version: 66.08
glider: 503
mission: 7
dive: 479
start: 12 29 110 17 10 13
data:
$ID,503
$MISSION,7
$DIVE,479
$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,-20094.938
$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,47
$R_STBD_OVSHOOT,30
$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
$GPS1,291210,170414,-7607.115,17533.693,21,1.8,21,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-74.9
$GPS2,291210,170944,-7607.121,17533.504,10,1.9,10,122.9
$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,325.7,38727,-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,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-88.40,0.000,2,0.000,0.000,192,2778,3406,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.2,-7.3,15,137,9.02,1.60,-9.52,0.000,4,0.217,0.067,2517,3752,3857,0,0,1,0,0,0
$GC,299,-0.84,-219.0,47.2,-18.6,48,306,0.00,1.52,0.00,0.000,6,0.000,0.028,2517,2772,3859,0,0,0,0,0,0
$GC,440,-0.84,-219.0,74.1,-18.7,73,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3859,0,0,0,0,0,0
$GC,584,-0.84,-219.0,100.9,-19.3,98,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3859,0,0,0,0,0,0
$GC,710,-0.84,-219.0,125.4,-19.5,110,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3860,0,0,0,0,0,0
$GC,838,-0.84,-219.0,150.9,-19.9,122,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3860,0,0,0,0,0,0
$GC,965,-0.84,-219.0,176.3,-19.5,134,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3860,0,0,0,0,0,0
$GC,1093,-0.84,-219.0,201.1,-19.8,146,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3860,0,0,0,0,0,0
$GC,1221,-0.84,-219.0,225.2,-19.1,158,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3860,0,0,0,0,0,0
$GC,1348,-0.84,-219.0,249.4,-18.6,170,1353,0.00,1.60,0.00,0.000,4,0.000,0.049,2509,3751,3860,0,0,0,0,0,0
$GC,1386,-0.84,-219.0,257.3,-19.9,173,1394,0.00,1.50,0.00,0.000,6,0.000,0.028,2509,2783,3860,0,0,0,0,0,0
$GC,1584,-0.84,-219.0,294.9,-19.5,192,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2783,3860,0,0,0,0,0,0
$GC,1777,-0.84,-219.0,330.9,-18.5,210,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2783,3861,0,0,0,0,0,0
$GC,1966,-0.84,-219.0,365.3,-17.6,228,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2783,3860,0,0,0,0,0,0
$STATE,2028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2028,begin apogee
$GC,2033,-0.16,0.0,376.4,17.5,234,2214,0.70,0.00,174.30,0.968,4,0.125,0.000,2740,2697,2960,0,0,0,0,0,0
$STATE,2215,end apogee,CONTROL_FINISHED_OK
$STATE,2215,begin climb
$GC,2218,0.84,219.0,385.0,0.0,250,2421,1.00,2.40,190.95,0.916,4,0.075,0.031,3069,1306,2066,0,0,0,0,0,0
$GC,2592,0.86,233.1,349.8,12.8,283,2615,0.00,2.38,13.00,0.838,6,0.000,0.041,3069,2697,2009,0,0,0,0,0,0
$GC,2808,0.86,233.1,320.1,13.9,303,2812,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1308,2007,0,0,0,0,0,0
$GC,2975,0.86,233.1,296.8,14.1,317,2983,0.00,2.30,0.00,0.000,6,0.000,0.041,3081,2707,2005,0,0,0,0,0,0
$GC,3173,0.86,233.1,267.4,15.3,336,3177,0.00,1.67,0.00,0.000,4,0.000,0.047,3080,3761,2004,0,0,0,0,0,0
$GC,3230,0.86,233.1,257.6,18.4,341,3234,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2700,2003,0,0,0,0,0,0
$GC,3434,0.86,233.1,223.5,16.6,360,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2700,2003,0,0,0,0,0,0
$GC,3561,0.86,233.1,203.0,16.0,372,3565,0.00,1.70,0.00,0.000,4,0.000,0.047,3088,3763,2003,0,0,0,0,0,0
$GC,3610,0.86,233.1,194.3,17.9,376,3617,0.00,1.65,0.00,0.000,6,0.000,0.030,3096,2725,2003,0,0,0,0,0,0
$GC,3744,0.86,233.1,173.1,15.9,389,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2724,2003,0,0,0,0,0,0
$GC,3872,0.86,233.1,153.5,15.3,401,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2725,2002,0,0,0,0,0,0
$GC,3999,0.86,233.1,134.5,14.9,413,4003,0.00,1.70,0.00,0.000,4,0.000,0.048,3096,3763,2002,0,0,0,0,0,0
$GC,4033,0.86,233.1,128.9,17.1,416,4037,0.00,1.65,0.00,0.000,6,0.000,0.031,3105,2726,2002,0,0,0,0,0,0
$GC,4173,0.86,233.1,106.9,15.5,429,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2726,2003,0,0,0,0,0,0
$GC,4302,0.86,233.1,86.4,15.5,448,4309,0.00,1.67,0.00,0.000,4,0.000,0.049,3105,3751,2002,0,0,0,0,0,0
$GC,4332,0.86,233.1,81.3,17.4,453,4340,0.10,1.60,0.00,0.000,6,0.145,0.031,3079,2727,2003,0,0,1,0,0,0
$GC,4477,0.86,238.2,62.1,13.1,478,4484,0.00,0.00,4.78,0.664,6,0.000,0.000,3080,2727,1988,0,0,0,0,0,0
$GC,4620,0.89,260.8,44.4,12.4,503,4647,0.00,2.38,21.52,0.776,4,0.000,0.034,3088,1291,1896,0,0,0,0,0,0
$GC,4677,0.89,264.1,36.9,13.2,512,4691,0.00,2.38,4.75,0.613,6,0.000,0.042,3088,2740,1882,0,0,0,0,0,0
$GC,4828,0.89,264.1,15.6,14.9,538,4834,0.00,1.67,0.00,0.000,4,0.000,0.050,3088,3765,1881,0,0,0,0,0,0
$FREEZE,8.63,-0.349,-1.891,2,1,0
$FREEZE,7.65,-0.329,-1.890,2,1,0
$GC,4876,0.89,264.1,7.6,17.1,546,4883,0.00,1.60,0.00,0.000,6,0.000,0.031,3097,2743,1881,0,0,1,0,0,0
$FREEZE,5.03,-0.301,-1.888,2,1,0
$FREEZE,4.23,-0.298,-1.888,2,1,0
$FREEZE,3.46,-0.297,-1.887,2,1,0
$FREEZE,2.50,-0.295,-1.887,2,1,0
$STATE,4904,end climb,SURFACE_DEPTH_REACHED
$STATE,4904,begin surface coast
$FREEZE,1.72,-0.297,-1.886,2,1,0
$FREEZE,0.84,-0.297,-1.886,2,1,0
$FREEZE,0.12,-0.289,-1.885,2,1,0
$FINISH,0.1,1.027593
$STATE,4921,end surface coast,CONTROL_FINISHED_OK
$STATE,4923,begin surface
$SM_CCo,4939,27.33,0.102,0,0,1655,320.11
$SM_GC,1.28,0.00,0.00,27.33,0.000,0.000,0.102,186,2742,1655,-8.17,-1.07,320.11
$IRIDIUM_FIX,-7519.49,17531.27,291210,151526
$TT8_MAMPS,0.027713
$HUMID,52.40
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.6
$24V_AH,22.4,46.065
$10V_AH,10.0,18.046
$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,18.500,37.000,409.300,27.325,0.000,29.957,39.655,145.264,1.000,0.000,13.128,1354.415,2100.325,489.837,1191.304,174.340,0.000,1060.395,0.000,923.891,0.000,8.979,0.000
$DEVICE_MAMPS,217.260,99.450,967.725,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.243,711.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258152
$DATA_FILE_SIZE,37082,554
$CAP_FILE_SIZE,74569,0
$CFSIZE,260165632,229814272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.145,279.0,1
$GPS,291210,183424,-7607.199,17535.082,44,1.4,44,122.8