version: 66.08
glider: 503
mission: 7
dive: 502
start: 12 31 110 5 21 29
data:
$ID,503
$MISSION,7
$DIVE,502
$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,-20127.695
$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,38
$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
$GPS1,311210,051531,-7607.663,17616.221,42,1.5,43,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.6
$GPS2,311210,052101,-7607.670,17616.164,9,1.4,14,121.9
$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,295.6,20142,-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,-219.0,0.0,0.0,0,114,0.00,0.00,-94.03,0.000,2,0.000,0.000,181,2796,3574,0,0,0,0,0,0
$GC,117,-0.84,-219.0,4.2,-11.1,16,138,8.95,1.60,-5.30,0.000,4,0.213,0.063,2514,3766,3855,0,0,0,0,0,0
$GC,367,-0.84,-219.0,61.1,-19.0,60,374,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2774,3858,0,0,0,0,0,0
$GC,510,-0.84,-219.0,86.9,-18.5,85,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3859,0,0,0,0,0,0
$GC,648,-0.84,-219.0,112.3,-18.2,104,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3858,0,0,0,0,0,0
$GC,776,-0.84,-219.0,135.2,-17.9,116,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,903,-0.84,-219.0,158.5,-18.1,128,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3859,0,0,0,0,0,0
$GC,1031,-0.84,-219.0,181.7,-18.3,140,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,1158,-0.84,-219.0,204.5,-17.4,152,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,1286,-0.84,-219.0,227.1,-17.9,164,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1414,-0.84,-219.0,250.0,-17.6,176,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,1604,-0.84,-219.0,283.6,-17.4,194,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1796,-0.84,-219.0,316.8,-17.2,212,1800,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3750,3859,0,0,0,0,0,0
$GC,1833,-0.84,-219.0,324.0,-18.2,215,1841,0.00,1.50,0.00,0.000,6,0.000,0.030,2507,2787,3860,0,0,0,0,0,0
$GC,2032,-0.84,-219.0,358.2,-17.2,234,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2788,3859,0,0,0,0,0,0
$STATE,2136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2136,begin apogee
$GC,2142,-0.16,0.0,376.8,17.2,244,2322,0.73,0.00,174.48,0.968,4,0.122,0.000,2745,2686,2960,0,0,0,0,0,0
$STATE,2322,end apogee,CONTROL_FINISHED_OK
$STATE,2323,begin climb
$GC,2325,0.84,219.0,385.8,0.0,260,2529,0.98,2.40,191.00,0.917,4,0.073,0.032,3068,1303,2068,0,0,0,0,0,0
$GC,2665,0.88,256.1,357.7,11.8,290,2710,0.00,2.40,34.70,0.884,6,0.000,0.041,3067,2692,1915,0,0,0,0,0,0
$GC,2900,0.88,256.1,326.3,13.5,312,2904,0.00,2.30,0.00,0.000,4,0.000,0.032,3078,1313,1910,0,0,0,0,0,0
$GC,3057,0.90,269.4,305.7,12.8,325,3076,0.00,2.33,12.18,0.844,6,0.000,0.041,3078,2710,1861,0,0,0,0,0,0
$GC,3270,0.90,270.4,277.1,13.3,345,3274,0.00,1.70,0.00,0.000,4,0.000,0.048,3078,3770,1861,0,0,0,0,0,0
$GC,3328,0.90,270.4,267.8,16.2,350,3331,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2706,1860,0,0,0,0,0,0
$GC,3532,0.90,270.4,239.5,13.8,369,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2705,1860,0,0,0,0,0,0
$GC,3658,0.90,270.4,221.9,14.0,381,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2705,1859,0,0,0,0,0,0
$GC,3786,0.90,270.4,204.1,14.1,393,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2705,1859,0,0,0,0,0,0
$GC,3914,0.90,270.4,185.9,14.5,405,3918,0.00,1.73,0.00,0.000,4,0.000,0.049,3087,3755,1859,0,0,0,0,0,0
$GC,3958,0.90,270.4,178.7,16.6,409,3962,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2683,1859,0,0,0,0,0,0
$GC,4099,0.90,270.4,157.6,14.8,422,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2682,1859,0,0,0,0,0,0
$GC,4226,0.90,270.4,138.3,15.1,434,4230,0.00,1.73,0.00,0.000,4,0.000,0.049,3096,3764,1859,0,0,0,0,0,0
$GC,4253,0.90,270.4,133.5,16.5,436,4260,0.00,1.65,0.00,0.000,6,0.000,0.031,3104,2721,1859,0,0,0,0,0,0
$GC,4387,0.90,270.4,112.7,15.7,449,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2721,1859,0,0,0,0,0,0
$GC,4517,0.90,270.4,93.1,15.2,465,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2721,1858,0,0,0,0,0,0
$GC,4660,0.90,270.4,71.8,15.0,490,4666,0.00,1.70,0.00,0.000,4,0.000,0.049,3103,3762,1858,0,0,0,0,0,0
$GC,4707,0.90,270.4,63.9,16.5,498,4714,0.00,1.65,0.00,0.000,6,0.000,0.032,3112,2718,1858,0,0,0,0,0,0
$GC,4849,0.90,270.4,41.4,15.2,523,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2718,1858,0,0,0,0,0,0
$GC,4990,0.90,270.4,18.7,15.7,548,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2718,1857,0,0,0,0,0,0
$FREEZE,8.60,-0.508,-1.896,2,1,0
$FREEZE,7.73,-0.498,-1.895,2,1,0
$FREEZE,6.78,-0.493,-1.894,2,1,0
$FREEZE,5.82,-0.483,-1.894,2,1,0
$FREEZE,4.97,-0.483,-1.893,2,1,0
$FREEZE,4.13,-0.486,-1.893,2,1,0
$FREEZE,3.39,-0.488,-1.892,2,1,0
$FREEZE,2.56,-0.484,-1.891,2,1,0
$STATE,5089,end climb,SURFACE_DEPTH_REACHED
$STATE,5090,begin surface coast
$FREEZE,1.59,-0.483,-1.890,2,1,0
$FREEZE,0.46,-0.481,-1.890,2,1,0
$FREEZE,-0.00,-0.560,-1.894,2,1,0
$FINISH,-0.0,1.027740
$STATE,5108,end surface coast,CONTROL_FINISHED_OK
$STATE,5108,begin surface
$SM_CCo,5125,23.75,0.101,0,0,1655,320.11
$SM_GC,1.06,0.00,0.00,23.75,0.000,0.000,0.101,176,2785,1655,-8.20,0.14,320.11
$IRIDIUM_FIX,-7528.04,17530.57,311210,030350
$TT8_MAMPS,0.027713
$HUMID,53.07
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.8
$24V_AH,22.4,48.786
$10V_AH,9.9,19.113
$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,18.325,29.325,412.350,23.750,0.000,26.412,40.624,144.454,1.000,0.000,17.418,1383.916,2239.882,481.467,1207.100,178.990,0.000,1055.773,0.000,940.923,0.000,7.758,0.000
$DEVICE_MAMPS,213.435,107.100,967.725,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.252,725.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,36945,569
$CAP_FILE_SIZE,73399,0
$CFSIZE,260165632,228843520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,209.2,1
$GPS,311210,064837,-7607.695,17618.227,38,2.0,39,121.9