version: 66.08
glider: 503
mission: 7
dive: 512
start: 12 31 110 21 10 24
data:
$ID,503
$MISSION,7
$DIVE,512
$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,-20142.82
$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,48
$R_STBD_OVSHOOT,31
$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
$GPS1,311210,210437,-7606.065,17637.627,47,1.2,47,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-75.4
$GPS2,311210,210956,-7606.043,17637.541,12,1.5,12,121.3
$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,348.0,10188,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-92.47,0.000,2,0.000,0.000,178,2787,3510,0,0,0,0,0,0
$GC,116,-0.84,-219.0,3.7,-9.1,16,138,8.98,2.30,-6.90,0.000,4,0.213,0.044,2521,1368,3856,0,0,1,0,0,0
$GC,389,-0.84,-219.0,56.4,-14.2,64,396,0.00,2.30,0.00,0.000,6,0.000,0.043,2510,2783,3860,0,0,0,0,0,0
$GC,530,-0.84,-219.0,80.5,-17.0,89,537,0.00,2.22,0.00,0.000,4,0.000,0.031,2510,1374,3860,0,0,0,0,0,0
$GC,579,-0.84,-219.0,88.2,-15.6,97,586,0.00,2.30,0.00,0.000,6,0.000,0.044,2500,2786,3860,0,0,0,0,0,0
$GC,722,-0.84,-219.0,113.7,-18.4,116,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2786,3860,0,0,0,0,0,0
$GC,849,-0.84,-219.0,136.6,-17.6,128,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2786,3860,0,0,0,0,0,0
$GC,977,-0.84,-219.0,159.4,-17.8,140,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2786,3860,0,0,0,0,0,0
$GC,1105,-0.84,-219.0,182.4,-18.0,152,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2786,3860,0,0,0,0,0,0
$GC,1232,-0.84,-219.0,205.2,-18.1,164,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2785,3860,0,0,0,0,0,0
$GC,1359,-0.84,-219.0,228.3,-18.1,176,1363,0.00,2.22,0.00,0.000,4,0.000,0.033,2500,1374,3861,0,0,0,0,0,0
$GC,1394,-0.84,-219.0,234.3,-17.1,179,1399,0.12,2.28,0.00,0.000,6,0.158,0.045,2530,2776,3861,0,0,0,0,0,0
$GC,1530,-0.84,-219.0,254.9,-15.1,191,1533,0.00,1.60,0.00,0.000,4,0.000,0.050,2524,3766,3861,0,0,0,0,0,0
$GC,1564,-0.84,-219.0,260.6,-15.8,194,1568,0.00,1.55,0.00,0.000,6,0.000,0.029,2524,2772,3861,0,0,0,0,0,0
$GC,1768,-0.84,-219.0,291.8,-15.1,213,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2772,3860,0,0,0,0,0,0
$GC,1959,-0.84,-219.0,320.4,-14.4,231,1962,0.00,1.62,0.00,0.000,4,0.000,0.050,2515,3796,3860,0,0,0,0,0,0
$GC,1997,-0.84,-219.0,326.6,-15.5,234,2005,0.00,1.58,0.00,0.000,6,0.000,0.028,2516,2782,3860,0,0,0,0,0,0
$GC,2196,-0.84,-219.0,357.1,-15.7,253,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2782,3860,0,0,0,0,0,0
$STATE,2310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2310,begin apogee
$GC,2316,-0.16,0.0,375.2,15.1,264,2497,0.68,0.00,175.07,0.968,4,0.121,0.000,2741,2699,2958,0,0,0,0,0,0
$STATE,2497,end apogee,CONTROL_FINISHED_OK
$STATE,2498,begin climb
$GC,2500,0.84,219.0,382.6,0.0,280,2700,1.00,2.40,191.18,0.917,4,0.074,0.031,3073,1305,2066,0,0,0,0,0,0
$GC,2851,0.84,219.0,348.3,13.5,312,2856,0.00,2.40,0.00,0.000,6,0.000,0.041,3073,2702,2059,0,0,0,0,0,0
$GC,3050,0.84,219.0,320.9,13.6,330,3054,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1302,2056,0,0,0,0,0,0
$GC,3222,0.85,226.7,297.4,13.0,345,3234,0.00,2.33,6.20,0.757,6,0.000,0.041,3083,2714,2035,0,0,0,0,0,0
$GC,3429,0.85,226.7,268.3,14.6,364,3433,0.00,1.67,0.00,0.000,4,0.000,0.048,3084,3764,2034,0,0,0,0,0,0
$GC,3497,0.85,226.7,257.0,15.8,370,3501,0.00,1.62,0.00,0.000,6,0.000,0.030,3091,2727,2034,0,0,1,0,0,0
$GC,3701,0.85,226.7,227.4,14.2,389,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2727,2033,0,0,0,0,0,0
$GC,3828,0.85,226.7,209.0,14.4,401,3832,0.00,1.65,0.00,0.000,4,0.000,0.049,3092,3763,2033,0,0,0,0,0,0
$GC,3855,0.85,226.7,204.4,15.9,403,3862,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2720,2033,0,0,0,0,0,0
$GC,3990,0.85,226.7,184.6,14.6,416,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2720,2033,0,0,0,0,0,0
$GC,4117,0.85,226.7,165.9,14.9,428,4121,0.00,1.65,0.00,0.000,4,0.000,0.049,3100,3763,2032,0,0,0,0,0,0
$GC,4155,0.85,226.7,159.2,16.9,431,4163,0.10,1.65,0.00,0.000,6,0.137,0.031,3074,2720,2032,0,0,0,0,0,0
$GC,4291,0.86,235.5,141.3,13.0,444,4302,0.00,0.00,9.32,0.802,6,0.000,0.000,3074,2720,1999,0,0,0,0,0,0
$GC,4428,0.87,240.9,123.2,13.1,457,4438,0.00,0.00,6.32,0.731,6,0.000,0.000,3074,2720,1977,0,0,0,0,0,0
$GC,4565,0.87,240.9,105.1,13.4,470,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2720,1976,0,0,0,0,0,0
$GC,4696,0.88,249.1,87.8,13.0,490,4710,0.00,1.75,8.88,0.767,4,0.000,0.048,3074,3768,1944,0,0,0,0,0,0
$GC,4734,0.88,249.1,82.3,14.8,496,4742,0.00,1.65,0.00,0.000,6,0.000,0.031,3081,2725,1944,0,0,0,0,0,0
$GC,4880,0.88,249.1,62.5,13.6,521,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2726,1942,0,0,0,0,0,0
$GC,5020,0.88,249.1,42.7,14.0,546,5027,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3763,1942,0,0,0,0,0,0
$GC,5056,0.88,249.1,37.1,16.1,552,5064,0.00,1.62,0.00,0.000,6,0.000,0.031,3089,2735,1942,0,0,0,0,0,0
$GC,5201,0.88,249.1,15.7,15.2,577,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2734,1942,0,0,0,0,0,0
$FREEZE,8.54,-0.713,-1.896,2,1,0
$FREEZE,7.80,-0.707,-1.895,2,1,0
$FREEZE,6.87,-0.705,-1.895,2,1,0
$FREEZE,6.26,-0.708,-1.894,2,1,0
$FREEZE,5.54,-0.707,-1.894,2,1,0
$FREEZE,4.74,-0.711,-1.893,2,1,0
$FREEZE,3.91,-0.709,-1.893,2,1,0
$FREEZE,3.30,-0.708,-1.892,2,1,0
$FREEZE,2.48,-0.702,-1.892,2,1,0
$STATE,5288,end climb,SURFACE_DEPTH_REACHED
$STATE,5288,begin surface coast
$FREEZE,1.60,-0.664,-1.891,2,1,0
$FREEZE,0.64,-0.583,-1.889,2,1,0
$FREEZE,-0.03,-0.579,-1.889,2,1,0
$FINISH,-0.0,1.027663
$STATE,5306,end surface coast,CONTROL_FINISHED_OK
$STATE,5306,begin surface
$SM_CCo,5323,34.33,0.099,0,0,1655,320.11
$SM_GC,0.68,0.00,0.00,34.33,0.000,0.000,0.099,185,2785,1655,-8.17,0.14,320.11
$IRIDIUM_FIX,-7528.04,17633.27,311210,191919
$TT8_MAMPS,0.026964
$HUMID,52.59
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.7
$24V_AH,22.4,49.987
$10V_AH,10.0,19.581
$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,18.450,46.200,396.975,34.325,0.000,23.708,35.327,143.842,1.000,0.000,14.809,1469.984,2297.604,483.494,1247.715,190.155,0.000,1088.539,0.000,990.118,0.000,7.756,0.000
$DEVICE_MAMPS,213.435,112.455,968.490,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.369,765.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258236
$DATA_FILE_SIZE,40357,596
$CAP_FILE_SIZE,80227,0
$CFSIZE,260165632,228405248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.182,305.6,1
$GPS,311210,224104,-7605.973,17638.846,21,3.3,40,121.3