version: 66.08
glider: 503
mission: 7
dive: 487
start: 12 30 110 5 36 6
data:
$ID,503
$MISSION,7
$DIVE,487
$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,-20107.596
$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,35
$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
$GPS1,301210,052944,-7608.113,17544.633,18,1.5,18,122.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.5
$GPS2,301210,053536,-7608.130,17544.486,29,1.1,29,122.7
$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,291.2,34132,-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,-88.38,0.000,2,0.000,0.000,180,2789,3401,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.1,-6.7,15,136,8.95,1.60,-9.73,0.000,4,0.212,0.068,2514,3757,3856,0,0,0,0,0,0
$GC,337,-0.84,-219.0,52.4,-18.4,55,343,0.00,1.52,0.00,0.000,6,0.000,0.029,2514,2784,3859,0,0,0,0,0,0
$GC,480,-0.84,-219.0,78.3,-17.7,80,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,626,-0.84,-219.0,104.1,-17.9,104,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,754,-0.84,-219.0,126.4,-17.3,116,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2784,3860,0,0,0,0,0,0
$GC,881,-0.84,-219.0,148.6,-17.7,128,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3860,0,0,0,0,0,0
$GC,1008,-0.84,-219.0,171.2,-17.8,140,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3860,0,0,0,0,0,0
$GC,1136,-0.84,-219.0,193.6,-18.0,152,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3860,0,0,0,0,0,0
$GC,1264,-0.84,-219.0,215.6,-17.5,164,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3860,0,0,0,0,0,0
$GC,1391,-0.84,-219.0,237.5,-17.0,176,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2785,3860,0,0,0,0,0,0
$GC,1518,-0.84,-219.0,259.4,-17.1,188,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3860,0,0,0,0,0,0
$GC,1710,-0.84,-219.0,291.8,-16.6,206,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2784,3860,0,0,0,0,0,0
$GC,1900,-0.84,-219.0,323.0,-16.0,224,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3860,0,0,0,0,0,0
$GC,2093,-0.84,-219.0,353.2,-16.0,242,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3860,0,0,0,0,0,0
$STATE,2238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2238,begin apogee
$GC,2244,-0.16,0.0,376.2,15.3,256,2424,0.70,0.00,174.55,0.965,4,0.122,0.000,2745,2682,2960,0,0,0,0,0,0
$STATE,2425,end apogee,CONTROL_FINISHED_OK
$STATE,2425,begin climb
$GC,2427,0.84,219.0,383.2,0.0,272,2630,0.98,2.38,190.90,0.913,4,0.073,0.032,3069,1310,2067,0,0,0,0,0,0
$GC,2781,0.85,226.7,348.9,13.0,303,2793,0.00,2.38,7.10,0.756,6,0.000,0.040,3069,2692,2035,0,0,0,0,0,0
$GC,2988,0.85,226.7,320.5,13.7,322,2992,0.00,2.28,0.00,0.000,4,0.000,0.032,3080,1313,2033,0,0,0,0,0,0
$GC,3154,0.85,226.7,297.5,13.8,336,3162,0.00,2.30,0.00,0.000,6,0.000,0.041,3080,2706,2031,0,0,0,0,0,0
$GC,3353,0.85,226.7,269.3,13.9,355,3357,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3767,2030,0,0,0,0,0,0
$GC,3410,0.85,226.7,260.1,16.0,360,3414,0.00,1.65,0.00,0.000,6,0.000,0.030,3089,2705,2029,0,0,0,0,0,0
$GC,3615,0.85,226.7,228.5,15.7,379,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2705,2029,0,0,0,0,0,0
$GC,3741,0.85,226.7,208.9,15.4,391,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2705,2029,0,0,0,0,0,0
$GC,3868,0.85,226.7,189.3,15.5,403,3872,0.00,1.70,0.00,0.000,4,0.000,0.048,3088,3769,2029,0,0,0,0,0,0
$GC,3914,0.85,226.7,181.5,17.0,407,3918,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2700,2029,0,0,0,0,0,0
$GC,4055,0.85,226.7,159.5,15.5,420,4058,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3764,2029,0,0,1,0,0,0
$GC,4081,0.85,226.7,154.5,17.0,422,4091,0.08,1.60,0.00,0.000,6,0.151,0.031,3080,2741,2028,0,0,1,0,0,0
$GC,4217,0.85,226.7,135.2,14.2,435,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2742,2028,0,0,0,0,0,0
$GC,4344,0.85,226.7,117.8,13.6,447,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2742,2028,0,0,0,0,0,0
$GC,4472,0.85,231.8,100.8,13.1,459,4481,0.00,0.00,4.85,0.677,6,0.000,0.000,3080,2742,2014,0,0,0,0,0,0
$GC,4617,0.85,231.8,81.2,13.7,484,4624,0.00,1.67,0.00,0.000,4,0.000,0.049,3080,3764,2014,0,0,0,0,0,0
$GC,4646,0.85,231.8,76.9,15.0,489,4653,0.00,1.65,0.00,0.000,6,0.000,0.031,3087,2723,2014,0,0,0,0,0,0
$GC,4789,0.85,231.8,57.3,13.7,514,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2722,2014,0,0,0,0,0,0
$GC,4932,0.85,231.8,37.4,13.6,539,4939,0.00,1.70,0.00,0.000,4,0.000,0.050,3087,3761,2014,0,0,0,0,0,0
$GC,4996,0.85,231.8,27.4,15.8,550,5003,0.00,1.62,0.00,0.000,6,0.000,0.031,3095,2732,2014,0,0,0,0,0,0
$FREEZE,8.33,-0.198,-1.892,2,1,0
$FREEZE,7.52,-0.185,-1.891,2,1,0
$FREEZE,6.56,-0.172,-1.891,2,1,0
$GC,5139,0.85,231.8,6.6,15.3,575,5146,0.00,2.28,0.00,0.000,4,0.000,0.035,3106,1297,2013,0,0,0,0,0,0
$FREEZE,4.30,-0.101,-1.889,2,1,0
$FREEZE,3.45,-0.075,-1.888,2,1,0
$FREEZE,2.65,-0.070,-1.887,2,1,0
$STATE,5163,end climb,SURFACE_DEPTH_REACHED
$STATE,5163,begin surface coast
$FREEZE,1.82,-0.066,-1.887,2,1,0
$FREEZE,1.15,-0.070,-1.886,2,1,0
$FINISH,1.1,1.027591
$STATE,5176,end surface coast,CONTROL_FINISHED_OK
$STATE,5176,begin surface
$SM_CCo,5195,43.95,0.101,0,0,1655,320.11
$SM_GC,0.94,0.00,0.00,43.95,0.000,0.000,0.101,174,2775,1655,-8.21,-0.14,320.11
$IRIDIUM_FIX,-7519.49,17540.20,301210,030301
$TT8_MAMPS,0.027713
$HUMID,52.40
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.8
$24V_AH,22.4,46.998
$10V_AH,9.9,18.414
$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,18.375,33.925,377.400,43.950,0.000,28.730,38.722,150.544,1.000,0.000,31.922,1422.497,2286.857,478.516,1245.276,173.279,0.000,1050.273,0.000,950.623,0.000,7.759,0.000
$DEVICE_MAMPS,211.905,81.090,965.430,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.094,744.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,36980,581
$CAP_FILE_SIZE,74664,0
$CFSIZE,260165632,229482496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.204,208.3,1
$GPS,301210,070436,-7608.258,17546.389,20,1.6,30,122.6