version: 66.08
glider: 503
mission: 7
dive: 458
start: 12 28 110 6 51 19
data:
$ID,503
$MISSION,7
$DIVE,458
$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,-20068.514
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,281210,064531,-7611.929,17519.164,43,1.7,44,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.0
$GPS2,281210,065050,-7611.947,17519.125,11,1.9,11,123.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$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,225.1,15431,-18.2,-13.333
$D_GRID,378
$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,-91.45,0.000,2,0.000,0.000,180,2793,3509,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.9,-9.7,15,135,8.95,1.60,-6.90,0.000,4,0.213,0.065,2516,3754,3856,0,0,0,0,0,0
$GC,186,-0.84,-219.0,26.6,-19.8,27,193,0.00,1.55,0.00,0.000,6,0.000,0.030,2515,2773,3859,0,0,0,0,0,0
$GC,329,-0.84,-219.0,53.3,-19.6,52,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3859,0,0,0,0,0,0
$GC,471,-0.84,-219.0,79.7,-18.9,77,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3859,0,0,0,0,0,0
$GC,616,-0.84,-219.0,106.6,-18.7,100,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3859,0,0,0,0,0,0
$GC,744,-0.84,-219.0,130.8,-19.0,112,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$GC,871,-0.84,-219.0,154.8,-18.8,124,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,998,-0.84,-219.0,177.9,-17.7,136,1002,0.00,1.60,0.00,0.000,4,0.000,0.050,2508,3748,3860,0,0,0,0,0,0
$GC,1044,-0.84,-219.0,186.4,-19.0,140,1047,0.00,1.50,0.00,0.000,6,0.000,0.030,2508,2787,3860,0,0,0,0,0,0
$GC,1183,-0.84,-219.0,212.2,-18.6,153,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2787,3860,0,0,0,0,0,0
$GC,1311,-0.84,-219.0,235.3,-18.3,165,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2787,3860,0,0,0,0,0,0
$GC,1439,-0.84,-219.0,257.9,-17.5,177,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2788,3860,0,0,0,0,0,0
$GC,1629,-0.84,-219.0,291.7,-17.7,195,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2788,3860,0,0,0,0,0,0
$GC,1821,-0.84,-219.0,325.6,-17.4,213,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2788,3860,0,0,0,0,0,0
$GC,2012,-0.84,-219.0,358.6,-17.1,231,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2788,3860,0,0,0,0,0,0
$STATE,2127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2127,begin apogee
$GC,2133,-0.16,0.0,378.8,17.3,242,2313,0.73,0.00,174.55,0.969,4,0.124,0.000,2746,2686,2960,0,0,0,0,0,0
$STATE,2314,end apogee,CONTROL_FINISHED_OK
$STATE,2314,begin climb
$GC,2316,0.84,219.0,389.2,0.0,258,2521,0.98,2.38,190.85,0.920,4,0.074,0.032,3069,1313,2066,0,0,0,0,0,0
$GC,2683,0.86,240.5,356.8,12.5,290,2713,0.00,2.38,19.90,0.871,6,0.000,0.039,3069,2694,1979,0,0,0,0,0,0
$GC,2904,0.86,240.5,327.5,13.4,311,2908,0.00,2.30,0.00,0.000,4,0.000,0.033,3079,1313,1975,0,0,0,0,0,0
$GC,3061,0.86,240.5,306.8,13.4,324,3068,0.00,2.33,0.00,0.000,6,0.000,0.041,3079,2708,1974,0,0,0,0,0,0
$GC,3259,0.86,240.5,277.9,14.7,343,3262,0.00,1.70,0.00,0.000,4,0.000,0.048,3079,3767,1973,0,0,0,0,0,0
$GC,3293,0.86,240.5,272.3,16.6,346,3297,0.00,1.62,0.00,0.000,6,0.000,0.030,3088,2712,1973,0,0,1,0,0,0
$GC,3496,0.86,240.5,240.1,15.9,365,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2711,1972,0,0,0,0,0,0
$GC,3623,0.86,240.5,219.9,15.5,377,3627,0.00,1.70,0.00,0.000,4,0.000,0.049,3088,3769,1972,0,0,0,0,0,0
$GC,3670,0.86,240.5,211.9,17.5,381,3674,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2703,1971,0,0,0,0,0,0
$GC,3812,0.86,240.5,189.1,16.3,394,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2703,1971,0,0,0,0,0,0
$GC,3937,0.86,240.5,168.9,15.6,406,3941,0.00,1.70,0.00,0.000,4,0.000,0.050,3096,3763,1971,0,0,0,0,0,0
$GC,3971,0.86,240.5,163.0,17.3,409,3975,0.00,1.65,0.00,0.000,6,0.000,0.032,3105,2699,1971,0,0,0,0,0,0
$GC,4111,0.86,240.5,140.1,16.2,422,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2699,1971,0,0,0,0,0,0
$GC,4238,0.86,240.5,119.4,16.3,434,4241,0.00,1.73,0.00,0.000,4,0.000,0.049,3105,3770,1971,0,0,0,0,0,0
$GC,4287,0.86,240.5,110.4,19.0,438,4295,0.10,1.62,0.00,0.000,6,0.141,0.031,3079,2730,1971,0,0,1,0,0,0
$GC,4425,0.86,240.5,91.0,14.0,456,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2731,1970,0,0,0,0,0,0
$GC,4566,0.86,240.5,70.9,14.4,481,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2731,1970,0,0,0,0,0,0
$GC,4705,0.86,240.5,51.3,13.5,506,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2731,1970,0,0,0,0,0,0
$GC,4845,0.87,245.7,32.8,13.1,531,4853,0.00,0.00,4.70,0.653,6,0.000,0.000,3078,2730,1958,0,0,0,0,0,0
$GC,4991,0.87,245.7,14.7,13.4,556,4998,0.00,2.28,0.00,0.000,4,0.000,0.035,3088,1300,1958,0,0,0,0,0,0
$GC,5017,0.89,258.2,10.9,12.8,560,5036,0.00,2.30,12.60,0.754,6,0.000,0.043,3088,2722,1907,0,0,0,0,0,0
$FREEZE,7.12,-0.483,-1.894,2,1,0
$FREEZE,6.38,-0.475,-1.893,2,1,0
$FREEZE,5.65,-0.474,-1.893,2,1,0
$FREEZE,4.93,-0.470,-1.892,2,1,0
$FREEZE,4.18,-0.466,-1.892,2,1,0
$FREEZE,3.43,-0.463,-1.891,2,1,0
$FREEZE,2.55,-0.462,-1.890,2,1,0
$STATE,5073,end climb,SURFACE_DEPTH_REACHED
$STATE,5073,begin surface coast
$FREEZE,1.79,-0.462,-1.890,2,1,0
$FREEZE,0.87,-0.458,-1.889,2,1,0
$FREEZE,0.05,-0.466,-1.889,2,1,0
$FREEZE,-0.01,-0.609,-1.544,2,1,0
$FINISH,-0.0,1.022748
$STATE,5097,end surface coast,CONTROL_FINISHED_OK
$STATE,5097,begin surface
$SM_CCo,5114,30.48,0.103,0,0,1655,320.11
$SM_GC,1.09,0.00,0.00,30.48,0.000,0.000,0.103,184,2784,1655,-8.18,0.11,320.11
$IRIDIUM_FIX,-7528.04,17520.90,281210,050546
$TT8_MAMPS,0.027713
$HUMID,52.75
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,22.4,43.583
$10V_AH,9.8,17.047
$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,18.425,33.750,402.600,30.475,0.000,22.392,37.564,142.328,1.000,0.000,14.221,1408.196,2201.552,482.966,1216.941,167.277,0.000,1067.321,0.000,955.973,0.000,7.759,0.000
$DEVICE_MAMPS,213.435,115.515,969.255,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.785,730.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258260
$DATA_FILE_SIZE,37053,574
$CAP_FILE_SIZE,75786,0
$CFSIZE,260165632,230744064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.151,217.1,1
$GPS,281210,081822,-7611.418,17517.705,17,2.4,37,123.5