version: 66.08
glider: 503
mission: 7
dive: 503
start: 12 31 110 6 54 37
data:
$ID,503
$MISSION,7
$DIVE,503
$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,-20128.953
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,311210,064837,-7607.695,17618.227,38,2.0,39,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.4
$GPS2,311210,065408,-7607.709,17618.176,14,1.6,14,121.9
$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,290.9,19293,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-93.47,0.000,2,0.000,0.000,175,2786,3547,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.9,-9.0,16,137,8.98,1.62,-6.07,0.000,4,0.212,0.063,2518,3767,3856,0,0,0,0,0,0
$GC,256,-0.84,-219.0,39.3,-18.8,40,263,0.00,1.58,0.00,0.000,6,0.000,0.028,2518,2767,3859,0,0,0,0,0,0
$GC,399,-0.84,-219.0,65.9,-18.5,65,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3860,0,0,0,0,0,0
$GC,541,-0.84,-219.0,92.9,-18.7,90,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3860,0,0,0,0,0,0
$GC,678,-0.84,-219.0,118.0,-18.2,106,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3860,0,0,0,0,0,0
$GC,806,-0.84,-219.0,140.9,-17.7,118,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3860,0,0,0,0,0,0
$GC,933,-0.84,-219.0,163.8,-18.1,130,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3861,0,0,0,0,0,0
$GC,1060,-0.84,-219.0,186.4,-17.4,142,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3861,0,0,0,0,0,0
$GC,1188,-0.84,-219.0,208.7,-17.6,154,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3861,0,0,0,0,0,0
$GC,1315,-0.84,-219.0,230.8,-17.4,166,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3861,0,0,0,0,0,0
$GC,1444,-0.84,-219.0,253.4,-17.7,178,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3861,0,0,0,0,0,0
$GC,1634,-0.84,-219.0,287.0,-17.6,196,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3861,0,0,0,0,0,0
$GC,1825,-0.84,-219.0,320.2,-17.3,214,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3861,0,0,0,0,0,0
$GC,2018,-0.84,-219.0,352.0,-16.4,232,2021,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3789,3860,0,0,0,0,0,0
$GC,2045,-0.84,-219.0,357.2,-17.3,234,2053,0.00,1.58,0.00,0.000,6,0.000,0.030,2510,2777,3860,0,0,0,0,0,0
$STATE,2157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2157,begin apogee
$GC,2163,-0.16,0.0,376.1,16.7,245,2345,0.70,0.00,174.68,0.968,4,0.122,0.000,2743,2698,2960,0,0,0,0,0,0
$STATE,2346,end apogee,CONTROL_FINISHED_OK
$STATE,2346,begin climb
$GC,2348,0.84,219.0,386.1,0.0,261,2551,1.00,2.40,191.30,0.917,4,0.074,0.032,3073,1303,2067,0,0,0,0,0,0
$GC,2709,0.85,231.2,354.3,12.8,293,2725,0.00,2.40,11.25,0.830,6,0.000,0.041,3073,2698,2017,0,0,0,0,0,0
$GC,2926,0.85,231.2,324.7,13.5,313,2930,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1304,2014,0,0,0,0,0,0
$GC,3082,0.89,258.3,303.7,12.2,326,3114,0.00,2.33,25.30,0.880,6,0.000,0.041,3084,2704,1907,0,0,0,0,0,0
$GC,3312,0.89,258.3,271.3,14.7,348,3316,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3761,1904,0,0,0,0,0,0
$GC,3362,0.89,258.3,263.3,16.5,352,3369,0.00,1.67,0.00,0.000,6,0.000,0.030,3092,2706,1903,0,0,1,0,0,0
$GC,3561,0.89,258.3,233.8,15.0,371,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2706,1903,0,0,0,0,0,0
$GC,3688,0.89,258.3,214.4,15.3,383,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2705,1902,0,0,0,0,0,0
$GC,3815,0.89,258.3,194.8,15.5,395,3819,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3762,1902,0,0,0,0,0,0
$GC,3853,0.89,258.3,188.1,17.6,398,3860,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2709,1902,0,0,1,0,0,0
$GC,3987,0.89,258.3,166.9,15.3,411,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2709,1901,0,0,0,0,0,0
$GC,4115,0.89,258.3,147.5,15.5,423,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2709,1901,0,0,0,0,0,0
$GC,4243,0.89,258.3,128.4,14.9,435,4246,0.00,1.67,0.00,0.000,4,0.000,0.049,3100,3762,1901,0,0,0,0,0,0
$GC,4278,0.89,258.3,122.7,16.6,438,4281,0.00,1.65,0.00,0.000,6,0.000,0.031,3109,2693,1901,0,0,0,0,0,0
$GC,4417,0.89,258.3,100.7,15.4,451,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2693,1901,0,0,0,0,0,0
$GC,4550,0.89,258.3,80.3,15.5,474,4557,0.00,1.75,0.00,0.000,4,0.000,0.049,3109,3779,1900,0,0,0,0,0,0
$GC,4586,0.89,258.3,73.8,17.7,480,4594,0.08,1.65,0.00,0.000,6,0.145,0.032,3081,2725,1900,0,0,1,0,0,0
$GC,4729,0.89,258.3,53.5,14.6,505,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2725,1900,0,0,0,0,0,0
$GC,4871,0.90,272.1,34.9,12.8,530,4889,0.00,0.00,12.32,0.769,6,0.000,0.000,3081,2725,1851,0,0,0,0,0,0
$GC,5025,0.91,277.6,14.1,13.1,557,5039,0.00,0.00,6.82,0.699,6,0.000,0.000,3081,2725,1830,0,0,0,0,0,0
$FREEZE,8.97,-0.323,-1.895,2,1,0
$FREEZE,8.26,-0.321,-1.895,2,1,0
$FREEZE,7.62,-0.320,-1.894,2,1,0
$FREEZE,6.78,-0.312,-1.894,2,1,0
$FREEZE,6.07,-0.309,-1.893,2,1,0
$FREEZE,5.26,-0.309,-1.892,2,1,0
$FREEZE,4.63,-0.310,-1.892,2,1,0
$FREEZE,3.89,-0.307,-1.891,2,1,0
$FREEZE,3.17,-0.307,-1.891,2,1,0
$FREEZE,2.37,-0.307,-1.890,2,1,0
$STATE,5109,end climb,SURFACE_DEPTH_REACHED
$STATE,5109,begin surface coast
$FREEZE,1.31,-0.308,-1.890,2,1,0
$FREEZE,0.56,-0.308,-1.889,2,1,0
$FREEZE,-0.10,-0.309,-1.889,2,1,0
$FREEZE,-0.06,-0.713,-1.818,2,1,0
$FINISH,-0.1,1.026665
$STATE,5132,end surface coast,CONTROL_FINISHED_OK
$STATE,5132,begin surface
$SM_CCo,5149,20.83,0.102,0,0,1654,320.11
$SM_GC,0.83,0.00,0.00,20.83,0.000,0.000,0.102,191,2805,1654,-8.16,0.71,320.11
$IRIDIUM_FIX,-7519.49,17606.99,311210,050514
$TT8_MAMPS,0.027713
$HUMID,52.63
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,22.4,48.907
$10V_AH,9.9,19.159
$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,18.350,29.450,421.675,20.825,0.000,29.537,44.388,139.237,1.000,0.000,16.537,1402.142,2228.539,484.764,1218.598,179.065,0.000,1067.154,0.000,950.219,0.000,7.762,0.000
$DEVICE_MAMPS,211.905,97.155,967.725,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.867,737.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37125,576
$CAP_FILE_SIZE,75236,0
$CFSIZE,260165632,228798464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.163,211.2,1
$GPS,311210,082207,-7607.677,17620.389,39,0.9,39,121.8