version: 66.08
glider: 503
mission: 7
dive: 473
start: 12 29 110 8 2 0
data:
$ID,503
$MISSION,7
$DIVE,473
$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,-20087.391
$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,44
$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
$GPS1,291210,075607,-7606.770,17523.088,48,0.8,48,123.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.8
$GPS2,291210,080132,-7606.777,17522.930,13,1.1,13,123.1
$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,317.3,43363,-18.2,-13.333
$D_GRID,376
$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,17,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-88.62,0.000,2,0.000,0.000,178,2776,3417,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-6.8,15,139,8.95,1.62,-9.27,0.000,4,0.212,0.066,2516,3766,3856,0,0,1,0,0,0
$GC,340,-0.84,-219.0,55.0,-19.0,55,347,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2775,3859,0,0,0,0,0,0
$GC,483,-0.84,-219.0,81.7,-18.8,80,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2775,3859,0,0,0,0,0,0
$GC,627,-0.84,-219.0,108.5,-18.6,102,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3859,0,0,0,0,0,0
$GC,755,-0.84,-219.0,131.7,-18.0,114,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3860,0,0,0,0,0,0
$GC,882,-0.84,-219.0,154.9,-18.3,126,886,0.00,1.62,0.00,0.000,4,0.000,0.050,2509,3763,3859,0,0,0,0,0,0
$GC,916,-0.84,-219.0,161.4,-19.5,129,920,0.00,1.52,0.00,0.000,6,0.000,0.031,2509,2793,3859,0,0,0,0,0,0
$GC,1056,-0.84,-219.0,187.6,-18.2,142,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3860,0,0,0,0,0,0
$GC,1183,-0.84,-219.0,211.6,-18.7,154,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3860,0,0,0,0,0,0
$GC,1310,-0.84,-219.0,235.4,-18.8,166,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3860,0,0,0,0,0,0
$GC,1438,-0.84,-219.0,259.0,-18.3,178,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3860,0,0,0,0,0,0
$GC,1629,-0.84,-219.0,292.6,-17.3,196,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3860,0,0,0,0,0,0
$GC,1821,-0.84,-219.0,326.0,-17.6,214,1825,0.00,1.58,0.00,0.000,4,0.000,0.049,2501,3759,3860,0,0,0,0,0,0
$GC,1871,-0.84,-219.0,335.9,-18.7,218,1878,0.00,1.52,0.00,0.000,6,0.000,0.030,2501,2783,3860,0,0,0,0,0,0
$GC,2071,-0.84,-219.0,371.7,-18.0,237,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2783,3860,0,0,0,0,0,0
$STATE,2099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2099,begin apogee
$GC,2104,-0.16,0.0,377.5,17.9,240,2285,0.73,0.00,174.10,0.969,4,0.125,0.000,2739,2683,2960,0,0,0,0,0,0
$STATE,2286,end apogee,CONTROL_FINISHED_OK
$STATE,2286,begin climb
$GC,2288,0.84,219.0,386.5,0.0,256,2491,1.00,2.38,190.90,0.918,4,0.075,0.033,3070,1311,2066,0,0,0,0,0,0
$GC,2666,0.85,227.7,350.3,13.0,289,2684,0.00,2.40,8.00,0.785,6,0.000,0.041,3069,2700,2031,0,0,0,0,0,0
$GC,2877,0.85,227.7,321.0,14.1,309,2881,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1316,2028,0,0,1,0,0,0
$GC,3062,0.85,227.7,294.7,13.8,325,3066,0.00,2.28,0.00,0.000,6,0.000,0.041,3080,2698,2027,0,0,0,0,0,0
$GC,3260,0.85,227.7,266.8,14.1,343,3264,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3767,2026,0,0,0,0,0,0
$GC,3328,0.85,227.7,255.9,16.3,349,3332,0.00,1.67,0.00,0.000,6,0.000,0.030,3088,2716,2025,0,0,0,0,0,0
$GC,3533,0.85,227.7,225.3,14.8,368,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2716,2025,0,0,0,0,0,0
$GC,3659,0.85,227.7,206.1,15.1,380,3663,0.00,1.67,0.00,0.000,4,0.000,0.047,3089,3763,2025,0,0,0,0,0,0
$GC,3694,0.85,227.7,200.4,16.4,383,3698,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2698,2025,0,0,0,0,0,0
$GC,3834,0.85,227.7,178.6,15.5,396,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2697,2025,0,0,0,0,0,0
$GC,3962,0.85,227.7,158.7,15.8,408,3966,0.00,1.73,0.00,0.000,4,0.000,0.047,3097,3755,2024,0,0,0,0,0,0
$GC,4019,0.85,227.7,148.6,17.7,413,4024,0.12,1.65,0.00,0.000,6,0.161,0.031,3071,2684,2025,0,0,0,0,0,0
$GC,4159,0.85,227.7,128.9,13.6,426,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2684,2024,0,0,0,0,0,0
$GC,4288,0.88,252.2,112.8,12.3,438,4315,0.00,1.77,22.05,0.814,4,0.000,0.050,3070,3757,1931,0,0,1,0,0,0
$GC,4349,0.88,252.2,104.0,15.3,443,4357,0.00,1.65,0.00,0.000,6,0.000,0.031,3078,2727,1930,0,0,0,0,0,0
$GC,4488,0.88,254.5,85.2,13.2,465,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2726,1929,0,0,0,0,0,0
$GC,4629,0.88,254.5,65.5,14.2,490,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2726,1928,0,0,0,0,0,0
$GC,4771,0.88,254.5,45.7,13.3,515,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2726,1927,0,0,0,0,0,0
$GC,4912,0.88,254.5,26.3,14.5,540,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2726,1927,0,0,0,0,0,0
$FREEZE,8.24,-0.270,-1.891,2,1,0
$FREEZE,7.46,-0.266,-1.890,2,1,0
$FREEZE,6.74,-0.269,-1.890,2,1,0
$GC,5054,0.88,254.5,6.7,14.4,565,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2726,1926,0,0,0,0,0,0
$FREEZE,4.52,-0.284,-1.888,2,1,0
$FREEZE,3.90,-0.287,-1.888,2,1,0
$FREEZE,3.10,-0.282,-1.887,2,1,0
$FREEZE,2.41,-0.283,-1.887,2,1,0
$STATE,5081,end climb,SURFACE_DEPTH_REACHED
$STATE,5081,begin surface coast
$FREEZE,1.57,-0.283,-1.886,2,1,0
$FREEZE,0.74,-0.282,-1.886,2,1,0
$FREEZE,0.02,-0.278,-1.885,2,1,0
$FREEZE,-0.08,-0.433,-0.931,2,1,0
$FINISH,-0.1,1.013767
$STATE,5104,end surface coast,CONTROL_FINISHED_OK
$STATE,5104,begin surface
$SM_CCo,5121,32.80,0.103,0,0,1655,320.11
$SM_GC,1.04,0.00,0.00,32.80,0.000,0.000,0.103,187,2796,1655,-8.17,0.45,320.11
$IRIDIUM_FIX,-7519.49,17512.69,291210,060616
$TT8_MAMPS,0.026964
$HUMID,52.59
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.6
$24V_AH,22.4,45.379
$10V_AH,9.9,17.777
$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,18.425,32.475,395.050,32.800,0.000,30.005,37.023,142.298,1.000,0.000,16.163,1414.000,2188.407,476.901,1240.403,172.226,0.000,1069.758,0.000,972.453,0.000,7.759,0.000
$DEVICE_MAMPS,211.905,99.450,969.255,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.018,739.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37133,574
$CAP_FILE_SIZE,75750,0
$CFSIZE,260165632,230068224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.124,242.0,1
$GPS,291210,092906,-7606.891,17524.971,32,1.2,32,123.1