version: 66.08
glider: 503
mission: 7
dive: 480
start: 12 29 110 18 43 37
data:
$ID,503
$MISSION,7
$DIVE,480
$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,-20097.576
$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,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
$GPS1,291210,183424,-7607.199,17535.082,44,1.4,44,122.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.8
$GPS2,291210,184307,-7607.186,17534.795,34,1.0,34,122.8
$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,327.4,38168,-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,-92.22,0.000,2,0.000,0.000,186,2742,3525,0,0,0,0,0,0
$GC,113,-0.84,-219.0,4.0,-10.4,16,135,8.93,1.70,-6.50,0.000,4,0.213,0.063,2513,3769,3855,0,0,1,0,0,0
$GC,269,-0.84,-219.0,43.3,-19.1,43,276,0.00,1.55,0.00,0.000,6,0.000,0.029,2512,2778,3859,0,0,0,0,0,0
$GC,412,-0.84,-219.0,69.0,-17.6,68,419,0.00,2.22,0.00,0.000,4,0.000,0.032,2513,1375,3859,0,0,0,0,0,0
$GC,448,-0.84,-219.0,75.6,-16.4,74,456,0.00,2.28,0.00,0.000,6,0.000,0.044,2503,2766,3859,0,0,0,0,0,0
$GC,596,-0.84,-219.0,102.8,-18.9,99,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3859,0,0,0,0,0,0
$GC,723,-0.84,-219.0,126.7,-18.8,111,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,851,-0.84,-219.0,151.0,-18.8,123,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,979,-0.84,-219.0,175.3,-18.8,135,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,1106,-0.84,-219.0,199.0,-18.1,147,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,1233,-0.84,-219.0,222.5,-18.4,159,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,1361,-0.84,-219.0,246.2,-18.5,171,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,1488,-0.84,-219.0,269.7,-18.2,183,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,1679,-0.84,-219.0,305.0,-18.3,201,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,1871,-0.84,-219.0,339.6,-18.0,219,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$GC,2061,-0.84,-219.0,372.6,-17.6,237,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2766,3860,0,0,0,0,0,0
$STATE,2081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2081,begin apogee
$GC,2086,-0.16,0.0,376.2,17.0,239,2267,0.73,0.00,174.00,0.968,4,0.125,0.000,2741,2697,2960,0,0,0,0,0,0
$STATE,2267,end apogee,CONTROL_FINISHED_OK
$STATE,2267,begin climb
$GC,2270,0.84,219.0,383.8,0.0,255,2473,1.00,2.42,190.60,0.915,4,0.074,0.031,3071,1296,2067,0,0,0,0,0,0
$GC,2613,0.84,219.0,350.8,13.7,285,2620,0.00,2.42,0.00,0.000,6,0.000,0.040,3071,2703,2060,0,0,0,0,0,0
$GC,2812,0.84,219.0,322.6,13.9,304,2816,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1300,2057,0,0,0,0,0,0
$GC,2984,0.84,219.0,300.0,13.4,319,2992,0.00,2.33,0.00,0.000,6,0.000,0.041,3082,2710,2056,0,0,0,0,0,0
$GC,3183,0.84,219.0,272.3,14.2,338,3186,0.00,1.70,0.00,0.000,4,0.000,0.047,3082,3771,2055,0,0,0,0,0,0
$GC,3251,0.84,219.0,261.3,16.8,344,3255,0.00,1.62,0.00,0.000,6,0.000,0.030,3091,2706,2054,0,0,1,0,0,0
$GC,3455,0.84,219.0,229.8,15.1,363,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2705,2054,0,0,0,0,0,0
$GC,3582,0.84,219.0,210.5,15.1,375,3586,0.00,1.75,0.00,0.000,4,0.000,0.049,3090,3767,2054,0,0,0,0,0,0
$GC,3630,0.84,219.0,201.8,17.8,379,3639,0.00,1.65,0.00,0.000,6,0.000,0.030,3099,2727,2054,0,0,0,0,0,0
$GC,3766,0.84,219.0,181.2,15.5,392,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2727,2053,0,0,0,0,0,0
$GC,3893,0.84,219.0,162.2,14.5,404,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2727,2053,0,0,0,0,0,0
$GC,4020,0.84,219.0,143.4,14.9,416,4024,0.00,1.65,0.00,0.000,4,0.000,0.048,3099,3765,2053,0,0,0,0,0,0
$GC,4078,0.84,219.0,134.0,16.1,421,4082,0.10,1.65,0.00,0.000,6,0.142,0.031,3074,2725,2053,0,0,0,0,0,0
$GC,4218,0.87,245.2,115.8,12.3,434,4247,0.00,0.00,22.00,0.815,6,0.000,0.000,3074,2725,1960,0,0,0,0,0,0
$GC,4376,0.87,245.2,95.5,13.6,452,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2725,1959,0,0,0,0,0,0
$GC,4518,0.89,262.9,76.9,12.6,477,4544,0.00,1.73,16.73,0.781,4,0.000,0.048,3074,3764,1888,0,0,1,0,0,0
$GC,4573,0.89,262.9,69.3,14.5,486,4580,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2734,1889,0,0,1,0,0,0
$GC,4718,0.89,262.9,50.2,13.4,511,4726,0.00,2.30,0.00,0.000,4,0.000,0.035,3092,1300,1887,0,0,0,0,0,0
$GC,4744,0.89,262.9,46.2,13.6,515,4752,0.00,2.35,0.00,0.000,6,0.000,0.043,3092,2737,1887,0,0,0,0,0,0
$GC,4890,0.89,262.9,25.4,15.7,540,4897,0.00,1.67,0.00,0.000,4,0.000,0.050,3092,3763,1886,0,0,0,0,0,0
$GC,4937,0.89,262.9,17.4,17.3,548,4944,0.00,1.62,0.00,0.000,6,0.000,0.031,3100,2740,1886,0,0,0,0,0,0
$FREEZE,8.61,-0.338,-1.892,2,1,0
$FREEZE,7.83,-0.329,-1.892,2,1,0
$FREEZE,7.05,-0.329,-1.891,2,1,0
$FREEZE,6.19,-0.325,-1.891,2,1,0
$FREEZE,5.27,-0.316,-1.890,2,1,0
$FREEZE,4.46,-0.306,-1.889,2,1,0
$FREEZE,3.66,-0.300,-1.889,2,1,0
$FREEZE,2.85,-0.298,-1.888,2,1,0
$STATE,5026,end climb,SURFACE_DEPTH_REACHED
$STATE,5026,begin surface coast
$FREEZE,1.58,-0.299,-1.887,2,1,0
$FREEZE,0.72,-0.304,-1.887,2,1,0
$FREEZE,-0.03,-0.302,-1.886,2,1,0
$FINISH,-0.0,1.027611
$STATE,5043,end surface coast,CONTROL_FINISHED_OK
$STATE,5043,begin surface
$SM_CCo,5060,27.52,0.102,0,0,1655,320.11
$SM_GC,1.12,0.00,0.00,27.52,0.000,0.000,0.102,182,2784,1655,-8.18,0.08,320.11
$IRIDIUM_FIX,-7519.49,17540.20,291210,181808
$TT8_MAMPS,0.027713
$HUMID,52.52
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.7
$24V_AH,22.5,46.187
$10V_AH,9.9,18.094
$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,18.450,38.725,403.325,27.525,0.000,57.253,113.487,152.649,1.000,0.000,38.820,1379.956,2238.380,493.628,1337.860,175.287,0.000,1067.489,0.000,933.446,0.000,7.756,0.000
$DEVICE_MAMPS,212.670,118.575,968.490,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.340,728.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258256
$DATA_FILE_SIZE,37092,567
$CAP_FILE_SIZE,75996,0
$CFSIZE,260165632,229773312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.163,268.5,1
$GPS,291210,200919,-7607.246,17536.324,10,1.7,14,122.8