version: 66.08
glider: 503
mission: 7
dive: 470
start: 12 29 110 3 26 12
data:
$ID,503
$MISSION,7
$DIVE,470
$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,-20083.617
$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,31
$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
$GPS1,291210,032020,-7606.296,17517.213,18,1.1,19,123.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.7
$GPS2,291210,032544,-7606.296,17517.070,15,1.2,15,123.2
$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,325.6,45910,-18.2,-13.333
$D_GRID,392
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-89.05,0.000,2,0.000,0.000,185,2783,3424,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.1,-6.3,15,140,8.95,1.60,-9.18,0.000,4,0.214,0.067,2516,3758,3856,0,0,0,0,0,0
$GC,240,-0.84,-219.0,34.4,-18.9,37,248,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2770,3859,0,0,0,0,0,0
$GC,383,-0.84,-219.0,61.1,-18.1,62,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3859,0,0,0,0,0,0
$GC,526,-0.84,-219.0,87.5,-18.4,87,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3859,0,0,0,0,0,0
$GC,663,-0.84,-219.0,112.5,-17.9,106,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3860,0,0,0,0,0,0
$GC,792,-0.84,-219.0,136.0,-18.6,118,795,0.00,1.60,0.00,0.000,4,0.000,0.049,2508,3753,3860,0,0,0,0,0,0
$GC,826,-0.84,-219.0,142.8,-19.4,121,830,0.00,1.50,0.00,0.000,6,0.000,0.029,2508,2790,3860,0,0,0,0,0,0
$GC,966,-0.84,-219.0,168.9,-18.8,134,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1094,-0.84,-219.0,192.7,-18.5,146,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1221,-0.84,-219.0,216.4,-18.9,158,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1348,-0.84,-219.0,239.3,-18.1,170,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3861,0,0,0,0,0,0
$GC,1476,-0.84,-219.0,262.9,-18.7,182,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2790,3860,0,0,0,0,0,0
$GC,1667,-0.84,-219.0,297.2,-18.4,200,1670,0.00,1.58,0.00,0.000,4,0.000,0.050,2501,3753,3860,0,0,0,0,0,0
$GC,1705,-0.84,-219.0,304.8,-19.4,203,1712,0.00,1.50,0.00,0.000,6,0.000,0.030,2501,2786,3860,0,0,0,0,0,0
$GC,1904,-0.84,-219.0,340.9,-18.1,222,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2786,3860,0,0,0,0,0,0
$GC,2094,-0.84,-219.0,375.0,-17.4,240,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2786,3860,0,0,0,0,0,0
$STATE,2199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2199,begin apogee
$GC,2205,-0.16,0.0,394.0,17.9,250,2385,0.73,0.00,174.50,0.981,4,0.125,0.000,2740,2683,2960,0,0,0,0,0,0
$STATE,2386,end apogee,CONTROL_FINISHED_OK
$STATE,2386,begin climb
$GC,2388,0.84,219.0,403.9,0.0,266,2591,1.00,2.38,191.50,0.927,4,0.074,0.033,3069,1311,2066,0,0,0,0,0,0
$GC,2772,0.89,262.6,369.1,11.5,300,2818,0.00,2.38,39.78,0.896,6,0.000,0.040,3069,2698,1889,0,0,0,0,0,0
$GC,3009,0.89,262.6,335.0,14.4,322,3013,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1313,1886,0,0,0,0,0,0
$GC,3177,0.89,262.6,310.9,14.1,336,3184,0.00,2.30,0.00,0.000,6,0.000,0.041,3080,2705,1884,0,0,1,0,0,0
$GC,3375,0.89,262.6,282.3,14.0,355,3379,0.00,1.70,0.00,0.000,4,0.000,0.048,3080,3765,1883,0,0,0,0,0,0
$GC,3425,0.89,262.6,273.9,16.6,359,3432,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2723,1882,0,0,0,0,0,0
$GC,3623,0.89,262.6,243.1,15.5,378,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2724,1882,0,0,0,0,0,0
$GC,3752,0.89,262.6,223.4,15.5,390,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2723,1882,0,0,0,0,0,0
$GC,3877,0.89,262.6,203.8,15.4,402,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2723,1882,0,0,0,0,0,0
$GC,4005,0.89,262.6,184.0,15.9,414,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2723,1881,0,0,0,0,0,0
$GC,4132,0.89,262.6,164.2,15.4,426,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2723,1880,0,0,0,0,0,0
$GC,4261,0.89,262.6,144.5,15.6,438,4264,0.00,1.65,0.00,0.000,4,0.000,0.049,3089,3763,1881,0,0,0,0,0,0
$GC,4295,0.89,262.6,138.7,17.3,441,4299,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2694,1880,0,0,0,0,0,0
$GC,4435,0.89,262.6,116.3,15.7,454,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2693,1881,0,0,0,0,0,0
$GC,4564,0.89,262.6,96.2,16.0,468,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2693,1881,0,0,0,0,0,0
$GC,4704,0.89,262.6,74.0,15.7,493,4711,0.00,1.75,0.00,0.000,4,0.000,0.049,3097,3786,1880,0,0,0,0,0,0
$GC,4734,0.89,262.6,69.0,16.8,498,4742,0.00,1.70,0.00,0.000,6,0.000,0.032,3106,2712,1880,0,0,0,0,0,0
$GC,4880,0.89,262.6,45.9,16.2,523,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2711,1880,0,0,0,0,0,0
$GC,5020,0.89,262.6,23.2,16.0,548,5027,0.00,1.70,0.00,0.000,4,0.000,0.050,3105,3754,1880,0,0,0,0,0,0
$GC,5051,0.89,262.6,17.9,18.4,553,5058,0.00,1.62,0.00,0.000,6,0.000,0.031,3114,2721,1880,0,0,0,0,0,0
$FREEZE,8.52,-0.161,-1.892,2,1,0
$FREEZE,7.63,-0.152,-1.891,2,1,0
$FREEZE,6.51,-0.148,-1.890,2,1,0
$FREEZE,5.50,-0.139,-1.890,2,1,0
$FREEZE,4.62,-0.138,-1.889,2,1,0
$FREEZE,3.78,-0.139,-1.888,2,1,0
$FREEZE,2.71,-0.135,-1.888,2,1,0
$STATE,5134,end climb,SURFACE_DEPTH_REACHED
$STATE,5134,begin surface coast
$FREEZE,1.63,-0.132,-1.887,2,1,0
$FREEZE,0.73,-0.132,-1.886,2,1,0
$FREEZE,-0.07,-0.130,-1.885,2,1,0
$FINISH,-0.1,1.027595
$STATE,5153,end surface coast,CONTROL_FINISHED_OK
$STATE,5153,begin surface
$SM_CCo,5170,26.65,0.103,0,0,1655,320.11
$SM_GC,1.15,0.00,0.00,26.65,0.000,0.000,0.103,176,2793,1655,-8.20,0.40,320.11
$IRIDIUM_FIX,-7519.49,17504.53,291210,010149
$TT8_MAMPS,0.027713
$HUMID,52.52
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.5
$24V_AH,22.4,45.031
$10V_AH,10.0,17.640
$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,18.400,32.350,405.775,26.650,0.000,24.189,37.114,143.731,1.000,0.000,17.581,1395.682,2267.422,484.874,1210.808,172.905,0.000,1065.336,0.000,949.117,0.000,7.760,0.000
$DEVICE_MAMPS,214.200,99.450,981.495,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.526,717.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258184
$DATA_FILE_SIZE,36955,571
$CAP_FILE_SIZE,74870,0
$CFSIZE,260165632,230191104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.091,264.9,1
$GPS,291210,045406,-7606.461,17519.361,36,0.9,37,123.2