version: 66.08
glider: 503
mission: 7
dive: 491
start: 12 30 110 11 55 1
data:
$ID,503
$MISSION,7
$DIVE,491
$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,-20112.627
$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,38
$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
$GPS1,301210,114908,-7608.482,17552.936,8,1.4,8,122.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-69.2
$GPS2,301210,115432,-7608.503,17552.883,8,1.6,8,122.5
$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,292.6,30592,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-91.25,0.000,2,0.000,0.000,182,2795,3490,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.6,-8.3,15,135,9.00,1.60,-7.28,0.000,4,0.216,0.065,2519,3755,3855,0,0,0,0,0,0
$GC,337,-0.84,-219.0,54.1,-18.7,54,344,0.00,1.55,0.00,0.000,6,0.000,0.029,2519,2769,3859,0,0,0,0,0,0
$GC,480,-0.84,-219.0,79.7,-17.4,79,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2769,3859,0,0,0,0,0,0
$GC,621,-0.84,-219.0,104.7,-17.7,102,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3859,0,0,0,0,0,0
$GC,749,-0.84,-219.0,127.3,-17.8,114,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3859,0,0,0,0,0,0
$GC,876,-0.84,-219.0,149.7,-17.3,126,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3860,0,0,0,0,0,0
$GC,1003,-0.84,-219.0,172.0,-17.3,138,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3860,0,0,0,0,0,0
$GC,1131,-0.84,-219.0,193.7,-16.6,150,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2769,3860,0,0,0,0,0,0
$GC,1259,-0.84,-219.0,215.3,-16.5,162,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3860,0,0,0,0,0,0
$GC,1386,-0.84,-219.0,236.7,-16.7,174,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2769,3860,0,0,0,0,0,0
$GC,1513,-0.84,-219.0,258.2,-16.7,186,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3860,0,0,0,0,0,0
$GC,1705,-0.84,-219.0,288.9,-16.2,204,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3860,0,0,0,0,0,0
$GC,1896,-0.84,-219.0,320.5,-16.4,222,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3860,0,0,0,0,0,0
$GC,2088,-0.84,-219.0,351.6,-16.0,240,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2770,3860,0,0,0,0,0,0
$STATE,2233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2233,begin apogee
$GC,2239,-0.16,0.0,375.9,16.4,254,2419,0.68,0.00,173.77,0.968,4,0.122,0.000,2742,2694,2961,0,0,0,0,0,0
$STATE,2420,end apogee,CONTROL_FINISHED_OK
$STATE,2420,begin climb
$GC,2422,0.84,219.0,385.1,0.0,270,2627,1.00,2.42,191.30,0.916,4,0.074,0.032,3074,1298,2066,0,0,0,0,0,0
$GC,2807,0.84,219.1,348.3,13.3,304,2812,0.00,2.38,0.00,0.000,6,0.000,0.041,3074,2689,2059,0,0,0,0,0,0
$GC,3006,0.84,219.1,320.5,14.1,322,3010,0.00,2.28,0.00,0.000,4,0.000,0.032,3084,1305,2055,0,0,0,0,0,0
$GC,3171,0.84,219.1,297.8,14.0,336,3175,0.00,2.33,0.00,0.000,6,0.000,0.041,3084,2716,2054,0,0,0,0,0,0
$GC,3369,0.84,219.1,269.0,14.2,354,3372,0.00,1.67,0.00,0.000,4,0.000,0.048,3084,3767,2054,0,0,0,0,0,0
$GC,3418,0.84,219.1,260.5,16.7,358,3426,0.00,1.65,0.00,0.000,6,0.000,0.030,3093,2722,2053,0,0,1,0,0,0
$GC,3617,0.84,219.1,229.9,15.4,377,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2722,2053,0,0,0,0,0,0
$GC,3744,0.84,219.1,209.9,15.8,389,3748,0.00,1.70,0.00,0.000,4,0.000,0.048,3093,3759,2052,0,0,0,0,0,0
$GC,3800,0.84,219.1,200.2,17.4,394,3805,0.12,1.65,0.00,0.000,6,0.169,0.031,3067,2697,2052,0,0,0,0,0,0
$GC,3940,0.84,223.7,181.0,13.1,407,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2697,2052,0,0,0,0,0,0
$GC,4067,0.85,229.4,164.3,13.1,419,4078,0.00,0.00,7.85,0.786,6,0.000,0.000,3067,2697,2024,0,0,0,0,0,0
$GC,4205,0.86,240.2,146.4,12.9,432,4221,0.00,1.73,11.50,0.809,4,0.000,0.047,3067,3765,1980,0,0,0,0,0,0
$GC,4257,0.86,240.2,139.3,14.7,436,4261,0.00,1.65,0.00,0.000,6,0.000,0.031,3074,2719,1980,0,0,1,0,0,0
$GC,4397,0.87,247.3,120.2,13.0,449,4407,0.00,0.00,7.85,0.760,6,0.000,0.000,3075,2719,1952,0,0,0,0,0,0
$GC,4534,0.87,248.4,102.0,13.3,462,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2719,1951,0,0,0,0,0,0
$GC,4667,0.88,252.5,84.3,13.2,484,4681,0.00,1.70,6.00,0.711,4,0.000,0.047,3074,3763,1930,0,0,0,0,0,0
$GC,4720,0.88,252.5,76.5,15.2,493,4727,0.00,1.62,0.00,0.000,6,0.000,0.030,3082,2740,1930,0,0,0,0,0,0
$GC,4864,0.88,252.5,56.6,13.9,518,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2740,1930,0,0,0,0,0,0
$GC,5006,0.88,252.5,36.7,14.5,543,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2740,1930,0,0,0,0,0,0
$GC,5150,0.88,252.5,16.3,14.3,568,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2740,1930,0,0,0,0,0,0
$FREEZE,9.00,-0.269,-1.892,2,1,0
$FREEZE,8.21,-0.254,-1.891,2,1,0
$FREEZE,7.56,-0.250,-1.890,2,1,0
$FREEZE,6.73,-0.230,-1.890,2,1,0
$FREEZE,6.00,-0.226,-1.889,2,1,0
$FREEZE,5.37,-0.226,-1.889,2,1,0
$FREEZE,4.65,-0.226,-1.888,2,1,0
$FREEZE,3.94,-0.225,-1.888,2,1,0
$FREEZE,3.16,-0.221,-1.887,2,1,0
$FREEZE,2.61,-0.234,-1.887,2,1,0
$STATE,5249,end climb,SURFACE_DEPTH_REACHED
$STATE,5249,begin surface coast
$FREEZE,1.59,-0.231,-1.886,2,1,0
$FREEZE,0.90,-0.229,-1.886,2,1,0
$FREEZE,0.20,-0.237,-1.885,2,1,0
$FREEZE,-0.11,-0.320,-1.094,2,1,0
$FINISH,-0.1,1.016178
$STATE,5271,end surface coast,CONTROL_FINISHED_OK
$STATE,5272,begin surface
$SM_CCo,5289,33.53,0.102,0,0,1655,320.11
$SM_GC,0.84,0.00,0.00,33.53,0.000,0.000,0.102,183,2793,1655,-8.18,0.37,320.11
$IRIDIUM_FIX,-7519.49,17549.12,301210,101018
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.3
$24V_AH,22.4,47.469
$10V_AH,9.9,18.601
$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,18.500,26.050,398.275,33.525,0.000,28.489,37.025,143.452,1.000,0.000,11.120,1449.495,2326.922,472.588,1235.224,175.562,0.000,1054.352,0.000,971.288,0.000,7.759,0.000
$DEVICE_MAMPS,215.730,133.875,968.490,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.661,759.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258196
$DATA_FILE_SIZE,40397,590
$CAP_FILE_SIZE,75173,0
$CFSIZE,260165632,229314560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.085,205.7,1
$GPS,301210,132507,-7608.322,17555.398,43,0.9,43,122.4