version: 66.08
glider: 503
mission: 7
dive: 499
start: 12 31 110 0 40 20
data:
$ID,503
$MISSION,7
$DIVE,499
$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,-20123.922
$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,33
$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
$GPS1,311210,003138,-7607.609,17611.021,18,1.6,18,122.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-71.2
$GPS2,311210,003950,-7607.621,17610.840,15,1.6,15,122.0
$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,304.6,22429,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-90.05,0.000,2,0.000,0.000,188,2786,3465,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.5,-7.7,15,132,8.95,1.62,-8.02,0.000,4,0.213,0.065,2519,3761,3855,0,0,0,0,0,0
$GC,300,-0.84,-219.0,46.0,-19.3,48,307,0.00,1.55,0.00,0.000,6,0.000,0.029,2519,2772,3858,0,0,0,0,0,0
$GC,441,-0.84,-219.0,71.9,-17.9,73,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2772,3859,0,0,0,0,0,0
$GC,583,-0.84,-219.0,97.0,-17.8,98,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2772,3859,0,0,0,0,0,0
$GC,720,-0.84,-219.0,121.2,-17.7,112,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2772,3860,0,0,0,0,0,0
$GC,846,-0.84,-219.0,143.6,-17.9,124,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2772,3860,0,0,0,0,0,0
$GC,974,-0.84,-219.0,166.0,-17.6,136,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3860,0,0,0,0,0,0
$GC,1102,-0.84,-219.0,188.1,-17.0,148,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2773,3860,0,0,0,0,0,0
$GC,1229,-0.84,-219.0,209.9,-17.1,160,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2772,3860,0,0,0,0,0,0
$GC,1356,-0.84,-219.0,231.7,-17.0,172,1360,0.00,1.60,0.00,0.000,4,0.000,0.050,2511,3752,3860,0,0,0,0,0,0
$GC,1401,-0.84,-219.0,239.8,-17.8,176,1405,0.00,1.50,0.00,0.000,6,0.000,0.030,2512,2792,3860,0,0,0,0,0,0
$GC,1541,-0.84,-219.0,264.1,-17.4,189,1543,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2791,3860,0,0,0,0,0,0
$GC,1734,-0.84,-219.0,296.6,-16.9,207,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2792,3860,0,0,0,0,0,0
$GC,1924,-0.84,-219.0,328.0,-16.2,225,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2791,3860,0,0,0,0,0,0
$GC,2116,-0.84,-219.0,359.3,-16.4,243,2120,0.00,2.20,0.00,0.000,4,0.000,0.031,2511,1373,3860,0,0,0,0,0,0
$GC,2149,-0.84,-219.0,364.9,-15.9,245,2157,0.00,2.25,0.00,0.000,6,0.000,0.044,2501,2773,3860,0,0,0,0,0,0
$STATE,2217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2217,begin apogee
$GC,2223,-0.16,0.0,376.5,17.1,252,2403,0.73,0.00,174.32,0.968,4,0.122,0.000,2741,2690,2959,0,0,0,0,0,0
$STATE,2404,end apogee,CONTROL_FINISHED_OK
$STATE,2404,begin climb
$GC,2407,0.84,219.0,385.8,0.0,268,2611,1.00,2.40,191.20,0.917,4,0.075,0.033,3071,1299,2066,0,0,0,0,0,0
$GC,2792,0.86,238.9,349.9,12.5,302,2815,0.00,2.40,18.33,0.863,6,0.000,0.040,3071,2700,1985,0,0,0,0,0,0
$GC,3009,0.86,238.9,320.7,13.4,322,3013,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1301,1982,0,0,1,0,0,0
$GC,3154,0.87,243.1,301.0,13.2,334,3165,0.00,2.35,4.55,0.669,6,0.000,0.041,3083,2710,1967,0,0,0,0,0,0
$GC,3365,0.87,243.1,270.5,14.7,354,3368,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3762,1967,0,0,0,0,0,0
$GC,3414,0.87,243.1,261.8,16.8,358,3421,0.00,1.65,0.00,0.000,6,0.000,0.030,3090,2725,1966,0,0,0,0,0,0
$GC,3613,0.87,243.1,232.1,14.8,377,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2725,1966,0,0,0,0,0,0
$GC,3741,0.87,243.1,213.1,15.2,389,3745,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3757,1966,0,0,0,0,0,0
$GC,3776,0.87,243.1,207.3,16.6,392,3780,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2733,1966,0,0,0,0,0,0
$GC,3916,0.87,243.1,185.1,15.7,405,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2733,1966,0,0,0,0,0,0
$GC,4044,0.87,243.1,165.4,15.1,417,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2733,1965,0,0,0,0,0,0
$GC,4170,0.87,243.1,146.5,14.7,429,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2733,1965,0,0,0,0,0,0
$GC,4298,0.87,243.1,127.8,14.2,441,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2733,1965,0,0,0,0,0,0
$GC,4426,0.87,243.1,109.3,14.5,453,4430,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3752,1965,0,0,0,0,0,0
$GC,4464,0.87,243.1,103.0,16.5,456,4472,0.00,1.62,0.00,0.000,6,0.000,0.031,3106,2728,1965,0,0,0,0,0,0
$GC,4602,0.87,243.1,82.1,15.0,479,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2727,1965,0,0,0,0,0,0
$GC,4744,0.87,243.1,60.7,15.3,504,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2727,1965,0,0,0,0,0,0
$GC,4885,0.87,243.1,39.1,15.8,529,4892,0.00,1.67,0.00,0.000,4,0.000,0.050,3106,3752,1964,0,0,0,0,0,0
$GC,4934,0.87,243.1,31.2,16.8,537,4941,0.10,1.58,0.00,0.000,6,0.144,0.031,3080,2741,1964,0,0,1,0,0,0
$GC,5076,0.87,243.1,11.3,14.1,562,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2741,1964,0,0,0,0,0,0
$FREEZE,8.55,-0.649,-1.892,2,1,0
$FREEZE,8.00,-0.647,-1.892,2,1,0
$FREEZE,7.35,-0.654,-1.891,2,1,0
$FREEZE,6.47,-0.652,-1.891,2,1,0
$FREEZE,5.80,-0.648,-1.890,2,1,0
$FREEZE,4.97,-0.648,-1.890,2,1,0
$FREEZE,4.23,-0.648,-1.889,2,1,0
$FREEZE,3.59,-0.648,-1.889,2,1,0
$FREEZE,2.97,-0.649,-1.888,2,1,0
$STATE,5136,end climb,SURFACE_DEPTH_REACHED
$STATE,5136,begin surface coast
$FREEZE,2.16,-0.646,-1.888,2,1,0
$FREEZE,1.38,-0.649,-1.887,2,1,0
$FREEZE,0.65,-0.646,-1.887,2,1,0
$FREEZE,-0.07,-0.652,-1.886,2,1,0
$FINISH,-0.1,1.027631
$STATE,5160,end surface coast,CONTROL_FINISHED_OK
$STATE,5160,begin surface
$SM_CCo,5177,36.42,0.100,0,0,1655,320.11
$SM_GC,0.65,0.00,0.00,36.42,0.000,0.000,0.100,160,2783,1655,-8.25,0.08,320.11
$IRIDIUM_FIX,-7528.04,17606.38,311210,000024
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.3
$24V_AH,22.4,48.424
$10V_AH,9.8,18.976
$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,18.350,33.575,388.400,36.425,0.000,54.361,112.311,144.538,1.000,0.000,19.006,1423.318,2303.460,480.556,1331.162,180.689,0.000,1062.674,0.000,959.065,0.000,7.757,0.000
$DEVICE_MAMPS,213.435,125.460,968.490,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.185,738.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37061,577
$CAP_FILE_SIZE,76488,0
$CFSIZE,260165632,228966400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.159,233.0,1
$GPS,311210,020837,-7607.657,17612.537,43,0.8,43,122.0