version: 66.08
glider: 503
mission: 7
dive: 493
start: 12 30 110 15 6 11
data:
$ID,503
$MISSION,7
$DIVE,493
$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,-20115.143
$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,51
$R_STBD_OVSHOOT,27
$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
$GPS1,301210,150006,-7608.109,17558.105,34,0.9,38,122.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.9
$GPS2,301210,150544,-7608.091,17558.016,9,1.9,9,122.4
$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,315.9,28196,-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,17,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-89.93,0.000,2,0.000,0.000,185,2763,3439,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.2,-6.9,15,140,8.95,1.65,-8.70,0.000,4,0.213,0.067,2517,3764,3857,0,0,1,0,0,0
$GC,220,-0.84,-219.0,30.6,-18.9,33,228,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2786,3859,0,0,0,0,0,0
$GC,364,-0.84,-219.0,58.0,-18.6,58,371,0.00,2.25,0.00,0.000,4,0.000,0.032,2517,1368,3859,0,0,0,0,0,0
$GC,400,-0.84,-219.0,64.8,-17.3,64,407,0.00,2.30,0.00,0.000,6,0.000,0.044,2507,2773,3859,0,0,0,0,0,0
$GC,541,-0.84,-219.0,90.9,-18.9,89,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3859,0,0,0,0,0,0
$GC,680,-0.84,-219.0,117.3,-19.1,106,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3860,0,0,0,0,0,0
$GC,807,-0.84,-219.0,141.3,-18.8,118,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2773,3860,0,0,0,0,0,0
$GC,934,-0.84,-219.0,164.8,-18.5,130,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3860,0,0,0,0,0,0
$GC,1062,-0.84,-219.0,187.9,-17.9,142,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3860,0,0,0,0,0,0
$GC,1189,-0.84,-219.0,210.6,-18.0,154,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3860,0,0,0,0,0,0
$GC,1317,-0.84,-219.0,233.0,-17.1,166,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3860,0,0,0,0,0,0
$GC,1444,-0.84,-219.0,255.2,-17.2,178,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3860,0,0,0,0,0,0
$GC,1634,-0.84,-219.0,288.5,-17.0,196,1639,0.00,2.20,0.00,0.000,4,0.000,0.032,2507,1371,3860,0,0,0,0,0,0
$GC,1674,-0.84,-219.0,295.0,-15.4,199,1679,0.10,2.25,0.00,0.000,6,0.165,0.044,2525,2770,3860,0,0,0,0,0,0
$GC,1874,-0.84,-219.0,325.2,-15.7,217,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2770,3860,0,0,0,0,0,0
$GC,2063,-0.84,-219.0,355.3,-15.5,235,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2770,3860,0,0,0,0,0,0
$STATE,2199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2199,begin apogee
$GC,2206,-0.16,0.0,376.4,15.3,248,2386,0.65,0.00,174.52,0.967,4,0.119,0.000,2744,2682,2960,0,0,0,0,0,0
$STATE,2387,end apogee,CONTROL_FINISHED_OK
$STATE,2387,begin climb
$GC,2389,0.84,219.0,385.3,0.0,264,2593,0.98,2.38,191.02,0.914,4,0.073,0.032,3067,1306,2068,0,0,0,0,0,0
$GC,2741,0.84,219.0,353.1,13.4,295,2745,0.00,2.40,0.00,0.000,6,0.000,0.041,3067,2699,2060,0,0,0,0,0,0
$GC,2938,0.84,219.0,325.6,13.6,313,2943,0.00,2.30,0.00,0.000,4,0.000,0.034,3078,1312,2057,0,0,0,0,0,0
$GC,3106,0.87,243.1,303.1,12.3,327,3137,0.00,2.30,21.17,0.875,6,0.000,0.041,3078,2710,1968,0,0,0,0,0,0
$GC,3326,0.87,243.1,271.9,14.7,348,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2709,1966,0,0,0,0,0,0
$GC,3518,0.87,243.1,244.6,14.2,366,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2709,1965,0,0,0,0,0,0
$GC,3645,0.87,243.1,226.4,14.6,378,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2709,1965,0,0,0,0,0,0
$GC,3772,0.87,243.1,208.1,14.5,390,3776,0.00,1.67,0.00,0.000,4,0.000,0.047,3079,3771,1964,0,0,0,0,0,0
$GC,3807,0.87,243.1,202.7,16.1,393,3811,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2700,1965,0,0,0,0,0,0
$GC,3948,0.87,243.1,181.9,14.6,406,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2699,1964,0,0,0,0,0,0
$GC,4075,0.87,243.1,163.7,14.1,418,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2699,1964,0,0,0,0,0,0
$GC,4203,0.87,243.1,145.2,14.5,430,4206,0.00,1.70,0.00,0.000,4,0.000,0.050,3087,3766,1963,0,0,0,0,0,0
$GC,4237,0.87,243.1,139.7,15.9,433,4241,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2696,1963,0,0,0,0,0,0
$GC,4377,0.87,243.1,118.5,14.9,446,4381,0.00,1.70,0.00,0.000,4,0.000,0.048,3095,3762,1963,0,0,0,0,0,0
$GC,4412,0.87,243.1,112.7,17.1,449,4416,0.00,1.62,0.00,0.000,6,0.000,0.031,3103,2736,1963,0,0,0,0,0,0
$GC,4550,0.87,243.1,91.5,14.9,466,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2735,1963,0,0,0,0,0,0
$GC,4691,0.87,243.1,69.0,16.5,491,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2735,1963,0,0,0,0,0,0
$GC,4832,0.87,243.1,47.4,15.3,516,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2735,1963,0,0,0,0,0,0
$GC,4973,0.87,243.1,25.5,15.0,541,4980,0.00,1.67,0.00,0.000,4,0.000,0.050,3103,3758,1963,0,0,0,0,0,0
$GC,5050,0.87,243.1,12.1,19.3,554,5058,0.08,1.60,0.00,0.000,6,0.148,0.031,3085,2746,1962,0,0,0,0,0,0
$FREEZE,8.34,-0.294,-1.891,2,1,0
$FREEZE,7.60,-0.291,-1.890,2,1,0
$FREEZE,6.67,-0.294,-1.890,2,1,0
$FREEZE,5.76,-0.292,-1.889,2,1,0
$FREEZE,5.06,-0.297,-1.889,2,1,0
$FREEZE,3.94,-0.291,-1.888,2,1,0
$FREEZE,3.50,-0.289,-1.888,2,1,0
$FREEZE,2.59,-0.286,-1.887,2,1,0
$STATE,5106,end climb,SURFACE_DEPTH_REACHED
$STATE,5106,begin surface coast
$FREEZE,1.72,-0.283,-1.886,2,1,0
$FREEZE,1.00,-0.281,-1.886,2,1,0
$FREEZE,-0.02,-0.281,-1.885,2,1,0
$FREEZE,-0.02,-0.394,-1.041,2,1,0
$FINISH,-0.0,1.015393
$STATE,5131,end surface coast,CONTROL_FINISHED_OK
$STATE,5131,begin surface
$SM_CCo,5147,36.30,0.100,0,0,1655,320.11
$SM_GC,0.68,0.00,0.00,36.30,0.000,0.000,0.100,185,2744,1655,-8.17,-1.02,320.11
$IRIDIUM_FIX,-7519.49,17558.05,301210,131343
$TT8_MAMPS,0.028462
$HUMID,52.63
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.0
$24V_AH,22.4,47.697
$10V_AH,10.0,18.694
$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,18.350,34.950,386.725,36.300,0.000,27.272,36.846,157.885,1.000,0.000,12.518,1394.412,2267.722,477.711,1213.601,179.734,0.000,1049.474,0.000,937.170,0.000,7.757,0.000
$DEVICE_MAMPS,213.435,81.090,966.960,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.872,722.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36988,568
$CAP_FILE_SIZE,75061,0
$CFSIZE,260165632,229232640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.056,296.7,1
$GPS,301210,163332,-7607.920,17600.879,16,1.4,16,122.3