version: 66.08
glider: 503
mission: 7
dive: 779
start: 1 19 111 6 21 31
data:
$ID,503
$MISSION,7
$DIVE,779
$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,616.91943
$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,-20510.303
$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,50
$R_STBD_OVSHOOT,27
$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
$GPS1,190111,061020,-7633.324,17552.943,28,2.0,29,124.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.6
$GPS2,190111,062102,-7633.400,17552.943,38,1.6,38,124.1
$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,128.2,45748,-16.1,-10.000
$D_GRID,381
$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,14,begin dive
$GC,17,-0.71,-170.3,0.0,0.0,0,93,0.00,0.00,-74.05,0.000,2,0.000,0.000,174,2780,3509,0,0,0,0,0,0
$GC,97,-0.71,-170.3,3.8,-6.6,12,118,9.25,2.25,-3.03,0.000,4,0.209,0.042,2566,1370,3658,0,0,0,0,0,0
$GC,192,-0.71,-170.3,25.9,-13.3,28,198,0.00,2.30,0.00,0.000,6,0.000,0.043,2562,2779,3661,0,0,0,0,0,0
$GC,334,-0.71,-170.3,46.0,-14.1,53,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3662,0,0,0,0,0,0
$GC,477,-0.71,-170.3,64.9,-13.4,78,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3662,0,0,0,0,0,0
$GC,621,-0.71,-170.3,83.1,-11.5,103,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2779,3662,0,0,0,0,0,0
$GC,768,-0.71,-170.3,103.2,-12.8,127,772,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3765,3662,0,0,0,0,0,0
$GC,807,-0.71,-170.3,109.0,-14.0,130,815,0.00,1.55,0.00,0.000,6,0.000,0.028,2562,2780,3662,0,0,0,0,0,0
$GC,943,-0.71,-170.3,126.7,-13.5,143,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3662,0,0,0,0,0,0
$GC,1070,-0.71,-170.3,143.9,-13.4,155,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3663,0,0,0,0,0,0
$GC,1198,-0.71,-170.3,161.2,-13.7,167,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3662,0,0,0,0,0,0
$GC,1324,-0.71,-170.3,178.0,-13.4,179,1328,0.00,1.62,0.00,0.000,4,0.000,0.050,2562,3789,3663,0,0,0,0,0,0
$GC,1383,-0.71,-170.3,186.0,-13.7,184,1387,0.00,1.58,0.00,0.000,6,0.000,0.028,2562,2780,3663,0,0,0,0,0,0
$GC,1524,-0.71,-170.3,204.5,-12.8,197,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3663,0,0,0,0,0,0
$GC,1651,-0.71,-170.3,220.5,-12.7,209,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2780,3663,0,0,0,0,0,0
$GC,1778,-0.71,-170.3,236.0,-11.7,221,1782,0.00,1.62,0.00,0.000,4,0.000,0.051,2563,3764,3662,0,0,1,0,0,0
$GC,1814,-0.71,-170.3,240.3,-11.7,224,1818,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2790,3662,0,0,0,0,0,0
$GC,1954,-0.71,-170.3,257.2,-12.3,237,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2790,3662,0,0,0,0,0,0
$GC,2149,-0.71,-170.3,281.9,-12.8,255,2152,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3761,3662,0,0,0,0,0,0
$GC,2206,-0.71,-170.3,290.1,-13.7,260,2210,0.00,1.52,0.00,0.000,6,0.000,0.029,2562,2786,3663,0,0,0,0,0,0
$GC,2411,-0.71,-170.3,316.7,-12.8,279,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3663,0,0,0,0,0,0
$GC,2601,-0.71,-170.3,339.5,-11.7,297,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2785,3662,0,0,0,0,0,0
$GC,2794,-0.71,-170.3,362.1,-11.7,315,2798,0.00,1.60,0.00,0.000,4,0.000,0.050,2562,3754,3662,0,0,0,0,0,0
$GC,2832,-0.71,-170.3,367.4,-12.8,318,2840,0.00,1.50,0.00,0.000,6,0.000,0.029,2562,2799,3662,0,0,0,0,0,0
$STATE,2953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2953,begin apogee
$GC,2961,-0.16,0.0,382.5,13.0,330,3108,0.55,0.00,139.77,0.981,4,0.118,0.000,2746,2683,2958,0,0,0,0,0,0
$STATE,3109,end apogee,CONTROL_FINISHED_OK
$STATE,3109,begin climb
$GC,3111,0.71,170.3,389.7,0.0,343,3274,0.85,2.33,151.23,0.933,4,0.071,0.032,3032,1299,2266,0,0,0,0,0,0
$GC,3471,0.72,180.8,367.5,9.6,374,3490,0.00,2.40,10.07,0.838,6,0.000,0.040,3033,2706,2222,0,0,0,0,0,0
$GC,3684,0.72,180.8,344.3,11.3,394,3688,0.00,2.28,0.00,0.000,4,0.000,0.035,3043,1309,2220,0,0,0,0,0,0
$GC,3894,0.72,180.8,321.7,10.2,412,3901,0.00,2.30,0.00,0.000,6,0.000,0.042,3043,2711,2218,0,0,0,0,0,0
$GC,4093,0.72,180.8,299.5,11.3,431,4097,0.00,1.73,0.00,0.000,4,0.000,0.049,3042,3761,2218,0,0,0,0,0,0
$GC,4143,0.72,180.8,293.0,13.1,435,4151,0.00,1.65,0.00,0.000,6,0.000,0.030,3051,2699,2217,0,0,0,0,0,0
$GC,4342,0.72,180.8,270.9,10.9,454,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2699,2217,0,0,0,0,0,0
$GC,4535,0.72,180.8,251.2,10.1,472,4538,0.00,1.70,0.00,0.000,4,0.000,0.048,3051,3761,2217,0,0,0,0,0,0
$GC,4618,0.72,180.8,241.6,11.8,479,4626,0.00,1.65,0.00,0.000,6,0.000,0.031,3059,2717,2216,0,0,0,0,0,0
$GC,4754,0.74,191.0,228.5,9.6,492,4765,0.00,0.00,9.60,0.841,6,0.000,0.000,3059,2718,2181,0,0,0,0,0,0
$GC,4890,0.74,191.0,214.4,10.7,505,4894,0.00,1.67,0.00,0.000,4,0.000,0.048,3059,3761,2181,0,0,0,0,0,0
$GC,4963,0.74,191.0,205.0,13.2,511,4971,0.08,1.60,0.00,0.000,6,0.144,0.031,3040,2735,2181,0,0,1,0,0,0
$GC,5098,0.74,191.0,191.2,10.3,524,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2735,2181,0,0,0,0,0,0
$GC,5226,0.74,191.0,177.8,10.6,536,5230,0.00,1.67,0.00,0.000,4,0.000,0.050,3039,3749,2181,0,0,0,0,0,0
$GC,5275,0.74,191.0,171.7,12.2,540,5282,0.00,1.60,0.00,0.000,6,0.000,0.030,3046,2732,2180,0,0,0,0,0,0
$GC,5410,0.74,191.0,156.9,11.2,553,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2732,2181,0,0,0,0,0,0
$GC,5538,0.74,191.0,142.4,11.3,565,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2732,2181,0,0,0,0,0,0
$GC,5664,0.74,191.0,127.9,11.4,577,5667,0.00,1.65,0.00,0.000,4,0.000,0.049,3046,3762,2180,0,0,0,0,0,0
$GC,5722,0.74,191.0,120.7,12.9,582,5726,0.00,1.60,0.00,0.000,6,0.000,0.031,3052,2748,2180,0,0,0,0,0,0
$GC,5863,0.74,191.0,104.9,10.7,595,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2747,2180,0,0,0,0,0,0
$GC,5993,0.74,191.0,91.4,10.2,614,6000,0.00,1.67,0.00,0.000,4,0.000,0.048,3052,3764,2180,0,0,0,0,0,0
$GC,6034,0.74,191.0,86.8,11.6,621,6041,0.00,1.60,0.00,0.000,6,0.000,0.031,3059,2749,2180,0,0,0,0,0,0
$GC,6178,0.74,191.0,72.4,10.1,646,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2749,2180,0,0,0,0,0,0
$GC,6319,0.74,191.0,57.6,10.4,671,6326,0.00,1.65,0.00,0.000,4,0.000,0.048,3059,3753,2179,0,0,0,0,0,0
$GC,6368,0.74,191.0,52.1,11.3,679,6376,0.08,1.58,0.00,0.000,6,0.142,0.030,3040,2757,2180,0,0,0,0,0,0
$GC,6514,0.75,203.4,38.5,9.5,704,6533,0.00,0.00,12.68,0.772,6,0.000,0.000,3040,2757,2130,0,0,0,0,0,0
$GC,6671,0.75,203.4,22.8,10.3,731,6678,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2757,2130,0,0,0,0,0,0
$FREEZE,8.68,0.106,-1.898,2,2,0
$GC,6817,0.76,207.9,8.7,9.8,756,6825,0.00,0.00,5.60,0.669,6,0.000,0.000,3040,2757,2111,0,0,0,0,0,0
$FREEZE,6.76,0.083,-1.896,2,2,0
$FREEZE,6.20,0.095,-1.896,2,2,0
$FREEZE,5.67,0.092,-1.896,2,2,0
$FREEZE,5.15,0.082,-1.895,2,2,0
$FREEZE,4.65,0.080,-1.895,2,2,0
$FREEZE,4.11,0.080,-1.894,2,2,0
$FREEZE,3.48,0.080,-1.894,2,2,0
$FREEZE,2.92,0.081,-1.893,2,2,0
$STATE,6867,end climb,SURFACE_DEPTH_REACHED
$STATE,6867,begin surface coast
$FREEZE,2.29,0.080,-1.893,2,2,0
$FREEZE,1.89,0.078,-1.893,2,2,0
$FREEZE,1.49,0.079,-1.892,2,2,0
$FREEZE,0.62,0.080,-1.892,2,2,0
$FREEZE,-0.04,0.073,-1.891,2,2,0
$FINISH,-0.0,1.027665
$STATE,6897,end surface coast,CONTROL_FINISHED_OK
$STATE,6897,begin surface
$SM_CCo,6915,226.20,0.099,0,0,445,616.92
$SM_GC,0.73,0.00,0.00,226.20,0.000,0.000,0.099,178,2755,445,-8.19,-0.71,616.92
$IRIDIUM_FIX,-7545.40,17550.25,190111,060628
$TT8_MAMPS,0.027713
$HUMID,50.19
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,21.8,82.319
$10V_AH,9.7,32.635
$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,18.400,52.750,328.950,226.200,0.000,86.097,225.346,0.000,1.000,0.000,40.584,1938.634,3185.966,651.969,1706.503,304.918,0.000,1392.122,0.000,1279.105,0.000,7.761,0.000
$DEVICE_MAMPS,208.845,68.850,980.730,98.685,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.076,988.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50371,770
$CAP_FILE_SIZE,98121,0
$CFSIZE,260165632,216313856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.238,157.8,1
$GPS,190111,082138,-7634.529,17550.443,23,1.7,24,124.3