version: 66.08
glider: 503
mission: 7
dive: 486
start: 12 30 110 4 2 20
data:
$ID,503
$MISSION,7
$DIVE,486
$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,-20106.338
$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,44
$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
$GPS1,301210,035336,-7607.958,17543.305,39,1.0,39,122.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.9
$GPS2,301210,040150,-7607.986,17543.047,10,1.3,10,122.7
$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,296.0,34720,-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,-219.0,0.0,0.0,0,106,0.00,0.00,-88.65,0.000,2,0.000,0.000,175,2784,3409,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.1,-6.0,15,136,9.00,1.62,-9.60,0.000,4,0.213,0.065,2516,3771,3856,0,0,0,0,0,0
$GC,381,-0.84,-219.0,60.5,-18.1,63,388,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2774,3859,0,0,0,0,0,0
$GC,524,-0.84,-219.0,85.9,-17.7,88,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3859,0,0,0,0,0,0
$GC,662,-0.84,-219.0,109.8,-17.0,108,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3860,0,0,0,0,0,0
$GC,790,-0.84,-219.0,131.8,-17.1,120,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3860,0,0,0,0,0,0
$GC,917,-0.84,-219.0,153.6,-16.8,132,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3860,0,0,0,0,0,0
$GC,1044,-0.84,-219.0,174.9,-16.5,144,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2774,3860,0,0,0,0,0,0
$GC,1172,-0.84,-219.0,196.3,-16.9,156,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3860,0,0,0,0,0,0
$GC,1299,-0.84,-219.0,217.8,-16.6,168,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2774,3861,0,0,0,0,0,0
$GC,1427,-0.84,-219.0,239.2,-17.0,180,1431,0.00,1.62,0.00,0.000,4,0.000,0.050,2508,3768,3860,0,0,0,0,0,0
$GC,1466,-0.84,-219.0,246.3,-17.6,183,1472,0.00,1.52,0.00,0.000,6,0.000,0.031,2508,2794,3860,0,0,0,0,0,0
$GC,1600,-0.84,-219.0,269.6,-17.4,196,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2795,3860,0,0,0,0,0,0
$GC,1791,-0.84,-219.0,302.2,-17.3,214,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3860,0,0,0,0,0,0
$GC,1982,-0.84,-219.0,334.6,-17.1,232,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2795,3860,0,0,0,0,0,0
$GC,2173,-0.84,-219.0,367.2,-17.1,250,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2795,3860,0,0,0,0,0,0
$STATE,2224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2224,begin apogee
$GC,2230,-0.16,0.0,376.2,16.8,255,2412,0.70,0.00,174.52,0.966,4,0.122,0.000,2739,2676,2959,0,0,0,0,0,0
$STATE,2412,end apogee,CONTROL_FINISHED_OK
$STATE,2413,begin climb
$GC,2415,0.84,219.0,385.9,0.0,271,2616,1.00,2.35,191.05,0.916,4,0.075,0.031,3070,1310,2067,0,0,0,0,0,0
$GC,2783,0.87,247.1,352.5,12.2,304,2815,0.00,2.38,26.10,0.871,6,0.000,0.041,3069,2702,1951,0,0,0,0,0,0
$GC,3013,0.87,247.1,320.4,14.0,326,3017,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1314,1947,0,0,0,0,0,0
$GC,3189,0.87,247.1,296.2,14.2,341,3193,0.00,2.30,0.00,0.000,6,0.000,0.041,3080,2705,1944,0,0,0,0,0,0
$GC,3386,0.87,247.1,266.2,15.1,359,3390,0.00,1.73,0.00,0.000,4,0.000,0.048,3080,3753,1944,0,0,0,0,0,0
$GC,3432,0.87,247.1,258.3,18.0,363,3436,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2697,1943,0,0,1,0,0,0
$GC,3636,0.87,247.1,226.2,15.4,382,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2698,1943,0,0,0,0,0,0
$GC,3763,0.87,247.1,206.7,15.2,394,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2697,1942,0,0,0,0,0,0
$GC,3891,0.87,247.1,187.8,14.6,406,3895,0.00,1.70,0.00,0.000,4,0.000,0.048,3088,3763,1942,0,0,0,0,0,0
$GC,3936,0.87,247.1,180.4,16.6,410,3940,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2699,1942,0,0,0,0,0,0
$GC,4076,0.87,247.1,158.6,15.6,423,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2698,1942,0,0,0,0,0,0
$GC,4204,0.87,247.1,139.0,15.1,435,4208,0.00,1.70,0.00,0.000,4,0.000,0.048,3096,3764,1942,0,0,0,0,0,0
$GC,4239,0.87,247.1,133.1,17.5,438,4242,0.00,1.62,0.00,0.000,6,0.000,0.031,3105,2699,1942,0,0,1,0,0,0
$GC,4378,0.87,247.1,111.1,15.9,451,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2699,1942,0,0,0,0,0,0
$GC,4510,0.87,247.1,90.9,15.4,468,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2699,1941,0,0,0,0,0,0
$GC,4651,0.87,247.1,69.5,14.7,493,4658,0.00,1.73,0.00,0.000,4,0.000,0.050,3105,3754,1941,0,0,0,0,0,0
$GC,4687,0.87,247.1,63.7,16.4,499,4695,0.08,1.62,0.00,0.000,6,0.147,0.031,3086,2716,1941,0,0,1,0,0,0
$GC,4833,0.87,247.1,43.6,14.1,524,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2716,1940,0,0,0,0,0,0
$GC,4973,0.87,247.1,24.1,13.7,549,4980,0.00,1.70,0.00,0.000,4,0.000,0.049,3086,3760,1941,0,0,0,0,0,0
$GC,5025,0.87,247.1,16.2,15.2,558,5032,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2716,1940,0,0,0,0,0,0
$FREEZE,8.93,-0.222,-1.892,2,1,0
$FREEZE,8.28,-0.213,-1.892,2,1,0
$FREEZE,7.61,-0.210,-1.891,2,1,0
$FREEZE,6.68,-0.209,-1.890,2,1,0
$FREEZE,5.88,-0.214,-1.890,2,1,0
$FREEZE,5.07,-0.214,-1.889,2,1,0
$FREEZE,4.40,-0.214,-1.889,2,1,0
$FREEZE,3.46,-0.213,-1.888,2,1,0
$FREEZE,2.64,-0.221,-1.888,2,1,0
$STATE,5116,end climb,SURFACE_DEPTH_REACHED
$STATE,5116,begin surface coast
$FREEZE,1.45,-0.214,-1.887,2,1,0
$FREEZE,0.65,-0.211,-1.886,2,1,0
$FREEZE,-0.07,-0.222,-1.886,2,1,0
$FINISH,-0.1,1.027609
$STATE,5133,end surface coast,CONTROL_FINISHED_OK
$STATE,5133,begin surface
$SM_CCo,5151,34.10,0.101,0,0,1655,320.11
$SM_GC,0.80,0.00,0.00,34.10,0.000,0.000,0.101,180,2789,1655,-8.19,0.25,320.11
$IRIDIUM_FIX,-7519.49,17558.05,301210,030316
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.7
$24V_AH,22.4,46.886
$10V_AH,9.9,18.368
$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,18.400,32.600,391.675,34.100,0.000,50.990,116.923,150.033,1.000,0.000,13.922,1420.246,2299.010,467.062,1334.008,173.338,0.000,1049.416,0.000,959.077,0.000,7.757,0.000
$DEVICE_MAMPS,212.670,100.980,966.195,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.263,739.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258272
$DATA_FILE_SIZE,37023,577
$CAP_FILE_SIZE,75693,0
$CFSIZE,260165632,229523456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.208,213.4,1
$GPS,301210,052944,-7608.113,17544.633,18,1.5,18,122.7