version: 66.08
glider: 503
mission: 7
dive: 475
start: 12 29 110 11 6 49
data:
$ID,503
$MISSION,7
$DIVE,475
$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,-20089.904
$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,35
$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
$GPS1,291210,110106,-7606.936,17526.795,40,0.9,41,123.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-75.3
$GPS2,291210,110620,-7606.941,17526.656,12,1.0,12,123.0
$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,318.0,41733,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.55,0.000,2,0.000,0.000,173,2788,3536,0,0,0,0,0,0
$GC,113,-0.84,-219.0,4.1,-10.8,16,134,8.98,1.60,-6.25,0.000,4,0.213,0.064,2517,3760,3856,0,0,0,0,0,0
$GC,186,-0.84,-219.0,27.7,-21.0,28,193,0.00,1.55,0.00,0.000,6,0.000,0.031,2517,2781,3859,0,0,0,0,0,0
$GC,328,-0.84,-219.0,55.1,-18.8,53,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2781,3860,0,0,0,0,0,0
$GC,470,-0.84,-219.0,81.9,-19.0,78,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2781,3860,0,0,0,0,0,0
$GC,613,-0.84,-219.0,108.5,-19.1,99,617,0.00,1.60,0.00,0.000,4,0.000,0.049,2509,3754,3860,0,0,0,0,0,0
$GC,640,-0.84,-219.0,114.6,-19.6,101,647,0.00,1.52,0.00,0.000,6,0.000,0.031,2509,2784,3859,0,0,0,0,0,0
$GC,775,-0.84,-219.0,139.9,-19.0,114,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2784,3861,0,0,0,0,0,0
$GC,902,-0.84,-219.0,163.6,-18.1,126,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2784,3860,0,0,0,0,0,0
$GC,1030,-0.84,-219.0,186.9,-18.4,138,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2784,3860,0,0,0,0,0,0
$GC,1157,-0.84,-219.0,209.9,-17.9,150,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2784,3861,0,0,0,0,0,0
$GC,1285,-0.84,-219.0,233.4,-18.9,162,1288,0.00,1.58,0.00,0.000,4,0.000,0.050,2502,3751,3861,0,0,0,0,0,0
$GC,1318,-0.84,-219.0,240.2,-20.1,165,1323,0.05,1.50,0.00,0.000,6,0.154,0.031,2520,2790,3861,0,0,0,0,0,0
$GC,1458,-0.84,-219.0,265.3,-17.3,178,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2790,3861,0,0,0,0,0,0
$GC,1650,-0.84,-219.0,298.0,-17.3,196,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2790,3861,0,0,0,0,0,0
$GC,1839,-0.84,-219.0,330.6,-17.3,214,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2790,3861,0,0,0,0,0,0
$GC,2030,-0.84,-219.0,363.7,-17.1,232,2034,0.00,1.58,0.00,0.000,4,0.000,0.050,2513,3754,3861,0,0,0,0,0,0
$GC,2080,-0.84,-219.0,372.9,-18.5,236,2087,0.00,1.50,0.00,0.000,6,0.000,0.031,2513,2792,3861,0,0,0,0,0,0
$STATE,2095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2095,begin apogee
$GC,2101,-0.16,0.0,375.8,17.7,238,2283,0.70,0.00,174.23,0.969,4,0.123,0.000,2744,2696,2960,0,0,0,0,0,0
$STATE,2283,end apogee,CONTROL_FINISHED_OK
$STATE,2283,begin climb
$GC,2286,0.84,219.0,385.5,0.0,254,2491,1.00,2.40,190.82,0.918,4,0.073,0.032,3076,1303,2067,0,0,0,0,0,0
$GC,2631,0.85,225.5,353.8,13.1,284,2642,0.00,2.40,6.38,0.739,6,0.000,0.041,3076,2692,2040,0,0,0,0,0,0
$GC,2837,0.85,225.5,324.6,14.9,303,2842,0.00,2.30,0.00,0.000,4,0.000,0.033,3086,1304,2037,0,0,0,0,0,0
$GC,3016,0.85,225.5,298.9,13.5,318,3023,0.00,2.35,0.00,0.000,6,0.000,0.041,3087,2702,2036,0,0,0,0,0,0
$GC,3214,0.85,225.5,269.6,14.8,337,3218,0.00,1.73,0.00,0.000,4,0.000,0.049,3087,3755,2035,0,0,0,0,0,0
$GC,3282,0.85,225.5,258.2,17.0,343,3286,0.00,1.62,0.00,0.000,6,0.000,0.031,3095,2694,2034,0,0,1,0,0,0
$GC,3485,0.85,225.5,225.7,16.0,362,3488,0.00,1.73,0.00,0.000,4,0.000,0.048,3095,3771,2034,0,0,0,0,0,0
$GC,3519,0.85,225.5,219.9,17.5,365,3523,0.12,1.65,0.00,0.000,6,0.164,0.031,3069,2705,2034,0,0,0,0,0,0
$GC,3658,0.85,225.5,200.0,13.7,378,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2705,2034,0,0,0,0,0,0
$GC,3785,0.85,230.3,182.9,13.1,390,3795,0.00,0.00,4.55,0.678,6,0.000,0.000,3070,2705,2021,0,0,0,0,0,0
$GC,3923,0.86,237.5,164.9,13.0,403,3937,0.00,1.77,8.52,0.793,4,0.000,0.049,3069,3766,1991,0,0,0,0,0,0
$GC,3972,0.86,237.5,157.8,14.9,407,3976,0.00,1.62,0.00,0.000,6,0.000,0.031,3077,2701,1991,0,0,1,0,0,0
$GC,4112,0.86,237.5,137.7,14.2,420,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2700,1991,0,0,0,0,0,0
$GC,4240,0.86,237.5,119.7,13.7,432,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2700,1990,0,0,0,0,0,0
$GC,4367,0.86,237.5,101.4,14.8,444,4371,0.00,1.70,0.00,0.000,4,0.000,0.049,3077,3768,1990,0,0,1,0,0,0
$GC,4409,0.86,237.5,94.9,17.0,450,4415,0.00,1.62,0.00,0.000,6,0.000,0.030,3084,2739,1990,0,0,0,0,0,0
$GC,4552,0.86,237.5,73.7,14.3,475,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2738,1990,0,0,0,0,0,0
$GC,4694,0.86,237.5,52.8,14.0,500,4700,0.00,1.67,0.00,0.000,4,0.000,0.048,3084,3764,1989,0,0,0,0,0,0
$GC,4735,0.86,237.5,46.1,16.3,507,4742,0.00,1.60,0.00,0.000,6,0.000,0.031,3092,2750,1989,0,0,0,0,0,0
$GC,4880,0.86,237.5,24.5,15.5,532,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2750,1989,0,0,0,0,0,0
$FREEZE,8.10,-0.294,-1.891,2,1,0
$FREEZE,7.41,-0.288,-1.891,2,1,0
$FREEZE,6.57,-0.165,-1.889,2,1,0
$FREEZE,5.85,-0.126,-1.888,2,1,0
$FREEZE,5.11,-0.120,-1.888,2,1,0
$FREEZE,4.26,-0.120,-1.888,2,1,0
$FREEZE,3.37,-0.110,-1.887,2,1,0
$FREEZE,2.59,-0.107,-1.887,2,1,0
$STATE,5018,end climb,SURFACE_DEPTH_REACHED
$STATE,5018,begin surface coast
$FREEZE,1.68,-0.106,-1.886,2,1,0
$FREEZE,0.91,-0.106,-1.886,2,1,0
$FREEZE,-0.06,-0.105,-1.885,2,1,0
$FREEZE,0.02,-0.400,-0.983,2,1,0
$FINISH,0.0,1.014527
$STATE,5041,end surface coast,CONTROL_FINISHED_OK
$STATE,5041,begin surface
$SM_CCo,5058,40.38,0.103,0,0,1655,320.11
$SM_GC,0.66,0.00,0.00,40.38,0.000,0.000,0.103,182,2750,1655,-8.18,-0.85,320.11
$IRIDIUM_FIX,-7519.49,17531.27,291210,090946
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.4
$24V_AH,22.4,45.603
$10V_AH,9.8,17.868
$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,18.475,38.700,384.500,40.375,0.000,29.083,35.785,135.902,1.000,0.000,14.754,1389.439,2177.869,487.313,1205.085,165.588,0.000,1067.079,0.000,943.396,0.000,7.760,0.000
$DEVICE_MAMPS,213.435,79.560,969.255,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.659,718.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37057,561
$CAP_FILE_SIZE,76473,0
$CFSIZE,260165632,229982208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.149,262.1,1
$GPS,291210,123244,-7606.969,17528.514,16,1.0,17,123.0