version: 66.08
glider: 503
mission: 7
dive: 778
start: 1 19 111 4 16 49
data:
$ID,503
$MISSION,7
$DIVE,778
$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,-20509.047
$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,45
$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
$GPS1,190111,040706,-7631.974,17554.980,46,0.8,47,124.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.4
$GPS2,190111,041620,-7632.022,17555.051,8,1.4,8,124.0
$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,116.8,48410,-16.1,-10.000
$D_GRID,378
$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,12,begin dive
$GC,15,-0.71,-170.3,0.0,0.0,0,90,0.00,0.00,-72.72,0.000,2,0.000,0.000,184,2772,3468,0,0,0,0,0,0
$GC,94,-0.71,-170.3,3.6,-7.8,12,116,9.12,2.25,-3.97,0.000,4,0.205,0.043,2566,1370,3659,0,0,0,0,0,0
$GC,224,-0.71,-170.3,29.4,-14.1,34,232,0.00,2.30,0.00,0.000,6,0.000,0.043,2562,2778,3662,0,0,0,0,0,0
$GC,369,-0.71,-170.3,49.3,-13.3,59,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2778,3662,0,0,0,0,0,0
$GC,511,-0.71,-170.3,68.8,-13.1,84,518,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3758,3662,0,0,0,0,0,0
$GC,554,-0.71,-170.3,74.8,-14.6,91,561,0.00,1.55,0.00,0.000,6,0.000,0.029,2562,2776,3662,0,0,0,0,0,0
$GC,695,-0.71,-170.3,94.6,-13.9,116,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2776,3662,0,0,0,0,0,0
$GC,832,-0.71,-170.3,113.1,-13.3,132,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3662,0,0,0,0,0,0
$GC,960,-0.71,-170.3,130.5,-13.7,144,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3663,0,0,0,0,0,0
$GC,1086,-0.71,-170.3,147.7,-13.4,156,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2777,3662,0,0,0,0,0,0
$GC,1214,-0.71,-170.3,164.8,-13.3,168,1218,0.00,1.62,0.00,0.000,4,0.000,0.048,2555,3761,3662,0,0,0,0,0,0
$GC,1272,-0.71,-170.3,172.8,-13.8,173,1275,0.00,1.52,0.00,0.000,6,0.000,0.029,2555,2789,3663,0,0,0,0,0,0
$GC,1412,-0.71,-170.3,192.1,-13.7,186,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3662,0,0,0,0,0,0
$GC,1540,-0.71,-170.3,210.0,-14.5,198,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3662,0,0,0,0,0,0
$GC,1667,-0.71,-170.3,228.1,-14.0,210,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2789,3662,0,0,0,0,0,0
$GC,1794,-0.71,-170.3,245.7,-13.8,222,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2789,3662,0,0,0,0,0,0
$GC,1921,-0.71,-170.3,262.6,-13.3,234,1925,0.00,1.60,0.00,0.000,4,0.000,0.049,2547,3759,3663,0,0,0,0,0,0
$GC,1960,-0.71,-170.3,268.2,-14.6,237,1967,0.00,1.52,0.00,0.000,6,0.000,0.029,2548,2791,3663,0,0,0,0,0,0
$GC,2158,-0.71,-170.3,294.7,-13.1,256,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2791,3662,0,0,0,0,0,0
$GC,2350,-0.71,-170.3,320.4,-13.3,274,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2791,3663,0,0,0,0,0,0
$GC,2543,-0.71,-170.3,346.0,-13.3,292,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2791,3662,0,0,0,0,0,0
$GC,2742,-0.71,-170.3,373.8,-14.1,311,2746,0.00,1.60,0.00,0.000,4,0.000,0.048,2539,3762,3662,0,0,0,0,0,0
$STATE,2767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2767,begin apogee
$GC,2775,-0.16,0.0,378.2,14.2,313,2919,0.60,0.00,139.40,0.980,4,0.117,0.000,2741,2690,2959,0,0,0,0,0,0
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin climb
$GC,2923,0.71,170.3,385.8,0.0,326,3087,0.85,2.40,151.57,0.930,4,0.073,0.034,3026,1285,2265,0,0,0,0,0,0
$GC,3238,0.73,181.5,367.6,9.6,354,3257,0.00,2.45,10.27,0.834,6,0.000,0.042,3026,2699,2221,0,0,0,0,0,0
$GC,3452,0.74,193.2,347.2,9.5,374,3469,0.00,2.33,12.60,0.867,4,0.000,0.034,3036,1295,2172,0,0,0,0,0,0
$GC,3655,0.74,193.5,326.5,10.0,391,3662,0.00,2.30,0.00,0.000,6,0.000,0.042,3036,2701,2171,0,0,0,0,0,0
$GC,3855,0.74,193.5,305.6,10.9,410,3858,0.00,1.70,0.00,0.000,4,0.000,0.050,3036,3765,2170,0,0,0,0,0,0
$GC,3914,0.74,193.5,298.4,12.8,415,3917,0.00,1.65,0.00,0.000,6,0.000,0.031,3043,2695,2169,0,0,0,0,0,0
$GC,4117,0.74,193.5,275.7,10.8,434,4121,0.00,1.73,0.00,0.000,4,0.000,0.049,3043,3766,2169,0,0,0,0,0,0
$GC,4156,0.74,193.5,271.0,11.8,437,4162,0.00,1.65,0.00,0.000,6,0.000,0.031,3050,2725,2169,0,0,0,0,0,0
$GC,4355,0.74,193.5,250.4,10.1,456,4359,0.00,1.70,0.00,0.000,4,0.000,0.049,3050,3759,2168,0,0,0,0,0,0
$GC,4412,0.74,193.5,243.7,11.9,461,4415,0.00,1.62,0.00,0.000,6,0.000,0.030,3058,2732,2168,0,0,0,0,0,0
$GC,4552,0.74,193.5,228.8,10.5,474,4555,0.00,1.65,0.00,0.000,4,0.000,0.048,3057,3763,2167,0,0,0,0,0,0
$GC,4591,0.74,193.5,223.9,12.8,477,4598,0.00,1.62,0.00,0.000,6,0.000,0.031,3066,2735,2167,0,0,0,0,0,0
$GC,4726,0.74,193.5,208.8,11.3,490,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2167,0,0,0,0,0,0
$GC,4853,0.74,193.5,193.6,12.1,502,4857,0.00,1.67,0.00,0.000,4,0.000,0.048,3066,3754,2167,0,0,0,0,0,0
$GC,4911,0.74,193.5,185.9,14.3,507,4916,0.05,1.58,0.00,0.000,6,0.142,0.030,3038,2757,2167,0,0,0,0,0,0
$GC,5052,0.74,193.5,170.1,10.9,520,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2757,2166,0,0,0,0,0,0
$GC,5179,0.74,193.5,156.3,10.6,532,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2757,2166,0,0,0,0,0,0
$GC,5307,0.74,193.5,142.6,10.9,544,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2757,2166,0,0,0,0,0,0
$GC,5434,0.74,193.5,129.5,10.1,556,5438,0.00,1.65,0.00,0.000,4,0.000,0.049,3038,3759,2167,0,0,0,0,0,0
$GC,5483,0.74,193.5,123.7,11.5,560,5490,0.00,1.58,0.00,0.000,6,0.000,0.031,3045,2760,2166,0,0,0,0,0,0
$GC,5619,0.74,193.5,110.3,10.1,573,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2760,2166,0,0,0,0,0,0
$GC,5747,0.74,194.3,97.8,10.0,587,5753,0.00,1.65,0.00,0.000,4,0.000,0.050,3044,3761,2166,0,0,0,0,0,0
$GC,5788,0.74,194.3,93.4,11.2,594,5796,0.00,1.58,0.00,0.000,6,0.000,0.031,3050,2763,2166,0,0,0,0,0,0
$GC,5933,0.74,194.3,79.3,10.4,619,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2763,2165,0,0,0,0,0,0
$GC,6074,0.74,196.5,65.2,9.9,644,6081,0.00,1.65,0.00,0.000,4,0.000,0.050,3050,3765,2166,0,0,0,0,0,0
$GC,6117,0.74,196.5,60.7,11.3,651,6124,0.00,1.55,0.00,0.000,6,0.000,0.031,3057,2780,2166,0,0,0,0,0,0
$GC,6260,0.75,199.1,46.6,9.9,676,6273,0.00,0.00,5.82,0.704,6,0.000,0.000,3056,2780,2148,0,0,0,0,0,0
$GC,6409,0.75,199.1,31.0,10.7,702,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2780,2147,0,0,0,0,0,0
$GC,6552,0.75,199.1,15.7,10.4,727,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2780,2147,0,0,0,0,0,0
$FREEZE,8.64,-0.038,-1.897,2,1,0
$FREEZE,8.05,-0.036,-1.896,2,1,0
$FREEZE,7.49,-0.036,-1.896,2,1,0
$FREEZE,6.83,-0.036,-1.896,2,1,0
$FREEZE,6.11,-0.036,-1.895,2,1,0
$FREEZE,5.94,-0.038,-1.895,2,1,0
$FREEZE,5.03,-0.043,-1.894,2,1,0
$FREEZE,4.45,-0.047,-1.894,2,1,0
$FREEZE,3.63,-0.040,-1.893,2,1,0
$FREEZE,3.40,-0.040,-1.893,2,1,0
$FREEZE,2.65,-0.038,-1.892,2,1,0
$STATE,6669,end climb,SURFACE_DEPTH_REACHED
$STATE,6669,begin surface coast
$FREEZE,1.49,-0.037,-1.892,2,1,0
$FREEZE,0.93,-0.037,-1.891,2,1,0
$FREEZE,0.14,-0.067,-1.892,2,1,0
$FREEZE,0.02,-0.093,-1.008,2,1,0
$FREEZE,0.03,-0.214,-1.685,2,1,0
$FINISH,0.0,1.024751
$STATE,6696,end surface coast,CONTROL_FINISHED_OK
$STATE,6696,begin surface
$SM_CCo,6714,24.42,0.101,0,0,1940,250.20
$SM_GC,0.56,0.00,0.00,24.42,0.000,0.000,0.101,178,2780,1940,-8.20,0.00,250.20
$IRIDIUM_FIX,-7545.40,17600.12,190111,040417
$TT8_MAMPS,0.028462
$HUMID,53.46
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,350.1,62.2
$24V_AH,21.8,82.213
$10V_AH,9.8,32.571
$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,18.225,52.975,319.675,24.425,0.000,53.069,119.186,174.460,1.250,0.000,10.823,1887.159,3037.104,438.261,1638.370,298.968,0.000,1154.421,0.000,1231.285,0.000,10.630,0.000
$DEVICE_MAMPS,205.020,50.490,979.965,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.314,971.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,50496,753
$CAP_FILE_SIZE,97428,0
$CFSIZE,260165632,216371200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247,158.5,1
$GPS,190111,061020,-7633.324,17552.943,28,2.0,29,124.1