0.000,4,0.000,0.049,2540,3757,3663,0,0,0,0,0,0
$GC,1857,-0.71,-170.3,246.1,-14.3,229,1863,0.00,1.52,0.00,0.000,6,0.000,0.028,2539,2792,3663,0,0,0,0,0,0
$GC,1991,-0.71,-170.3,264.3,-13.8,242,1993,0.10,0.00,0.00,0.000,6,0.171,0.000,2567,2792,3663,0,0,0,0,0,0
$GC,2183,-0.71,-170.3,288.1,-12.4,260,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2792,3663,0,0,0,0,0,0
$GC,2375,-0.71,-170.3,311.4,-12.1,278,2379,0.00,1.60,0.00,0.000,4,0.000,0.048,2561,3761,3663,0,0,0,0,0,0
$GC,2421,-0.71,-170.3,317.4,-12.7,282,2424,0.00,1.52,0.00,0.000,6,0.000,0.030,2560,2798,3662,0,0,0,0,0,0
$GC,2626,-0.71,-170.3,342.4,-12.3,301,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2797,3662,0,0,0,0,0,0
$GC,2816,-0.71,-170.3,365.6,-12.3,319,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2797,3662,0,0,0,0,0,0
$STATE,2930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2930,begin apogee
$GC,2938,-0.16,0.0,380.1,12.7,330,3085,0.55,0.00,139.73,0.982,4,0.116,0.000,2745,2682,2958,0,0,0,0,0,0
$STATE,3085,end apogee,CONTROL_FINISHED_OK
$STATE,3085,begin climb
$GC,3088,0.71,170.3,386.7,0.0,343,3252,0.85,2.35,151.00,0.934,4,0.073,0.032,3031,1304,2266,0,0,0,0,0,0
$GC,3426,0.72,178.1,364.3,9.7,372,3438,0.00,2.40,7.62,0.795,6,0.000,0.042,3031,2702,2233,0,0,0,0,0,0
$GC,3635,0.72,180.2,343.7,9.9,391,3639,0.00,2.30,0.00,0.000,4,0.000,0.034,3041,1304,2231,0,0,0,0,0,0
$GC,3834,0.72,180.2,323.2,10.3,408,3842,0.00,2.30,0.00,0.000,6,0.000,0.042,3041,2711,2229,0,0,0,0,0,0
$GC,4033,0.72,180.2,302.2,10.7,427,4036,0.00,1.67,0.00,0.000,4,0.000,0.049,3041,3763,2228,0,0,0,0,0,0
$GC,4137,0.72,180.2,289.9,12.3,436,4141,0.00,1.62,0.00,0.000,6,0.000,0.031,3049,2702,2227,0,0,1,0,0,0
$GC,4341,0.72,180.2,267.6,10.1,455,4344,0.00,1.73,0.00,0.000,4,0.000,0.048,3048,3771,2227,0,0,0,0,0,0
$GC,4387,0.72,180.2,262.5,11.4,459,4391,0.00,1.65,0.00,0.000,6,0.000,0.029,3057,2736,2227,0,0,0,0,0,0
$GC,4591,0.72,180.2,240.5,10.3,478,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2735,2226,0,0,0,0,0,0
$GC,4719,0.73,185.2,227.9,9.8,490,4732,0.00,1.73,6.88,0.802,4,0.000,0.048,3057,3767,2204,0,0,1,0,0,0
$GC,4782,0.73,185.2,220.7,11.7,495,4790,0.00,1.62,0.00,0.000,6,0.000,0.029,3065,2745,2204,0,0,0,0,0,0
$GC,4917,0.73,185.2,207.0,10.3,508,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2745,2204,0,0,0,0,0,0
$GC,5044,0.73,185.2,194.0,10.3,520,5047,0.00,1.62,0.00,0.000,4,0.000,0.049,3065,3761,2204,0,0,0,0,0,0
$GC,5095,0.73,185.2,187.9,12.9,524,5103,0.10,1.60,0.00,0.000,6,0.137,0.031,3038,2754,2203,0,0,0,0,0,0
$GC,5230,0.76,208.9,175.4,9.1,537,5259,0.00,0.00,22.67,0.855,6,0.000,0.000,3037,2754,2108,0,0,0,0,0,0
$GC,5387,0.76,210.7,160.1,9.9,552,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2754,2108,0,0,0,0,0,0
$GC,5515,0.76,210.7,147.4,10.0,564,5519,0.00,1.67,0.00,0.000,4,0.000,0.050,3037,3757,2107,0,0,0,0,0,0
$GC,5564,0.76,210.7,141.7,11.5,568,5572,0.00,1.60,0.00,0.000,6,0.000,0.031,3044,2758,2107,0,0,0,0,0,0
$GC,5699,0.76,210.7,127.3,10.8,581,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2758,2107,0,0,0,0,0,0
$GC,5827,0.76,210.7,113.5,11.0,593,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2758,2107,0,0,0,0,0,0
$GC,5953,0.76,210.7,99.7,10.8,605,5960,0.00,1.67,0.00,0.000,4,0.000,0.048,3044,3759,2106,0,0,0,0,0,0
$GC,6006,0.76,210.7,93.2,11.9,614,6013,0.00,1.60,0.00,0.000,6,0.000,0.030,3051,2757,2106,0,0,0,0,0,0
$GC,6149,0.76,210.7,77.2,11.2,639,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2757,2106,0,0,0,0,0,0
$GC,6288,0.76,210.7,61.7,11.1,664,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2757,2106,0,0,0,0,0,0
$GC,6433,0.76,210.7,46.4,10.1,689,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2757,2105,0,0,0,0,0,0
$GC,6575,0.76,210.7,31.3,10.5,714,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2757,2105,0,0,0,0,0,0
$GC,6718,0.76,210.7,16.2,10.1,739,6725,0.00,1.67,0.00,0.000,4,0.000,0.049,3051,3764,2105,0,0,0,0,0,0
$GC,6772,0.76,210.7,9.9,11.9,748,6780,0.00,1.58,0.00,0.000,6,0.000,0.031,3057,2773,2105,0,0,0,0,0,0
$FREEZE,7.97,-0.106,-1.895,2,1,0
$FREEZE,7.43,-0.082,-1.895,2,1,0
$FREEZE,6.79,-0.064,-1.894,2,1,0
$FREEZE,6.26,-0.056,-1.894,2,1,0
$FREEZE,5.72,-0.062,-1.894,2,1,0
$FREEZE,4.99,-0.065,-1.894,2,1,0
$FREEZE,4.57,-0.055,-1.893,2,1,0
$FREEZE,3.67,-0.055,-1.892,2,1,0
$FREEZE,3.20,-0.052,-1.892,2,1,0
$FREEZE,2.68,-0.047,-1.891,2,1,0
$STATE,6831,end climb,SURFACE_DEPTH_REACHED
$STATE,6832,begin surface coast
$FREEZE,1.97,-0.059,-1.891,2,1,0
$FREEZE,1.06,-0.037,-1.890,2,1,0
$FREEZE,0.40,-0.037,-1.889,2,1,0
$FREEZE,0.04,-0.035,-1.878,2,1,0
$FREEZE,0.04,-0.041,-1.889,2,1,0
$FINISH,0.0,1.027646
$STATE,6861,end surface coast,CONTROL_FINISHED_OK
$STATE,6862,begin surface
$SM_CCo,6879,19.33,0.102,0,0,1940,250.20
$SM_GC,0.68,0.00,0.00,19.33,0.000,0.000,0.102,188,2773,1940,-8.16,-0.20,250.20
$IRIDIUM_FIX,-7545.40,17551.59,190111,000047
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,21.8,82.110
$10V_AH,9.8,32.511
$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,18.350,45.175,327.900,19.325,0.000,28.972,41.251,189.068,1.000,0.000,17.911,1906.423,3095.589,450.144,1563.354,308.927,0.000,1175.467,0.000,1249.994,0.000,7.758,0.000
$DEVICE_MAMPS,206.550,68.850,982.260,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.086,982.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,50374,764
$CAP_FILE_SIZE,96522,0
$CFSIZE,260165632,216424448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.190,156.9,1
$GPS,190111,040706,-7631.974,17554.980,46,0.8,47,124.0