version: 66.08
glider: 503
mission: 7
dive: 509
start: 12 31 110 16 28 36
data:
$ID,503
$MISSION,7
$DIVE,509
$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,-20139.047
$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,41
$R_STBD_OVSHOOT,39
$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
$GPS1,311210,162214,-7606.685,17632.043,19,1.5,20,121.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.8
$GPS2,311210,162806,-7606.658,17631.902,37,1.0,37,121.5
$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,331.4,12887,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-88.35,0.000,2,0.000,0.000,177,2795,3413,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-5.9,15,138,8.82,1.58,-9.45,0.000,4,0.208,0.067,2513,3746,3857,0,0,0,0,0,0
$GC,239,-0.84,-219.0,33.9,-17.6,37,247,0.00,1.50,0.00,0.000,6,0.000,0.029,2513,2774,3860,0,0,1,0,0,0
$GC,383,-0.84,-219.0,60.5,-19.1,62,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3859,0,0,0,0,0,0
$GC,524,-0.84,-219.0,87.6,-19.3,87,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,668,-0.84,-219.0,114.4,-18.5,106,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,797,-0.84,-219.0,137.7,-18.1,118,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,923,-0.84,-219.0,160.6,-18.2,130,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1050,-0.84,-219.0,183.5,-17.8,142,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3861,0,0,0,0,0,0
$GC,1178,-0.84,-219.0,205.8,-16.8,154,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1305,-0.84,-219.0,227.4,-17.0,166,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1432,-0.84,-219.0,248.5,-16.6,178,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3861,0,0,0,0,0,0
$GC,1560,-0.84,-219.0,269.8,-17.1,190,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3861,0,0,0,0,0,0
$GC,1750,-0.84,-219.0,301.9,-16.8,208,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$GC,1942,-0.84,-219.0,332.8,-16.3,226,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3861,0,0,0,0,0,0
$GC,2133,-0.84,-219.0,364.2,-16.5,244,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3860,0,0,0,0,0,0
$STATE,2205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2205,begin apogee
$GC,2211,-0.16,0.0,376.3,16.5,251,2390,0.70,0.00,174.30,0.971,4,0.120,0.000,2745,2687,2960,0,0,0,0,0,0
$STATE,2391,end apogee,CONTROL_FINISHED_OK
$STATE,2391,begin climb
$GC,2394,0.84,219.0,384.9,0.0,267,2599,0.98,2.40,191.27,0.919,4,0.073,0.033,3069,1306,2067,0,0,0,0,0,0
$GC,2760,0.88,250.0,352.4,12.1,299,2794,0.00,2.38,28.75,0.879,6,0.000,0.041,3069,2694,1939,0,0,0,0,0,0
$GC,2987,0.88,250.0,321.9,13.6,320,2991,0.00,2.30,0.00,0.000,4,0.000,0.033,3079,1315,1935,0,0,0,0,0,0
$GC,3153,0.92,282.8,300.5,12.0,334,3189,0.00,2.30,29.83,0.882,6,0.000,0.041,3079,2705,1807,0,0,0,0,0,0
$GC,3377,0.92,282.8,269.7,13.5,355,3381,0.00,1.70,0.00,0.000,4,0.000,0.048,3080,3759,1805,0,0,0,0,0,0
$GC,3415,0.92,282.8,263.9,15.7,358,3422,0.00,1.65,0.00,0.000,6,0.000,0.030,3086,2721,1805,0,0,1,0,0,0
$GC,3614,0.92,282.8,235.7,14.1,377,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2722,1804,0,0,0,0,0,0
$GC,3741,0.92,282.8,217.3,14.5,389,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2721,1804,0,0,0,0,0,0
$GC,3868,0.92,282.8,198.5,14.7,401,3872,0.00,1.67,0.00,0.000,4,0.000,0.048,3086,3764,1803,0,0,0,0,0,0
$GC,3903,0.92,282.8,192.7,16.5,404,3907,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2700,1803,0,0,0,0,0,0
$GC,4044,0.92,282.8,171.0,15.2,417,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2701,1803,0,0,0,0,0,0
$GC,4171,0.92,282.8,151.5,15.1,429,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2701,1803,0,0,0,0,0,0
$GC,4299,0.92,282.8,132.2,14.8,441,4303,0.00,1.70,0.00,0.000,4,0.000,0.049,3094,3761,1803,0,0,1,0,0,0
$GC,4337,0.92,282.8,125.3,17.0,444,4346,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2721,1803,0,0,0,0,0,0
$GC,4472,0.92,282.8,104.2,15.3,457,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2721,1803,0,0,0,0,0,0
$GC,4603,0.92,282.8,84.3,15.5,478,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2721,1803,0,0,0,0,0,0
$GC,4743,0.92,282.8,62.7,16.1,503,4750,0.00,1.70,0.00,0.000,4,0.000,0.049,3103,3759,1802,0,0,0,0,0,0
$GC,4785,0.92,282.8,55.6,18.3,510,4792,0.00,1.65,0.00,0.000,6,0.000,0.033,3110,2722,1802,0,0,0,0,0,0
$GC,4927,0.92,282.8,32.6,15.9,535,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2722,1802,0,0,0,0,0,0
$FREEZE,8.72,-0.721,-1.896,2,1,0
$GC,5072,0.92,282.8,8.7,18.3,560,5080,0.00,2.28,0.00,0.000,4,0.000,0.035,3122,1289,1802,0,0,0,0,0,0
$FREEZE,5.77,-0.705,-1.893,2,1,0
$FREEZE,4.94,-0.700,-1.893,2,1,0
$FREEZE,4.15,-0.698,-1.892,2,1,0
$FREEZE,3.14,-0.695,-1.891,2,1,0
$GC,5103,0.92,282.8,3.1,17.3,565,5110,0.00,2.33,0.00,0.000,6,0.000,0.044,3121,2725,1802,0,0,0,0,0,0
$FREEZE,0.73,-0.697,-1.890,2,1,0
$STATE,5116,end climb,SURFACE_DEPTH_REACHED
$STATE,5116,begin surface coast
$FREEZE,-0.03,-0.697,-1.889,2,1,0
$FREEZE,-0.03,-0.732,-1.891,2,1,0
$FREEZE,0.03,-0.716,-1.890,2,1,0
$FINISH,0.0,1.027682
$STATE,5133,end surface coast,CONTROL_FINISHED_OK
$STATE,5133,begin surface
$SM_CCo,5150,16.83,0.102,0,0,1655,320.11
$SM_GC,0.84,0.00,0.00,16.83,0.000,0.000,0.102,183,2784,1655,-8.18,0.11,320.11
$IRIDIUM_FIX,-7528.04,17624.30,311210,141410
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.8
$24V_AH,22.4,49.636
$10V_AH,9.9,19.441
$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,18.100,30.575,424.150,16.825,0.000,29.973,36.687,143.360,1.000,0.000,40.032,1382.194,2251.421,487.079,1225.162,187.660,0.000,1065.597,0.000,939.396,0.000,7.756,0.000
$DEVICE_MAMPS,208.080,113.220,970.785,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.742,723.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37008,570
$CAP_FILE_SIZE,74577,0
$CFSIZE,260165632,228536320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.165,321.8,1
$GPS,311210,175606,-7606.411,17634.240,32,1.0,42,121.4