version: 66.08
glider: 503
mission: 7
dive: 497
start: 12 30 110 21 25 19
data:
$ID,503
$MISSION,7
$DIVE,497
$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,-20120.166
$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,42
$R_STBD_OVSHOOT,34
$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
$GPS1,301210,211907,-7607.542,17607.619,34,1.5,34,122.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-70.4
$GPS2,301210,212450,-7607.538,17607.480,12,1.5,12,122.1
$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,322.7,23861,-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,-219.0,0.0,0.0,0,106,0.00,0.00,-87.03,0.000,2,0.000,0.000,166,2789,3372,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.0,-5.5,14,136,8.90,1.58,-10.57,0.000,4,0.209,0.065,2517,3758,3855,0,0,0,0,0,0
$GC,181,-0.84,-219.0,22.1,-19.2,26,188,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2777,3857,0,0,0,0,0,0
$GC,324,-0.84,-219.0,48.4,-17.9,51,330,0.00,2.22,0.00,0.000,4,0.000,0.032,2517,1376,3858,0,0,0,0,0,0
$GC,361,-0.84,-219.0,55.0,-17.4,57,368,0.00,2.28,0.00,0.000,6,0.000,0.044,2507,2764,3858,0,0,0,0,0,0
$GC,502,-0.84,-219.0,81.2,-18.3,82,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2764,3858,0,0,0,0,0,0
$GC,641,-0.84,-219.0,106.5,-18.4,104,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2764,3859,0,0,0,0,0,0
$GC,768,-0.84,-219.0,129.9,-18.2,116,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2764,3859,0,0,0,0,0,0
$GC,896,-0.84,-219.0,153.3,-18.4,128,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2764,3859,0,0,0,0,0,0
$GC,1024,-0.84,-219.0,176.6,-18.5,140,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2764,3859,0,0,0,0,0,0
$GC,1152,-0.84,-219.0,199.9,-18.5,152,1156,0.00,2.17,0.00,0.000,4,0.000,0.032,2507,1378,3859,0,0,0,0,0,0
$GC,1184,-0.84,-219.0,206.2,-18.2,154,1192,0.12,2.28,0.00,0.000,6,0.152,0.044,2532,2775,3859,0,0,0,0,0,0
$GC,1319,-0.84,-219.0,227.4,-15.6,167,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2775,3859,0,0,0,0,0,0
$GC,1446,-0.84,-219.0,247.2,-15.6,179,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2775,3859,0,0,0,0,0,0
$GC,1573,-0.84,-219.0,267.5,-15.8,191,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2775,3859,0,0,0,0,0,0
$GC,1766,-0.84,-219.0,298.1,-16.0,209,1769,0.00,1.60,0.00,0.000,4,0.000,0.050,2525,3767,3858,0,0,0,0,0,0
$GC,1792,-0.84,-219.0,303.0,-16.7,211,1800,0.00,1.55,0.00,0.000,6,0.000,0.029,2525,2770,3858,0,0,0,0,0,0
$GC,1991,-0.84,-219.0,334.4,-16.1,230,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2769,3858,0,0,0,0,0,0
$GC,2184,-0.84,-219.0,364.7,-15.8,248,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2770,3858,0,0,0,0,0,0
$STATE,2254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2254,begin apogee
$GC,2259,-0.16,0.0,376.1,15.4,255,2441,0.65,0.00,173.73,0.972,4,0.117,0.000,2743,2682,2959,0,0,0,0,0,0
$STATE,2441,end apogee,CONTROL_FINISHED_OK
$STATE,2441,begin climb
$GC,2444,0.84,219.0,385.5,0.0,271,2648,1.00,2.38,191.07,0.918,4,0.073,0.031,3074,1314,2066,0,0,0,0,0,0
$GC,2810,0.84,224.1,352.3,13.1,303,2819,0.00,2.38,4.57,0.646,6,0.000,0.039,3074,2701,2046,0,0,0,0,0,0
$GC,3010,0.84,224.1,324.9,14.2,322,3014,0.00,2.30,0.00,0.000,4,0.000,0.034,3085,1311,2043,0,0,1,0,0,0
$GC,3189,0.85,225.8,300.6,13.3,337,3196,0.00,2.30,0.00,0.000,6,0.000,0.041,3084,2708,2042,0,0,0,0,0,0
$GC,3390,0.85,225.8,272.7,14.3,356,3393,0.00,1.67,0.00,0.000,4,0.000,0.048,3085,3762,2041,0,0,0,0,0,0
$GC,3450,0.85,225.8,262.1,16.8,361,3457,0.00,1.62,0.00,0.000,6,0.000,0.030,3093,2737,2040,0,0,0,0,0,0
$GC,3649,0.85,225.8,232.7,15.2,380,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2737,2040,0,0,0,0,0,0
$GC,3778,0.85,225.8,214.3,14.4,392,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2737,2040,0,0,0,0,0,0
$GC,3912,0.85,225.8,194.7,14.3,405,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2737,2040,0,0,0,0,0,0
$GC,4040,0.85,225.8,175.8,14.9,417,4044,0.00,1.65,0.00,0.000,4,0.000,0.048,3093,3770,2040,0,0,0,0,0,0
$GC,4085,0.85,225.8,168.3,17.1,421,4088,0.00,1.65,0.00,0.000,6,0.000,0.030,3102,2695,2040,0,0,0,0,0,0
$GC,4224,0.85,225.8,146.7,15.3,434,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2694,2040,0,0,0,0,0,0
$GC,4352,0.85,225.8,127.0,15.6,446,4355,0.00,1.70,0.00,0.000,4,0.000,0.048,3101,3762,2040,0,0,0,0,0,0
$GC,4402,0.85,225.8,118.3,17.6,450,4409,0.10,1.62,0.00,0.000,6,0.149,0.031,3076,2734,2040,0,0,0,0,0,0
$GC,4536,0.85,226.0,99.8,13.3,463,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2734,2039,0,0,0,0,0,0
$GC,4679,0.85,226.0,81.4,13.4,488,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2734,2039,0,0,0,0,0,0
$GC,4820,0.85,229.5,62.8,13.2,513,4827,0.00,0.00,5.07,0.681,6,0.000,0.000,3076,2734,2024,0,0,0,0,0,0
$GC,4965,0.88,252.3,44.1,12.4,538,4991,0.00,0.00,22.00,0.780,6,0.000,0.000,3076,2734,1931,0,0,0,0,0,0
$GC,5126,0.89,260.5,23.3,13.0,566,5139,0.00,0.00,8.60,0.721,6,0.000,0.000,3076,2734,1897,0,0,0,0,0,0
$FREEZE,8.75,-0.584,-1.893,2,1,0
$FREEZE,8.04,-0.585,-1.892,2,1,0
$FREEZE,7.39,-0.584,-1.892,2,1,0
$FREEZE,6.60,-0.575,-1.891,2,1,0
$FREEZE,5.73,-0.573,-1.891,2,1,0
$FREEZE,5.15,-0.575,-1.890,2,1,0
$FREEZE,4.40,-0.575,-1.890,2,1,0
$FREEZE,3.59,-0.579,-1.889,2,1,0
$GC,5274,0.89,260.5,3.6,13.8,592,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2734,1895,0,0,0,0,0,0
$FREEZE,1.45,-0.580,-1.888,2,1,0
$STATE,5286,end climb,SURFACE_DEPTH_REACHED
$STATE,5286,begin surface coast
$FREEZE,0.70,-0.578,-1.887,2,1,0
$FREEZE,0.22,-0.587,-1.887,2,1,0
$FREEZE,-0.05,-0.608,-1.883,2,1,0
$FREEZE,0.10,-0.611,-1.886,2,1,0
$FINISH,0.1,1.027619
$STATE,5308,end surface coast,CONTROL_FINISHED_OK
$STATE,5308,begin surface
$SM_CCo,5325,28.33,0.099,0,0,1654,320.11
$SM_GC,1.15,0.00,0.00,28.33,0.000,0.000,0.099,178,2790,1654,-8.20,0.28,320.11
$IRIDIUM_FIX,-7528.04,17606.38,301210,191903
$TT8_MAMPS,0.027713
$HUMID,53.03
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$24V_AH,22.4,48.188
$10V_AH,10.0,18.881
$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,18.350,34.650,405.050,28.325,0.000,28.193,43.503,156.677,1.000,0.000,14.608,1465.833,2291.253,495.537,1273.968,182.966,0.000,1094.653,0.000,988.406,0.000,7.759,0.000
$DEVICE_MAMPS,208.845,108.630,971.550,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.285,768.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40451,598
$CAP_FILE_SIZE,78743,0
$CFSIZE,260165632,229052416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.136,261.3,1
$GPS,301210,225601,-7607.547,17609.373,47,1.1,48,122.1