version: 66.08
glider: 503
mission: 7
dive: 474
start: 12 29 110 9 35 1
data:
$ID,503
$MISSION,7
$DIVE,474
$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,-20088.648
$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,46
$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
$GPS1,291210,092906,-7606.891,17524.971,32,1.2,32,123.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.4
$GPS2,291210,093432,-7606.898,17524.895,11,1.7,11,123.1
$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,313.9,42508,-18.2,-13.333
$D_GRID,375
$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,-219.0,0.0,0.0,0,111,0.00,0.00,-92.12,0.000,2,0.000,0.000,187,2797,3521,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.9,-9.8,16,136,8.98,1.60,-6.57,0.000,4,0.215,0.063,2518,3762,3857,0,0,0,0,0,0
$GC,316,-0.84,-219.0,52.3,-18.9,51,323,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2772,3860,0,0,0,0,0,0
$GC,460,-0.84,-219.0,78.6,-18.1,76,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3860,0,0,0,0,0,0
$GC,601,-0.84,-219.0,104.3,-18.2,99,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3860,0,0,0,0,0,0
$GC,729,-0.84,-219.0,127.7,-18.2,111,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3861,0,0,0,0,0,0
$GC,856,-0.84,-219.0,151.0,-18.2,123,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3861,0,0,0,0,0,0
$GC,983,-0.84,-219.0,173.9,-17.6,135,987,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3749,3861,0,0,0,0,0,0
$GC,1029,-0.84,-219.0,182.6,-19.3,139,1032,0.00,1.50,0.00,0.000,6,0.000,0.030,2510,2791,3861,0,0,0,0,0,0
$GC,1169,-0.84,-219.0,208.5,-18.1,152,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2791,3861,0,0,0,0,0,0
$GC,1296,-0.84,-219.0,232.0,-18.5,164,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2791,3861,0,0,0,0,0,0
$GC,1423,-0.84,-219.0,255.8,-18.5,176,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2791,3861,0,0,0,0,0,0
$GC,1615,-0.84,-219.0,290.6,-18.2,194,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3861,0,0,0,0,0,0
$GC,1807,-0.84,-219.0,325.0,-17.6,212,1811,0.00,1.55,0.00,0.000,4,0.000,0.049,2504,3744,3861,0,0,0,0,0,0
$GC,1844,-0.84,-219.0,332.6,-18.6,215,1852,0.00,1.48,0.00,0.000,6,0.000,0.029,2503,2786,3861,0,0,1,0,0,0
$GC,2043,-0.84,-219.0,368.0,-18.0,234,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2786,3861,0,0,0,0,0,0
$STATE,2083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2083,begin apogee
$GC,2089,-0.16,0.0,375.5,17.5,238,2270,0.73,0.00,174.32,0.968,4,0.125,0.000,2741,2683,2960,0,0,0,0,0,0
$STATE,2271,end apogee,CONTROL_FINISHED_OK
$STATE,2271,begin climb
$GC,2273,0.84,219.0,383.7,0.0,254,2476,1.00,2.38,190.93,0.913,4,0.074,0.032,3072,1314,2066,0,0,0,0,0,0
$GC,2638,0.84,219.0,347.2,13.5,286,2646,0.00,2.40,0.00,0.000,6,0.000,0.039,3072,2687,2058,0,0,0,0,0,0
$GC,2837,0.84,219.0,319.8,13.6,305,2841,0.00,2.28,0.00,0.000,4,0.000,0.032,3083,1312,2056,0,0,0,0,0,0
$GC,3002,0.84,219.0,297.6,14.0,319,3006,0.00,2.30,0.00,0.000,6,0.000,0.041,3083,2708,2054,0,0,0,0,0,0
$GC,3200,0.84,219.0,267.8,14.6,337,3203,0.00,1.67,0.00,0.000,4,0.000,0.047,3083,3764,2054,0,0,0,0,0,0
$GC,3260,0.84,219.0,257.3,17.0,342,3267,0.00,1.65,0.00,0.000,6,0.000,0.030,3091,2725,2053,0,0,0,0,0,0
$GC,3459,0.84,219.0,226.8,15.7,361,3462,0.00,1.65,0.00,0.000,4,0.000,0.048,3091,3763,2053,0,0,0,0,0,0
$GC,3493,0.84,219.0,220.7,17.6,364,3497,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2700,2053,0,0,0,0,0,0
$GC,3633,0.84,219.0,197.6,16.6,377,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2700,2052,0,0,0,0,0,0
$GC,3760,0.84,219.0,177.1,16.0,389,3764,0.00,1.70,0.00,0.000,4,0.000,0.049,3099,3766,2053,0,0,0,0,0,0
$GC,3809,0.84,219.0,168.1,18.0,393,3818,0.10,1.62,0.00,0.000,6,0.138,0.030,3074,2725,2052,0,0,1,0,0,0
$GC,3944,0.84,219.0,149.6,13.3,406,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2725,2052,0,0,0,0,0,0
$GC,4072,0.85,228.6,133.1,12.9,418,4085,0.00,1.73,6.80,0.756,4,0.000,0.048,3074,3763,2028,0,0,0,0,0,0
$GC,4123,0.85,228.6,125.5,14.7,422,4131,0.00,1.62,0.00,0.000,6,0.000,0.030,3082,2734,2028,0,0,0,0,0,0
$GC,4259,0.85,228.7,107.3,13.3,435,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2734,2028,0,0,0,0,0,0
$GC,4388,0.85,230.9,89.7,13.2,453,4396,0.00,0.00,4.22,0.630,6,0.000,0.000,3082,2734,2017,0,0,0,0,0,0
$GC,4531,0.85,230.9,70.4,13.5,478,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2734,2018,0,0,0,0,0,0
$GC,4673,0.85,230.9,50.9,13.5,503,4679,0.00,1.67,0.00,0.000,4,0.000,0.049,3082,3759,2018,0,0,0,0,0,0
$GC,4709,0.85,230.9,45.4,15.4,509,4716,0.00,1.62,0.00,0.000,6,0.000,0.032,3090,2731,2017,0,0,0,0,0,0
$GC,4853,0.85,230.9,24.8,14.2,534,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2731,2017,0,0,0,0,0,0
$FREEZE,8.76,-0.377,-1.890,2,1,0
$FREEZE,8.07,-0.397,-1.890,2,1,0
$FREEZE,7.20,-0.396,-1.890,2,1,0
$FREEZE,6.38,-0.393,-1.889,2,1,0
$FREEZE,5.62,-0.394,-1.889,2,1,0
$FREEZE,4.91,-0.394,-1.888,2,1,0
$FREEZE,3.85,-0.384,-1.887,2,1,0
$GC,4994,0.85,230.9,3.9,14.6,559,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2731,2017,0,0,0,0,0,0
$FREEZE,1.85,-0.386,-1.886,2,1,0
$STATE,5006,end climb,SURFACE_DEPTH_REACHED
$STATE,5006,begin surface coast
$FREEZE,1.07,-0.386,-1.885,2,1,0
$FREEZE,0.32,-0.394,-1.885,2,1,0
$FREEZE,-0.05,-0.403,-0.977,2,1,0
$FINISH,-0.0,1.014447
$STATE,5023,end surface coast,CONTROL_FINISHED_OK
$STATE,5023,begin surface
$SM_CCo,5040,43.62,0.103,0,0,1655,320.11
$SM_GC,0.87,0.00,0.00,43.62,0.000,0.000,0.103,173,2788,1655,-8.21,0.23,320.11
$IRIDIUM_FIX,-7519.49,17531.27,291210,070749
$TT8_MAMPS,0.028462
$HUMID,53.15
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.5
$24V_AH,22.5,45.491
$10V_AH,9.8,17.822
$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,18.400,35.400,376.275,43.625,0.000,28.461,37.019,148.061,1.000,0.000,13.759,1389.095,2163.692,483.392,1213.895,173.379,0.000,1061.741,0.000,948.198,0.000,7.755,0.000
$DEVICE_MAMPS,214.965,110.925,967.725,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.811,727.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258236
$DATA_FILE_SIZE,37016,564
$CAP_FILE_SIZE,75862,0
$CFSIZE,260165632,230023168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.121,253.4,1
$GPS,291210,110106,-7606.936,17526.795,40,0.9,41,123.0