version: 66.08
glider: 503
mission: 7
dive: 476
start: 12 29 110 12 38 31
data:
$ID,503
$MISSION,7
$DIVE,476
$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,-20091.16
$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,26
$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
$GPS1,291210,123244,-7606.969,17528.514,16,1.0,17,123.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.8
$GPS2,291210,123802,-7606.968,17528.365,11,1.6,11,123.0
$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,320.7,40979,-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,-92.15,0.000,2,0.000,0.000,182,2750,3535,0,0,0,0,0,0
$GC,114,-0.84,-219.0,4.2,-11.0,16,136,8.95,1.67,-6.18,0.000,4,0.213,0.063,2518,3769,3856,0,0,1,0,0,0
$GC,259,-0.84,-219.0,42.4,-18.3,41,266,0.00,1.58,0.00,0.000,6,0.000,0.029,2518,2769,3860,0,0,0,0,0,0
$GC,400,-0.84,-219.0,68.6,-18.7,66,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2769,3860,0,0,0,0,0,0
$GC,544,-0.84,-219.0,94.6,-17.9,91,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2770,3860,0,0,0,0,0,0
$GC,685,-0.84,-219.0,119.6,-17.5,107,689,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3763,3860,0,0,0,0,0,0
$GC,719,-0.84,-219.0,126.1,-19.8,110,723,0.00,1.52,0.00,0.000,6,0.000,0.031,2510,2793,3860,0,0,0,0,0,0
$GC,859,-0.84,-219.0,152.6,-18.7,123,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2793,3861,0,0,0,0,0,0
$GC,987,-0.84,-219.0,176.5,-18.7,135,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3861,0,0,0,0,0,0
$GC,1114,-0.84,-219.0,200.3,-18.8,147,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2793,3861,0,0,0,0,0,0
$GC,1242,-0.84,-219.0,223.8,-18.2,159,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3861,0,0,0,0,0,0
$GC,1369,-0.84,-219.0,246.9,-18.1,171,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3861,0,0,0,0,0,0
$GC,1497,-0.84,-219.0,269.6,-17.4,183,1501,0.00,1.58,0.00,0.000,4,0.000,0.050,2502,3761,3860,0,0,0,0,0,0
$GC,1535,-0.84,-219.0,277.1,-18.4,186,1543,0.00,1.52,0.00,0.000,6,0.000,0.031,2502,2784,3861,0,0,0,0,0,0
$GC,1733,-0.84,-219.0,313.0,-18.3,205,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2784,3861,0,0,0,0,0,0
$GC,1925,-0.84,-219.0,347.4,-17.7,223,1929,0.00,1.60,0.00,0.000,4,0.000,0.050,2494,3767,3861,0,0,0,0,0,0
$GC,1952,-0.84,-219.0,353.1,-19.5,225,1960,0.08,1.52,0.00,0.000,6,0.145,0.031,2521,2788,3861,0,0,0,0,0,0
$STATE,2097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2097,begin apogee
$GC,2103,-0.16,0.0,376.3,15.8,239,2284,0.68,0.00,174.20,0.970,4,0.122,0.000,2745,2686,2960,0,0,0,0,0,0
$STATE,2285,end apogee,CONTROL_FINISHED_OK
$STATE,2285,begin climb
$GC,2287,0.84,219.0,384.9,0.0,255,2491,0.98,2.38,190.57,0.920,4,0.073,0.033,3069,1307,2066,0,0,0,0,0,0
$GC,2621,0.85,228.7,354.3,12.9,284,2640,0.00,2.42,9.30,0.802,6,0.000,0.041,3069,2706,2026,0,0,0,0,0,0
$GC,2833,0.85,228.7,324.3,14.2,304,2837,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1306,2024,0,0,0,0,0,0
$GC,3007,0.88,248.9,301.0,12.5,319,3032,0.00,2.33,18.98,0.873,6,0.000,0.041,3080,2710,1945,0,0,0,0,0,0
$GC,3224,0.88,248.9,269.9,14.9,339,3227,0.00,1.70,0.00,0.000,4,0.000,0.047,3080,3771,1942,0,0,0,0,0,0
$GC,3270,0.88,248.9,261.4,18.4,343,3274,0.00,1.62,0.00,0.000,6,0.000,0.029,3088,2713,1942,0,0,1,0,0,0
$GC,3473,0.88,248.9,229.1,15.5,362,3477,0.00,1.70,0.00,0.000,4,0.000,0.048,3087,3768,1941,0,0,0,0,0,0
$GC,3508,0.88,248.9,223.5,17.3,365,3512,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2707,1940,0,0,0,0,0,0
$GC,3649,0.88,248.9,201.1,16.0,378,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2706,1940,0,0,0,0,0,0
$GC,3775,0.88,248.9,180.8,15.8,390,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2706,1940,0,0,0,0,0,0
$GC,3903,0.88,248.9,160.6,15.8,402,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2706,1939,0,0,0,0,0,0
$GC,4031,0.88,248.9,140.9,15.7,414,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2705,1939,0,0,0,0,0,0
$GC,4158,0.88,248.9,121.5,15.1,426,4161,0.00,1.67,0.00,0.000,4,0.000,0.050,3096,3763,1939,0,0,0,0,0,0
$GC,4203,0.88,248.9,113.8,18.1,430,4206,0.00,1.65,0.00,0.000,6,0.000,0.031,3104,2692,1938,0,0,0,0,0,0
$GC,4340,0.88,248.9,91.8,16.2,447,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2692,1938,0,0,0,0,0,0
$GC,4480,0.88,248.9,69.1,15.8,472,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2692,1938,0,0,0,0,0,0
$GC,4624,0.88,248.9,45.7,14.9,497,4631,0.00,1.75,0.00,0.000,4,0.000,0.049,3105,3788,1938,0,0,0,0,0,0
$GC,4682,0.88,248.9,35.1,18.9,507,4689,0.08,1.65,0.00,0.000,6,0.147,0.031,3076,2727,1938,0,0,1,0,0,0
$GC,4824,0.88,248.9,14.0,14.4,532,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2727,1938,0,0,0,0,0,0
$FREEZE,8.21,-0.320,-1.893,2,1,0
$FREEZE,7.52,-0.373,-1.892,2,1,0
$FREEZE,6.75,-0.326,-1.891,2,1,0
$FREEZE,6.03,-0.250,-1.890,2,1,0
$FREEZE,5.36,-0.217,-1.889,2,1,0
$FREEZE,4.68,-0.208,-1.888,2,1,0
$FREEZE,3.82,-0.112,-1.887,2,1,0
$FREEZE,3.18,-0.051,-1.886,2,1,0
$FREEZE,2.40,-0.047,-1.886,2,1,0
$STATE,4905,end climb,SURFACE_DEPTH_REACHED
$STATE,4905,begin surface coast
$FREEZE,1.57,-0.042,-1.886,2,1,0
$FREEZE,0.68,-0.043,-1.885,2,1,0
$FREEZE,-0.07,-0.043,-1.885,2,1,0
$FREEZE,-0.10,-0.236,-0.969,2,1,0
$FINISH,-0.1,1.014325
$STATE,4930,end surface coast,CONTROL_FINISHED_OK
$STATE,4930,begin surface
$SM_CCo,4947,34.10,0.103,0,0,1655,320.11
$SM_GC,0.72,0.00,0.00,34.10,0.000,0.000,0.103,185,2802,1655,-8.18,0.62,320.11
$IRIDIUM_FIX,-7519.49,17531.27,291210,111147
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$24V_AH,22.4,45.719
$10V_AH,9.9,17.912
$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,18.325,35.675,393.050,34.100,0.000,25.360,39.081,140.029,1.000,0.000,14.231,1359.218,2115.900,483.479,1182.712,171.900,0.000,1053.920,0.000,924.653,0.000,7.756,0.000
$DEVICE_MAMPS,212.670,96.390,970.020,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.536,703.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,37123,551
$CAP_FILE_SIZE,74480,0
$CFSIZE,260165632,229937152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.156,267.1,1
$GPS,291210,140300,-7606.971,17530.195,47,1.2,47,122.9