version: 66.08
glider: 503
mission: 7
dive: 467
start: 12 28 110 22 10 13
data:
$ID,503
$MISSION,7
$DIVE,467
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,180
$T_MISSION,200
$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,225
$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,320
$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,-20079.84
$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,42
$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
$GPS1,281210,220355,-7605.850,17509.455,15,1.2,27,123.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.4
$GPS2,281210,220944,-7605.851,17509.410,11,1.8,11,123.4
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$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,346.6,49285,-18.2,-13.333
$D_GRID,436
$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,-0.84,-219.0,0.0,0.0,0,105,0.00,0.00,-86.90,0.000,2,0.000,0.000,184,2746,3376,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.0,-6.1,15,136,8.95,1.67,-10.43,0.000,4,0.213,0.064,2513,3770,3854,0,0,0,0,0,0
$GC,281,-0.84,-219.0,41.9,-18.9,45,288,0.00,1.58,0.00,0.000,6,0.000,0.029,2513,2769,3857,0,0,0,0,0,0
$GC,425,-0.84,-219.0,68.4,-18.3,70,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3858,0,0,0,0,0,0
$GC,565,-0.84,-219.0,94.5,-18.3,95,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3858,0,0,0,0,0,0
$GC,707,-0.84,-219.0,120.9,-19.0,111,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3858,0,0,0,0,0,0
$GC,834,-0.84,-219.0,144.4,-18.8,123,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3858,0,0,0,0,0,0
$GC,961,-0.84,-219.0,167.7,-18.1,135,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3858,0,0,0,0,0,0
$GC,1089,-0.84,-219.0,191.1,-18.3,147,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2770,3859,0,0,0,0,0,0
$GC,1217,-0.84,-219.0,214.5,-17.9,159,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3859,0,0,0,0,0,0
$GC,1344,-0.84,-219.0,237.4,-18.0,171,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3859,0,0,0,0,0,0
$GC,1473,-0.84,-219.0,260.3,-17.8,183,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2769,3859,0,0,0,0,0,0
$GC,1663,-0.84,-219.0,294.3,-17.1,201,1667,0.00,2.17,0.00,0.000,4,0.000,0.031,2513,1371,3858,0,0,0,0,0,0
$GC,1691,-0.84,-219.0,299.3,-16.8,203,1696,0.00,2.28,0.00,0.000,6,0.000,0.044,2503,2781,3858,0,0,0,0,0,0
$GC,1895,-0.84,-219.0,335.0,-17.7,222,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3858,0,0,0,0,0,0
$GC,2085,-0.84,-219.0,368.5,-17.8,240,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3858,0,0,0,0,0,0
$GC,2276,-0.84,-219.0,402.6,-18.0,258,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3858,0,0,0,0,0,0
$STATE,2465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2465,begin apogee
$GC,2472,-0.16,0.0,437.4,17.8,276,2652,0.73,0.00,174.98,1.011,4,0.125,0.000,2741,2689,2960,0,0,0,0,0,0
$STATE,2653,end apogee,CONTROL_FINISHED_OK
$STATE,2653,begin climb
$GC,2655,0.84,219.0,447.1,0.0,292,2860,1.00,2.38,192.77,0.959,4,0.074,0.032,3070,1307,2067,0,0,0,0,0,0
$GC,3011,0.84,219.0,414.0,13.4,323,3019,0.00,2.40,0.00,0.000,6,0.000,0.040,3071,2700,2059,0,0,0,0,0,0
$GC,3211,0.84,219.0,386.0,14.2,342,3215,0.00,2.30,0.00,0.000,4,0.000,0.034,3082,1311,2056,0,0,0,0,0,0
$GC,3385,0.84,219.0,362.0,13.6,357,3389,0.00,2.33,0.00,0.000,6,0.000,0.041,3082,2716,2054,0,0,0,0,0,0
$GC,3583,0.84,219.0,332.5,15.1,375,3587,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3769,2054,0,0,0,0,0,0
$GC,3629,0.84,219.0,324.9,17.6,379,3633,0.00,1.67,0.00,0.000,6,0.000,0.030,3090,2721,2054,0,0,0,0,0,0
$GC,3832,0.84,219.0,292.9,16.0,398,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2720,2054,0,0,0,0,0,0
$GC,4023,0.84,219.0,262.6,15.5,416,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2720,2053,0,0,0,0,0,0
$GC,4215,0.84,219.0,233.4,14.9,434,4218,0.00,1.67,0.00,0.000,4,0.000,0.048,3090,3766,2053,0,0,0,0,0,0
$GC,4263,0.84,219.0,224.9,17.5,438,4271,0.00,1.67,0.00,0.000,6,0.000,0.030,3098,2707,2052,0,0,0,0,0,0
$GC,4398,0.84,219.0,204.2,15.6,451,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2706,2052,0,0,0,0,0,0
$GC,4525,0.84,219.0,184.6,15.1,463,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2706,2052,0,0,0,0,0,0
$GC,4653,0.84,219.0,165.3,15.4,475,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2706,2052,0,0,0,0,0,0
$GC,4783,0.84,219.0,146.1,15.1,487,4787,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3763,2052,0,0,0,0,0,0
$GC,4828,0.84,219.0,138.3,17.1,491,4832,0.12,1.65,0.00,0.000,6,0.165,0.031,3072,2693,2052,0,0,0,0,0,0
$GC,4967,0.85,224.7,119.1,13.1,504,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2693,2052,0,0,0,0,0,0
$GC,5095,0.85,227.5,102.5,13.2,516,5108,0.00,1.73,6.00,0.736,4,0.000,0.047,3072,3767,2032,0,0,0,0,0,0
$GC,5136,0.85,227.5,96.5,15.0,521,5145,0.00,1.65,0.00,0.000,6,0.000,0.031,3079,2720,2032,0,0,0,0,0,0
$GC,5281,0.85,227.9,76.8,13.3,546,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2720,2032,0,0,0,0,0,0
$GC,5423,0.86,235.4,57.9,13.0,571,5436,0.00,0.00,8.90,0.763,6,0.000,0.000,3079,2720,2001,0,0,0,0,0,0
$GC,5573,0.87,248.8,38.4,12.8,597,5593,0.00,0.00,13.55,0.764,6,0.000,0.000,3080,2720,1945,0,0,0,0,0,0
$GC,5728,0.88,251.0,17.6,13.2,624,5734,0.00,1.70,0.00,0.000,4,0.000,0.048,3079,3753,1944,0,0,0,0,0,0
$GC,5780,0.88,251.0,9.6,15.6,633,5787,0.00,1.62,0.00,0.000,6,0.000,0.030,3087,2726,1943,0,0,0,0,0,0
$FREEZE,7.46,-0.076,-1.889,2,1,0
$FREEZE,6.49,-0.069,-1.889,2,1,0
$FREEZE,5.72,-0.068,-1.889,2,1,0
$FREEZE,4.91,-0.068,-1.889,2,1,0
$FREEZE,4.18,-0.064,-1.888,2,1,0
$FREEZE,3.29,-0.064,-1.888,2,1,0
$FREEZE,2.51,-0.065,-1.887,2,1,0
$STATE,5826,end climb,SURFACE_DEPTH_REACHED
$STATE,5826,begin surface coast
$FREEZE,1.42,-0.067,-1.886,2,1,0
$FREEZE,0.68,-0.062,-1.886,2,1,0
$FREEZE,0.02,-0.065,-1.885,2,1,0
$FINISH,0.0,1.027591
$STATE,5845,end surface coast,CONTROL_FINISHED_OK
$STATE,5845,begin surface
$SM_CCo,5862,34.62,0.102,0,0,1655,320.11
$SM_GC,0.79,0.00,0.00,34.62,0.000,0.000,0.102,189,2800,1655,-8.16,0.57,320.11
$IRIDIUM_FIX,-7519.49,17513.44,281210,202005
$TT8_MAMPS,0.027713
$HUMID,52.28
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.2
$24V_AH,22.4,44.657
$10V_AH,10.0,17.493
$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,18.475,34.025,396.200,34.625,0.000,30.081,38.905,156.644,1.250,0.000,14.358,1580.933,2668.157,483.079,1338.081,185.523,0.000,1109.426,0.000,1050.094,0.000,11.839,0.000
$DEVICE_MAMPS,213.435,92.565,1010.565,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.557,793.622,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,43739,644
$CAP_FILE_SIZE,81735,0
$CFSIZE,260165632,230326272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,339.3,1
$GPS,281210,235000,-7605.914,17512.506,45,1.4,51,123.3