version: 66.08
glider: 503
mission: 7
dive: 488
start: 12 30 110 7 11 6
data:
$ID,503
$MISSION,7
$DIVE,488
$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,-20108.854
$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,23
$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
$GPS1,301210,070436,-7608.258,17546.389,20,1.6,30,122.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-75.0
$GPS2,301210,071036,-7608.298,17546.254,33,0.9,37,122.7
$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,289.2,33411,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.12,0.000,2,0.000,0.000,174,2776,3456,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.5,-8.0,15,133,9.02,1.65,-8.18,0.000,4,0.214,0.064,2515,3772,3855,0,0,0,0,0,0
$GC,250,-0.84,-219.0,37.6,-18.6,39,257,0.00,1.58,0.00,0.000,6,0.000,0.029,2515,2771,3859,0,0,0,0,0,0
$GC,394,-0.84,-219.0,64.0,-18.0,64,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3859,0,0,0,0,0,0
$GC,536,-0.84,-219.0,90.4,-18.5,89,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3859,0,0,0,0,0,0
$GC,674,-0.84,-219.0,115.6,-18.3,106,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,802,-0.84,-219.0,137.8,-17.7,118,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,929,-0.84,-219.0,159.8,-17.2,130,933,0.00,1.62,0.00,0.000,4,0.000,0.049,2507,3795,3860,0,0,0,0,0,0
$GC,963,-0.84,-219.0,165.9,-17.8,133,967,0.00,1.58,0.00,0.000,6,0.000,0.029,2508,2790,3860,0,0,0,0,0,0
$GC,1104,-0.84,-219.0,190.1,-17.1,146,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2790,3860,0,0,0,0,0,0
$GC,1230,-0.84,-219.0,212.1,-17.3,158,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2790,3860,0,0,0,0,0,0
$GC,1358,-0.84,-219.0,234.0,-17.2,170,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2791,3860,0,0,0,0,0,0
$GC,1486,-0.84,-219.0,256.5,-17.8,182,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2790,3860,0,0,0,0,0,0
$GC,1676,-0.84,-219.0,290.3,-18.0,200,1680,0.00,1.58,0.00,0.000,4,0.000,0.050,2499,3758,3860,0,0,0,0,0,0
$GC,1714,-0.84,-219.0,298.0,-18.6,203,1722,0.00,1.50,0.00,0.000,6,0.000,0.031,2500,2802,3860,0,0,0,0,0,0
$GC,1915,-0.84,-219.0,333.4,-18.3,222,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2802,3860,0,0,0,0,0,0
$GC,2113,-0.84,-219.0,369.5,-18.4,241,2115,0.10,0.00,0.00,0.000,6,0.178,0.000,2526,2801,3860,0,0,0,0,0,0
$STATE,2154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2155,begin apogee
$GC,2161,-0.16,0.0,376.6,16.4,245,2341,0.65,0.00,174.38,0.966,4,0.119,0.000,2743,2683,2960,0,0,0,0,0,0
$STATE,2341,end apogee,CONTROL_FINISHED_OK
$STATE,2342,begin climb
$GC,2344,0.84,219.0,386.4,0.0,261,2548,1.00,2.40,191.07,0.916,4,0.073,0.032,3075,1301,2068,0,0,0,0,0,0
$GC,2685,0.85,226.4,356.7,13.0,291,2698,0.00,2.42,7.18,0.760,6,0.000,0.041,3075,2703,2036,0,0,0,0,0,0
$GC,2890,0.85,226.4,327.4,14.5,310,2894,0.00,2.30,0.00,0.000,4,0.000,0.033,3085,1315,2033,0,0,0,0,0,0
$GC,3069,0.85,226.4,302.2,13.7,325,3076,0.00,2.35,0.00,0.000,6,0.000,0.041,3085,2736,2032,0,0,0,0,0,0
$GC,3267,0.85,226.4,273.5,14.9,344,3271,0.00,1.67,0.00,0.000,4,0.000,0.048,3086,3757,2031,0,0,0,0,0,0
$GC,3302,0.85,226.4,268.1,16.8,347,3306,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2726,2030,0,0,0,0,0,0
$GC,3505,0.85,226.4,236.7,15.3,366,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2726,2030,0,0,0,0,0,0
$GC,3633,0.85,226.4,217.3,15.3,378,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2726,2030,0,0,0,0,0,0
$GC,3760,0.85,226.4,197.7,15.2,390,3763,0.00,1.65,0.00,0.000,4,0.000,0.050,3093,3761,2030,0,0,0,0,0,0
$GC,3798,0.85,226.4,191.1,17.0,393,3805,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2722,2029,0,0,0,0,0,0
$GC,3933,0.85,226.4,170.1,15.4,406,3936,0.00,1.65,0.00,0.000,4,0.000,0.050,3102,3761,2029,0,0,0,0,0,0
$GC,3967,0.85,226.4,164.3,17.2,409,3972,0.12,1.62,0.00,0.000,6,0.167,0.032,3076,2699,2029,0,0,1,0,0,0
$GC,4107,0.86,233.2,145.4,13.1,422,4118,0.00,0.00,6.38,0.750,6,0.000,0.000,3076,2699,2009,0,0,0,0,0,0
$GC,4245,0.86,234.7,127.2,13.3,435,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2699,2009,0,0,0,0,0,0
$GC,4373,0.87,243.0,110.6,13.0,447,4385,0.00,0.00,10.30,0.789,6,0.000,0.000,3076,2699,1969,0,0,0,0,0,0
$GC,4511,0.89,257.3,93.0,12.7,464,4531,0.00,1.77,14.30,0.786,4,0.000,0.049,3076,3761,1911,0,0,0,0,0,0
$GC,4572,0.89,257.3,84.7,14.6,474,4580,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2728,1911,0,0,0,0,0,0
$GC,4715,0.89,257.3,65.6,13.4,499,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2727,1910,0,0,0,0,0,0
$GC,4857,0.89,257.3,46.3,13.9,524,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2728,1909,0,0,0,0,0,0
$GC,4997,0.89,259.6,27.1,13.2,549,5004,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3764,1909,0,0,0,0,0,0
$GC,5033,0.89,259.6,21.3,15.6,555,5040,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2737,1909,0,0,0,0,0,0
$FREEZE,8.30,-0.072,-1.891,2,1,0
$FREEZE,7.52,-0.025,-1.891,2,1,0
$FREEZE,6.66,0.042,-1.889,2,1,0
$FREEZE,6.11,0.053,-1.889,2,1,0
$FREEZE,5.42,0.056,-1.889,2,1,0
$FREEZE,4.29,0.070,-1.888,2,1,0
$FREEZE,3.39,0.068,-1.888,2,1,0
$FREEZE,2.63,0.068,-1.887,2,1,0
$STATE,5161,end climb,SURFACE_DEPTH_REACHED
$STATE,5161,begin surface coast
$FREEZE,1.76,0.066,-1.887,2,1,0
$FREEZE,0.97,0.065,-1.886,2,1,0
$FREEZE,0.19,0.070,-1.885,2,1,0
$FINISH,0.2,1.027582
$STATE,5179,end surface coast,CONTROL_FINISHED_OK
$STATE,5179,begin surface
$SM_CCo,5196,30.20,0.101,0,0,1655,320.11
$SM_GC,1.10,0.00,0.00,30.20,0.000,0.000,0.101,187,2784,1655,-8.17,0.11,320.11
$IRIDIUM_FIX,-7519.49,17540.20,301210,050525
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.6
$24V_AH,22.4,47.116
$10V_AH,10.0,18.461
$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,18.525,35.825,403.600,30.200,0.000,27.413,38.732,149.203,1.000,0.000,40.160,1426.268,2245.830,492.599,1260.592,175.525,0.000,1080.874,0.000,959.051,0.000,7.758,0.000
$DEVICE_MAMPS,214.200,111.690,966.195,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.532,747.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258228
$DATA_FILE_SIZE,37017,581
$CAP_FILE_SIZE,77565,0
$CFSIZE,260165632,229441536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.200,202.3,1
$GPS,301210,083913,-7608.371,17548.451,14,1.7,20,122.6