version: 66.08
glider: 503
mission: 7
dive: 478
start: 12 29 110 15 38 31
data:
$ID,503
$MISSION,7
$DIVE,478
$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,-20093.68
$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,41
$R_STBD_OVSHOOT,29
$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
$GPS1,291210,153237,-7607.060,17531.891,39,0.9,39,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.9
$GPS2,291210,153802,-7607.061,17531.773,10,1.6,10,122.9
$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,323.1,39483,-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,13,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,-92.40,0.000,2,0.000,0.000,184,2783,3531,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.9,-10.4,16,136,8.95,1.62,-6.32,0.000,4,0.213,0.063,2515,3767,3855,0,0,0,0,0,0
$GC,287,-0.84,-219.0,48.0,-19.6,46,295,0.00,1.58,0.00,0.000,6,0.000,0.028,2515,2765,3859,0,0,0,0,0,0
$GC,430,-0.84,-219.0,74.6,-19.0,71,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2765,3859,0,0,0,0,0,0
$GC,576,-0.84,-219.0,103.0,-19.5,96,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2765,3859,0,0,0,0,0,0
$GC,704,-0.84,-219.0,127.5,-19.8,108,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2765,3859,0,0,0,0,0,0
$GC,832,-0.84,-219.0,151.6,-18.6,120,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2765,3860,0,0,0,0,0,0
$GC,959,-0.84,-219.0,176.0,-19.0,132,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2765,3860,0,0,0,0,0,0
$GC,1086,-0.84,-219.0,200.1,-18.7,144,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2765,3860,0,0,0,0,0,0
$GC,1214,-0.84,-219.0,223.4,-18.0,156,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2765,3860,0,0,0,0,0,0
$GC,1341,-0.84,-219.0,246.1,-16.9,168,1345,0.00,1.62,0.00,0.000,4,0.000,0.049,2507,3760,3860,0,0,0,0,0,0
$GC,1378,-0.84,-219.0,253.0,-17.7,171,1385,0.00,1.52,0.00,0.000,6,0.000,0.031,2507,2787,3860,0,0,0,0,0,0
$GC,1577,-0.84,-219.0,287.4,-17.2,190,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2787,3860,0,0,0,0,0,0
$GC,1769,-0.84,-219.0,320.6,-17.2,208,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2787,3860,0,0,0,0,0,0
$GC,1959,-0.84,-219.0,353.2,-17.0,226,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2787,3860,0,0,0,0,0,0
$STATE,2083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2084,begin apogee
$GC,2089,-0.16,0.0,375.8,18.0,238,2270,0.73,0.00,174.15,0.972,4,0.124,0.000,2745,2687,2960,0,0,0,0,0,0
$STATE,2271,end apogee,CONTROL_FINISHED_OK
$STATE,2271,begin climb
$GC,2273,0.84,219.0,386.8,0.0,254,2477,0.98,2.38,190.95,0.920,4,0.073,0.033,3070,1308,2067,0,0,0,0,0,0
$GC,2613,0.85,230.1,359.7,12.9,284,2629,0.00,2.40,10.43,0.819,6,0.000,0.041,3070,2698,2021,0,0,0,0,0,0
$GC,2825,0.85,230.1,330.1,14.9,303,2829,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1314,2018,0,0,0,0,0,0
$GC,2991,0.86,237.5,308.2,13.0,317,3004,0.00,2.30,7.53,0.792,6,0.000,0.041,3079,2708,1991,0,0,0,0,0,0
$GC,3198,0.86,237.5,278.7,14.7,336,3201,0.00,1.70,0.00,0.000,4,0.000,0.047,3080,3769,1990,0,0,0,0,0,0
$GC,3246,0.86,237.5,269.8,16.9,340,3255,0.00,1.65,0.00,0.000,6,0.000,0.029,3088,2723,1990,0,0,1,0,0,0
$GC,3445,0.86,237.5,239.6,15.5,359,3449,0.00,1.67,0.00,0.000,4,0.000,0.047,3088,3767,1989,0,0,0,0,0,0
$GC,3502,0.86,237.5,230.2,17.1,364,3506,0.00,1.62,0.00,0.000,6,0.000,0.031,3097,2706,1989,0,0,1,0,0,0
$GC,3642,0.86,237.5,208.4,15.2,377,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2704,1989,0,0,0,0,0,0
$GC,3770,0.86,237.5,188.9,15.3,389,3774,0.00,1.70,0.00,0.000,4,0.000,0.049,3097,3768,1988,0,0,0,0,0,0
$GC,3805,0.86,237.5,183.0,17.2,392,3809,0.00,1.65,0.00,0.000,6,0.000,0.031,3105,2702,1988,0,0,0,0,0,0
$GC,3945,0.86,237.5,160.5,15.8,405,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2701,1988,0,0,0,0,0,0
$GC,4072,0.86,237.5,140.2,16.1,417,4076,0.00,1.70,0.00,0.000,4,0.000,0.049,3105,3764,1988,0,0,0,0,0,0
$GC,4108,0.86,237.5,134.2,17.9,420,4112,0.12,1.60,0.00,0.000,6,0.167,0.031,3079,2741,1988,0,0,1,0,0,0
$GC,4247,0.86,237.5,113.3,14.5,433,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2740,1987,0,0,0,0,0,0
$GC,4377,0.86,237.5,95.0,13.7,448,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2741,1987,0,0,0,0,0,0
$GC,4516,0.86,237.5,76.1,13.4,473,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2740,1987,0,0,0,0,0,0
$GC,4656,0.86,237.5,56.9,14.2,498,4663,0.00,2.30,0.00,0.000,4,0.000,0.035,3089,1294,1987,0,0,0,0,0,0
$GC,4693,0.86,237.5,51.6,14.4,504,4699,0.00,2.33,0.00,0.000,6,0.000,0.041,3089,2738,1987,0,0,0,0,0,0
$GC,4835,0.86,237.5,29.3,15.6,529,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2738,1987,0,0,0,0,0,0
$FREEZE,8.41,-0.452,-1.891,2,1,0
$GC,4977,0.86,237.5,8.4,15.1,554,4983,0.00,1.65,0.00,0.000,4,0.000,0.049,3089,3761,1987,0,0,0,0,0,0
$FREEZE,5.76,-0.426,-1.889,2,1,0
$FREEZE,5.05,-0.409,-1.889,2,1,0
$FREEZE,4.15,-0.361,-1.887,2,1,0
$FREEZE,3.28,-0.357,-1.887,2,1,0
$FREEZE,2.40,-0.358,-1.886,2,1,0
$STATE,5012,end climb,SURFACE_DEPTH_REACHED
$STATE,5012,begin surface coast
$FREEZE,1.08,-0.357,-1.886,2,1,0
$FREEZE,0.17,-0.357,-1.885,2,1,0
$FINISH,0.2,1.027596
$STATE,5023,end surface coast,CONTROL_FINISHED_OK
$STATE,5023,begin surface
$SM_CCo,5041,40.03,0.102,0,0,1655,320.11
$SM_GC,0.61,0.00,0.00,40.03,0.000,0.000,0.102,193,2778,1655,-8.15,-0.03,320.11
$IRIDIUM_FIX,-7519.49,17531.27,291210,141442
$TT8_MAMPS,0.027713
$HUMID,52.91
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.7
$24V_AH,22.4,45.947
$10V_AH,9.9,18.002
$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,18.425,36.950,383.050,40.025,0.000,30.745,42.422,139.594,1.000,0.000,12.710,1385.990,2185.679,474.869,1200.376,173.431,0.000,1047.308,0.000,936.081,0.000,7.759,0.000
$DEVICE_MAMPS,213.435,80.325,971.550,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.606,718.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258156
$DATA_FILE_SIZE,37197,562
$CAP_FILE_SIZE,74267,0
$CFSIZE,260165632,229855232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.133,275.4,1
$GPS,291210,170414,-7607.115,17533.693,21,1.8,21,122.9