version: 66.08
glider: 503
mission: 7
dive: 489
start: 12 30 110 8 45 36
data:
$ID,503
$MISSION,7
$DIVE,489
$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,-20110.111
$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,49
$R_STBD_OVSHOOT,31
$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
$GPS1,301210,083913,-7608.371,17548.451,14,1.7,20,122.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-74.2
$GPS2,301210,084506,-7608.425,17548.352,19,1.0,35,122.6
$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,287.0,32538,-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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.12,0.000,2,0.000,0.000,186,2784,3525,0,0,0,0,0,0
$GC,113,-0.84,-219.0,4.0,-9.9,15,135,8.98,1.62,-6.40,0.000,4,0.215,0.063,2516,3769,3856,0,0,0,0,0,0
$GC,293,-0.84,-219.0,46.6,-17.1,46,300,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2777,3859,0,0,0,0,0,0
$GC,434,-0.84,-219.0,70.7,-17.1,71,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3859,0,0,0,0,0,0
$GC,576,-0.84,-219.0,95.8,-17.8,96,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3860,0,0,0,0,0,0
$GC,711,-0.84,-219.0,119.6,-17.6,111,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3861,0,0,0,0,0,0
$GC,838,-0.84,-219.0,142.1,-17.8,123,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2778,3860,0,0,0,0,0,0
$GC,965,-0.84,-219.0,164.2,-17.2,135,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3861,0,0,0,0,0,0
$GC,1093,-0.84,-219.0,186.2,-17.3,147,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3861,0,0,0,0,0,0
$GC,1221,-0.84,-219.0,207.9,-17.1,159,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3861,0,0,0,0,0,0
$GC,1348,-0.84,-219.0,229.5,-17.0,171,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3861,0,0,0,0,0,0
$GC,1478,-0.84,-219.0,251.3,-17.1,183,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3861,0,0,0,0,0,0
$GC,1676,-0.84,-219.0,284.8,-16.4,202,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3861,0,0,0,0,0,0
$GC,1867,-0.84,-219.0,316.6,-16.7,220,1870,0.00,1.60,0.00,0.000,4,0.000,0.050,2508,3759,3861,0,0,0,0,0,0
$GC,1901,-0.84,-219.0,322.6,-18.1,223,1905,0.00,1.52,0.00,0.000,6,0.000,0.031,2508,2783,3861,0,0,0,0,0,0
$GC,2105,-0.84,-219.0,357.6,-17.1,242,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2783,3861,0,0,0,0,0,0
$STATE,2208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2208,begin apogee
$GC,2214,-0.16,0.0,376.0,17.1,252,2395,0.73,0.00,174.57,0.968,4,0.123,0.000,2746,2683,2959,0,0,0,0,0,0
$STATE,2395,end apogee,CONTROL_FINISHED_OK
$STATE,2395,begin climb
$GC,2397,0.84,219.0,385.7,0.0,268,2600,0.98,2.38,191.35,0.915,4,0.073,0.032,3070,1308,2067,0,0,0,0,0,0
$GC,2740,0.86,235.0,355.8,12.7,298,2760,0.00,2.40,15.27,0.848,6,0.000,0.041,3070,2703,2001,0,0,1,0,0,0
$GC,2952,0.86,235.0,327.2,14.1,318,2956,0.00,2.33,0.00,0.000,4,0.000,0.033,3081,1307,1997,0,0,0,0,0,0
$GC,3138,0.86,237.1,301.8,13.3,334,3142,0.00,2.33,0.00,0.000,6,0.000,0.041,3081,2710,1995,0,0,0,0,0,0
$GC,3336,0.86,237.1,273.6,14.4,352,3339,0.00,1.67,0.00,0.000,4,0.000,0.048,3081,3761,1994,0,0,0,0,0,0
$GC,3408,0.86,237.1,261.2,17.5,358,3415,0.00,1.65,0.00,0.000,6,0.000,0.030,3089,2716,1994,0,0,1,0,0,0
$GC,3607,0.86,237.1,231.5,15.2,377,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2716,1993,0,0,0,0,0,0
$GC,3734,0.86,237.1,212.8,14.7,389,3737,0.00,1.73,0.00,0.000,4,0.000,0.048,3089,3763,1993,0,0,0,0,0,0
$GC,3772,0.86,237.1,206.4,16.4,392,3780,0.00,1.67,0.00,0.000,6,0.000,0.031,3097,2711,1993,0,0,0,0,0,0
$GC,3907,0.86,237.1,185.9,15.1,405,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2711,1993,0,0,0,0,0,0
$GC,4034,0.86,237.1,166.9,15.1,417,4037,0.00,1.67,0.00,0.000,4,0.000,0.049,3097,3760,1993,0,0,0,0,0,0
$GC,4071,0.86,237.1,160.4,17.2,420,4079,0.00,1.65,0.00,0.000,6,0.000,0.031,3105,2724,1992,0,0,0,0,0,0
$GC,4206,0.86,237.1,139.8,15.1,433,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2724,1992,0,0,0,0,0,0
$GC,4335,0.86,237.1,120.7,15.0,445,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2724,1992,0,0,0,0,0,0
$GC,4460,0.86,237.1,102.0,14.6,457,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2724,1992,0,0,0,0,0,0
$GC,4592,0.86,237.1,82.6,14.3,479,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2724,1992,0,0,0,0,0,0
$GC,4732,0.86,237.1,61.9,14.7,504,4739,0.00,1.67,0.00,0.000,4,0.000,0.049,3105,3751,1992,0,0,0,0,0,0
$GC,4774,0.86,237.1,55.0,16.4,511,4782,0.10,1.62,0.00,0.000,6,0.144,0.031,3080,2723,1992,0,0,0,0,0,0
$GC,4919,0.88,253.3,36.1,12.7,536,4938,0.00,0.00,15.73,0.772,6,0.000,0.000,3080,2723,1927,0,0,0,0,0,0
$GC,5072,0.88,253.3,15.9,13.6,563,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2723,1925,0,0,0,0,0,0
$FREEZE,8.38,0.086,-1.891,2,1,0
$FREEZE,7.57,0.085,-1.890,2,1,0
$FREEZE,7.07,0.084,-1.890,2,1,0
$FREEZE,6.39,0.086,-1.890,2,1,0
$FREEZE,5.69,0.088,-1.889,2,1,0
$FREEZE,4.93,0.087,-1.889,2,1,0
$FREEZE,4.39,0.089,-1.888,2,1,0
$FREEZE,3.68,0.090,-1.888,2,1,0
$FREEZE,2.78,0.090,-1.887,2,1,0
$STATE,5171,end climb,SURFACE_DEPTH_REACHED
$STATE,5171,begin surface coast
$FREEZE,1.82,0.090,-1.886,2,1,0
$FREEZE,1.05,0.090,-1.886,2,1,0
$FREEZE,0.31,0.088,-1.885,2,1,0
$FREEZE,-0.03,0.020,-1.244,2,1,0
$FINISH,-0.0,1.018368
$STATE,5194,end surface coast,CONTROL_FINISHED_OK
$STATE,5194,begin surface
$SM_CCo,5212,32.38,0.101,0,0,1655,320.11
$SM_GC,0.95,0.00,0.00,32.38,0.000,0.000,0.101,180,2795,1655,-8.19,0.42,320.11
$IRIDIUM_FIX,-7528.04,17549.12,301210,070716
$TT8_MAMPS,0.027713
$HUMID,53.58
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,22.4,47.232
$10V_AH,9.9,18.508
$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,18.425,29.275,396.925,32.375,0.000,30.142,37.024,144.139,1.250,0.000,40.406,1430.276,2266.732,480.033,1258.439,175.097,0.000,1064.291,0.000,965.034,0.000,7.758,0.000
$DEVICE_MAMPS,214.965,98.685,968.490,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.518,750.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,37276,585
$CAP_FILE_SIZE,75390,0
$CFSIZE,260165632,229396480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,3
$CURRENT,0.184,196.5,1
$GPS,301210,101424,-7608.465,17550.680,42,1.7,43,122.6