version: 66.08
glider: 503
mission: 7
dive: 472
start: 12 29 110 6 31 43
data:
$ID,503
$MISSION,7
$DIVE,472
$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,-20086.131
$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,43
$R_STBD_OVSHOOT,38
$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
$GPS1,291210,062537,-7606.629,17521.238,30,1.5,30,123.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-74.3
$GPS2,291210,063114,-7606.632,17521.105,16,1.5,16,123.1
$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,317.6,44154,-18.2,-13.333
$D_GRID,377
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-87.88,0.000,2,0.000,0.000,182,2796,3403,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.2,-6.7,15,137,9.00,1.58,-9.62,0.000,4,0.216,0.067,2516,3753,3856,0,0,0,0,0,0
$GC,314,-0.84,-219.0,49.3,-18.9,51,321,0.00,1.52,0.00,0.000,6,0.000,0.028,2516,2771,3859,0,0,0,0,0,0
$GC,456,-0.84,-219.0,75.5,-18.3,76,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3859,0,0,0,0,0,0
$GC,603,-0.84,-219.0,102.1,-17.6,101,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3859,0,0,0,0,0,0
$GC,731,-0.84,-219.0,125.3,-18.2,113,735,0.00,1.60,0.00,0.000,4,0.000,0.049,2508,3754,3859,0,0,0,0,0,0
$GC,765,-0.84,-219.0,131.7,-19.3,116,769,0.00,1.50,0.00,0.000,6,0.000,0.030,2508,2791,3860,0,0,0,0,0,0
$GC,905,-0.84,-219.0,157.8,-18.8,129,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3860,0,0,0,0,0,0
$GC,1032,-0.84,-219.0,181.6,-18.3,141,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3860,0,0,0,0,0,0
$GC,1160,-0.84,-219.0,205.2,-18.8,153,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3860,0,0,0,0,0,0
$GC,1287,-0.84,-219.0,229.1,-19.1,165,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2791,3860,0,0,0,0,0,0
$GC,1415,-0.84,-219.0,253.0,-18.6,177,1418,0.00,1.55,0.00,0.000,4,0.000,0.049,2501,3744,3860,0,0,0,0,0,0
$GC,1453,-0.84,-219.0,260.8,-19.3,180,1460,0.00,1.50,0.00,0.000,6,0.000,0.030,2501,2779,3860,0,0,0,0,0,0
$GC,1651,-0.84,-219.0,299.1,-19.2,199,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2779,3860,0,0,0,0,0,0
$GC,1843,-0.84,-219.0,333.7,-18.0,217,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2779,3860,0,0,0,0,0,0
$GC,2033,-0.84,-219.0,368.8,-18.7,235,2037,0.00,1.58,0.00,0.000,4,0.000,0.049,2493,3741,3860,0,0,0,0,0,0
$STATE,2077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2077,begin apogee
$GC,2084,-0.16,0.0,378.0,20.3,239,2264,0.75,0.00,174.18,0.967,4,0.124,0.000,2740,2697,2960,0,0,0,0,0,0
$STATE,2265,end apogee,CONTROL_FINISHED_OK
$STATE,2265,begin climb
$GC,2268,0.84,219.0,388.8,0.0,255,2472,1.00,2.42,190.88,0.918,4,0.074,0.033,3071,1302,2067,0,0,0,0,0,0
$GC,2635,0.89,259.2,356.4,11.7,287,2678,0.00,2.40,37.10,0.884,6,0.000,0.041,3071,2696,1902,0,0,0,0,0,0
$GC,2877,0.89,259.2,321.5,14.0,310,2882,0.00,2.35,0.00,0.000,4,0.000,0.034,3082,1296,1898,0,0,0,0,0,0
$GC,3045,0.89,259.2,299.1,13.5,324,3052,0.00,2.35,0.00,0.000,6,0.000,0.041,3082,2705,1896,0,0,0,0,0,0
$GC,3244,0.89,259.2,270.5,14.7,343,3247,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3765,1896,0,0,0,0,0,0
$GC,3293,0.89,259.2,261.5,17.0,347,3300,0.00,1.62,0.00,0.000,6,0.000,0.030,3090,2710,1895,0,0,1,0,0,0
$GC,3491,0.89,259.2,229.1,15.8,366,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2710,1895,0,0,0,0,0,0
$GC,3618,0.89,259.2,209.1,15.3,378,3622,0.00,1.70,0.00,0.000,4,0.000,0.048,3090,3767,1894,0,0,0,0,0,0
$GC,3656,0.89,259.2,202.4,17.7,381,3663,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2728,1894,0,0,1,0,0,0
$GC,3790,0.89,259.2,181.0,15.9,394,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2728,1894,0,0,0,0,0,0
$GC,3918,0.89,259.2,160.7,16.1,406,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2728,1894,0,0,0,0,0,0
$GC,4046,0.89,259.2,140.6,15.9,418,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2728,1893,0,0,0,0,0,0
$GC,4173,0.89,259.2,120.7,15.0,430,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2728,1893,0,0,0,0,0,0
$GC,4300,0.89,259.2,100.8,15.7,442,4304,0.00,1.65,0.00,0.000,4,0.000,0.049,3098,3763,1893,0,0,0,0,0,0
$GC,4335,0.89,259.2,95.0,17.1,447,4342,0.00,1.65,0.00,0.000,6,0.000,0.032,3106,2723,1893,0,0,0,0,0,0
$GC,4478,0.89,259.2,72.6,14.7,472,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2723,1893,0,0,0,0,0,0
$GC,4619,0.89,259.2,49.8,16.8,497,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2723,1893,0,0,0,0,0,0
$GC,4759,0.89,259.2,27.1,16.2,522,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2723,1893,0,0,0,0,0,0
$FREEZE,8.67,-0.233,-1.892,2,1,0
$FREEZE,7.85,-0.244,-1.892,2,1,0
$FREEZE,6.94,-0.245,-1.891,2,1,0
$FREEZE,6.00,-0.248,-1.890,2,1,0
$FREEZE,5.20,-0.249,-1.889,2,1,0
$FREEZE,4.15,-0.249,-1.889,2,1,0
$GC,4900,0.89,259.2,4.1,17.6,547,4906,0.00,1.70,0.00,0.000,4,0.000,0.049,3106,3762,1893,0,0,0,0,0,0
$FREEZE,1.48,-0.244,-1.887,2,1,0
$STATE,4912,end climb,SURFACE_DEPTH_REACHED
$STATE,4912,begin surface coast
$FREEZE,0.53,-0.246,-1.886,2,1,0
$FREEZE,-0.13,-0.247,-0.937,2,1,0
$FREEZE,-0.06,-0.265,-1.180,2,1,0
$FINISH,-0.1,1.017441
$STATE,4929,end surface coast,CONTROL_FINISHED_OK
$STATE,4929,begin surface
$SM_CCo,4948,28.55,0.103,0,0,1655,320.11
$SM_GC,1.24,0.00,0.00,28.55,0.000,0.000,0.103,179,2776,1655,-8.20,-0.11,320.11
$IRIDIUM_FIX,-7519.49,17513.44,291210,040447
$TT8_MAMPS,0.027713
$HUMID,52.40
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,22.4,45.263
$10V_AH,9.9,17.730
$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,18.425,35.225,402.150,28.550,0.000,27.917,41.877,149.200,1.250,0.000,18.826,1345.507,2128.920,479.683,1204.711,167.666,0.000,1049.567,0.000,927.235,0.000,7.759,0.000
$DEVICE_MAMPS,215.730,66.555,966.960,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.153,704.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36999,552
$CAP_FILE_SIZE,72818,0
$CFSIZE,260165632,230113280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.124,250.9,1
$GPS,291210,075607,-7606.770,17523.088,48,0.8,48,123.1