version: 66.08
glider: 503
mission: 7
dive: 477
start: 12 29 110 14 8 54
data:
$ID,503
$MISSION,7
$DIVE,477
$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,-20092.42
$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,43
$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
$GPS1,291210,140300,-7606.971,17530.195,47,1.2,47,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-75.3
$GPS2,291210,140826,-7606.961,17530.033,14,1.7,14,122.9
$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,323.0,40238,-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,17,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-88.80,0.000,2,0.000,0.000,184,2802,3427,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.3,-8.0,15,139,8.98,1.55,-8.93,0.000,4,0.214,0.067,2515,3741,3857,0,0,0,0,0,0
$GC,306,-0.84,-219.0,48.3,-19.4,49,314,0.00,1.50,0.00,0.000,6,0.000,0.029,2516,2772,3859,0,0,1,0,0,0
$GC,451,-0.84,-219.0,75.8,-18.8,74,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3859,0,0,0,0,0,0
$GC,598,-0.84,-219.0,102.4,-18.4,99,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3859,0,0,0,0,0,0
$GC,726,-0.84,-219.0,125.3,-18.0,111,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3860,0,0,0,0,0,0
$GC,853,-0.84,-219.0,148.7,-18.8,123,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3860,0,0,0,0,0,0
$GC,980,-0.84,-219.0,171.8,-17.8,135,984,0.00,1.58,0.00,0.000,4,0.000,0.049,2508,3737,3860,0,0,0,0,0,0
$GC,1007,-0.84,-219.0,177.3,-19.2,137,1015,0.00,1.48,0.00,0.000,6,0.000,0.030,2508,2781,3860,0,0,1,0,0,0
$GC,1143,-0.84,-219.0,201.3,-18.3,150,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3860,0,0,0,0,0,0
$GC,1269,-0.84,-219.0,224.5,-18.2,162,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3860,0,0,0,0,0,0
$GC,1397,-0.84,-219.0,247.2,-18.2,174,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3860,0,0,0,0,0,0
$GC,1525,-0.84,-219.0,270.0,-17.6,186,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3861,0,0,0,0,0,0
$GC,1715,-0.84,-219.0,305.0,-18.5,204,1718,0.00,1.58,0.00,0.000,4,0.000,0.050,2501,3744,3861,0,0,0,0,0,0
$GC,1764,-0.84,-219.0,314.8,-20.1,208,1771,0.00,1.50,0.00,0.000,6,0.000,0.030,2501,2770,3860,0,0,1,0,0,0
$GC,1963,-0.84,-219.0,352.1,-19.0,227,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2770,3860,0,0,0,0,0,0
$STATE,2087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2087,begin apogee
$GC,2093,-0.16,0.0,375.7,18.4,239,2273,0.75,0.00,174.05,0.969,4,0.126,0.000,2746,2682,2961,0,0,0,0,0,0
$STATE,2274,end apogee,CONTROL_FINISHED_OK
$STATE,2274,begin climb
$GC,2276,0.84,219.0,385.1,0.0,255,2481,0.98,2.38,190.68,0.919,4,0.073,0.032,3070,1314,2067,0,0,0,0,0,0
$GC,2621,0.87,241.1,355.3,12.4,285,2650,0.00,2.35,20.75,0.864,6,0.000,0.039,3070,2684,1976,0,0,0,0,0,0
$GC,2840,0.87,241.1,325.3,14.7,306,2844,0.00,2.28,0.00,0.000,4,0.000,0.033,3080,1317,1972,0,0,0,0,0,0
$GC,3015,0.87,241.1,300.7,14.7,321,3019,0.00,2.28,0.00,0.000,6,0.000,0.041,3080,2707,1970,0,0,1,0,0,0
$GC,3214,0.87,241.1,269.9,15.2,339,3217,0.00,1.67,0.00,0.000,4,0.000,0.048,3080,3761,1970,0,0,0,0,0,0
$GC,3270,0.87,241.1,260.5,17.1,344,3274,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2704,1969,0,0,1,0,0,0
$GC,3474,0.87,241.1,229.0,15.2,363,3478,0.00,1.70,0.00,0.000,4,0.000,0.048,3088,3761,1968,0,0,0,0,0,0
$GC,3523,0.87,241.1,220.5,16.6,367,3530,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2724,1968,0,0,0,0,0,0
$GC,3658,0.87,241.1,199.8,16.1,380,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2724,1968,0,0,0,0,0,0
$GC,3785,0.87,241.1,179.6,15.7,392,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2724,1968,0,0,0,0,0,0
$GC,3912,0.87,241.1,159.3,16.2,404,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2724,1968,0,0,0,0,0,0
$GC,4040,0.87,241.1,139.0,15.8,416,4044,0.00,1.70,0.00,0.000,4,0.000,0.049,3096,3764,1968,0,0,0,0,0,0
$GC,4066,0.87,241.1,134.3,17.6,418,4073,0.00,1.62,0.00,0.000,6,0.000,0.032,3104,2742,1967,0,0,0,0,0,0
$GC,4200,0.87,241.1,112.4,16.2,431,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2742,1968,0,0,0,0,0,0
$GC,4329,0.87,241.1,91.6,16.0,447,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2742,1967,0,0,0,0,0,0
$GC,4471,0.87,241.1,68.3,15.7,472,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2742,1967,0,0,0,0,0,0
$GC,4613,0.87,241.1,45.8,15.9,497,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2741,1967,0,0,0,0,0,0
$GC,4753,0.87,241.1,22.2,17.3,522,4760,0.00,1.65,0.00,0.000,4,0.000,0.049,3104,3751,1967,0,0,0,0,0,0
$GC,4805,0.87,241.1,12.4,18.4,531,4812,0.10,1.60,0.00,0.000,6,0.141,0.031,3078,2740,1966,0,0,0,0,0,0
$FREEZE,8.95,-0.341,-1.896,2,1,0
$FREEZE,8.12,-0.336,-1.895,2,1,0
$FREEZE,7.38,-0.306,-1.895,2,1,0
$FREEZE,6.59,-0.280,-1.894,2,1,0
$FREEZE,5.86,-0.227,-1.893,2,1,0
$FREEZE,5.10,-0.206,-1.892,2,1,0
$FREEZE,4.37,-0.182,-1.891,2,1,0
$FREEZE,3.66,-0.133,-1.891,2,1,0
$FREEZE,2.91,-0.064,-1.889,2,1,0
$STATE,4868,end climb,SURFACE_DEPTH_REACHED
$STATE,4868,begin surface coast
$FREEZE,1.64,-0.051,-1.889,2,1,0
$FREEZE,0.92,-0.044,-1.887,2,1,0
$FREEZE,0.35,-0.051,-1.887,2,1,0
$FREEZE,-0.12,-0.054,-1.032,2,1,0
$FINISH,-0.1,1.015259
$STATE,4890,end surface coast,CONTROL_FINISHED_OK
$STATE,4890,begin surface
$SM_CCo,4907,37.05,0.102,0,0,1655,320.11
$SM_GC,0.64,0.00,0.00,37.05,0.000,0.000,0.102,184,2783,1655,-8.18,0.08,320.11
$IRIDIUM_FIX,-7528.04,17530.57,291210,121221
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$24V_AH,22.4,45.833
$10V_AH,10.0,17.956
$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,18.375,31.825,385.475,37.050,0.000,30.896,41.723,138.875,1.000,0.000,17.010,1340.448,2111.852,481.213,1181.042,168.140,0.000,1042.293,0.000,913.738,0.000,7.760,0.000
$DEVICE_MAMPS,214.200,116.280,969.255,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.978,699.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37100,546
$CAP_FILE_SIZE,72913,0
$CFSIZE,260165632,229900288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.136,268.4,1
$GPS,291210,153237,-7607.060,17531.891,39,0.9,39,122.9