version: 66.08
glider: 503
mission: 7
dive: 420
start: 12 25 110 22 7 38
data:
$ID,503
$MISSION,7
$DIVE,420
$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,9
$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,-20017.838
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,251210,215936,-7628.493,17606.531,11,1.2,16,123.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-72.7
$GPS2,251210,220708,-7628.458,17606.348,12,1.5,12,123.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NW
$TGT_LATLONG,-7605.000,17500.000
$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,205.4,52542,-18.2,-13.333
$D_GRID,376
$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,-219.0,0.0,0.0,0,106,0.00,0.00,-88.68,0.000,2,0.000,0.000,160,2807,3449,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.6,-8.5,15,136,8.95,2.35,-8.35,0.000,4,0.212,0.044,2522,1369,3857,0,0,0,0,0,0
$GC,386,-0.84,-219.0,57.3,-16.7,64,393,0.00,2.28,0.00,0.000,6,0.000,0.044,2512,2765,3859,0,0,0,0,0,0
$GC,528,-0.84,-219.0,83.8,-18.7,89,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3860,0,0,0,0,0,0
$GC,668,-0.84,-219.0,110.3,-18.7,109,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3860,0,0,0,0,0,0
$GC,796,-0.84,-219.0,134.4,-18.5,121,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2765,3861,0,0,0,0,0,0
$GC,923,-0.84,-219.0,158.5,-19.0,133,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3860,0,0,0,0,0,0
$GC,1050,-0.84,-219.0,182.2,-18.2,145,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3861,0,0,0,0,0,0
$GC,1178,-0.84,-219.0,205.7,-18.5,157,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3860,0,0,0,0,0,0
$GC,1305,-0.84,-219.0,229.0,-18.2,169,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3861,0,0,0,0,0,0
$GC,1433,-0.84,-219.0,252.0,-18.1,181,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3860,0,0,0,0,0,0
$GC,1625,-0.84,-219.0,286.6,-18.2,199,1628,0.00,1.60,0.00,0.000,4,0.000,0.051,2505,3759,3860,0,0,0,0,0,0
$GC,1670,-0.84,-219.0,295.3,-19.4,203,1674,0.00,1.52,0.00,0.000,6,0.000,0.031,2505,2779,3860,0,0,0,0,0,0
$GC,1873,-0.84,-219.0,332.6,-18.2,222,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2779,3861,0,0,0,0,0,0
$GC,2064,-0.84,-219.0,367.8,-18.6,240,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3861,0,0,0,0,0,0
$STATE,2115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2115,begin apogee
$GC,2120,-0.16,0.0,377.4,18.1,245,2301,0.73,0.00,173.55,0.972,4,0.126,0.000,2743,2692,2959,0,0,0,0,0,0
$STATE,2302,end apogee,CONTROL_FINISHED_OK
$STATE,2302,begin climb
$GC,2304,0.84,219.0,387.2,0.0,261,2507,1.00,2.38,189.77,0.918,4,0.077,0.032,3071,1305,2067,0,0,0,0,0,0
$GC,2680,0.86,232.9,353.9,12.8,294,2699,0.00,2.40,12.77,0.840,6,0.000,0.041,3071,2700,2009,0,0,0,0,0,0
$GC,2892,0.86,232.9,326.1,13.5,314,2896,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1311,2007,0,0,1,0,0,0
$GC,3058,0.87,244.3,303.4,12.9,328,3078,0.00,2.33,11.32,0.844,6,0.000,0.041,3082,2706,1963,0,0,0,0,0,0
$GC,3270,0.87,244.3,272.9,14.6,348,3273,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3763,1962,0,0,0,0,0,0
$GC,3308,0.87,244.3,266.0,17.5,351,3315,0.00,1.67,0.00,0.000,6,0.000,0.030,3090,2722,1961,0,0,0,0,0,0
$GC,3507,0.87,244.3,235.1,14.8,370,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2722,1961,0,0,0,0,0,0
$GC,3634,0.87,244.3,216.7,14.6,382,3637,0.00,1.67,0.00,0.000,4,0.000,0.048,3089,3768,1961,0,0,0,0,0,0
$GC,3669,0.87,244.3,211.0,16.8,385,3672,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2701,1960,0,0,0,0,0,0
$GC,3809,0.87,244.3,188.7,16.0,398,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2701,1960,0,0,0,0,0,0
$GC,3935,0.87,244.3,169.1,14.7,410,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2701,1960,0,0,0,0,0,0
$GC,4063,0.87,244.3,149.4,15.7,422,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2701,1960,0,0,0,0,0,0
$GC,4191,0.87,244.3,130.1,15.2,434,4194,0.00,1.70,0.00,0.000,4,0.000,0.050,3098,3768,1960,0,0,1,0,0,0
$GC,4236,0.87,244.3,122.3,17.8,438,4240,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2698,1959,0,0,0,0,0,0
$GC,4375,0.87,244.3,100.1,15.5,451,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2696,1960,0,0,0,0,0,0
$GC,4508,0.87,244.3,79.6,15.3,474,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2697,1959,0,0,0,0,0,0
$GC,4648,0.87,244.3,57.9,15.9,499,4655,0.00,1.73,0.00,0.000,4,0.000,0.049,3106,3756,1960,0,0,0,0,0,0
$GC,4694,0.87,244.3,50.1,17.4,507,4701,0.10,1.62,0.00,0.000,6,0.141,0.031,3081,2728,1959,0,0,0,0,0,0
$GC,4837,0.87,244.3,30.4,14.3,532,4845,0.00,2.28,0.00,0.000,4,0.000,0.034,3090,1293,1959,0,0,0,0,0,0
$GC,4870,0.88,249.6,26.0,13.1,537,4884,0.00,2.33,5.15,0.675,6,0.000,0.043,3090,2729,1943,0,0,0,0,0,0
$FREEZE,8.68,-0.385,-1.895,2,1,0
$FREEZE,7.79,-0.387,-1.895,2,1,0
$FREEZE,7.14,-0.387,-1.894,2,1,0
$FREEZE,6.37,-0.386,-1.894,2,1,0
$FREEZE,5.53,-0.383,-1.893,2,1,0
$FREEZE,4.74,-0.379,-1.893,2,1,0
$FREEZE,3.99,-0.378,-1.892,2,1,0
$GC,5020,0.88,249.6,4.0,15.8,563,5027,0.00,1.65,0.00,0.000,4,0.000,0.048,3090,3753,1943,0,0,0,0,0,0
$FREEZE,1.25,-0.377,-1.890,2,1,0
$STATE,5033,end climb,SURFACE_DEPTH_REACHED
$STATE,5033,begin surface coast
$FREEZE,0.35,-0.377,-1.889,2,1,0
$FREEZE,-0.04,-0.511,-1.081,2,1,0
$FREEZE,0.03,-0.490,-1.016,2,1,0
$FINISH,0.0,1.015015
$STATE,5051,end surface coast,CONTROL_FINISHED_OK
$STATE,5051,begin surface
$SM_CCo,5069,33.78,0.102,0,0,1655,320.11
$SM_GC,0.73,0.00,0.00,33.78,0.000,0.000,0.102,178,2774,1655,-8.19,-0.17,320.11
$IRIDIUM_FIX,-7545.40,17610.55,251210,222211
$TT8_MAMPS,0.027713
$HUMID,53.34
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,350.2,67.4
$24V_AH,22.5,39.233
$10V_AH,9.9,15.354
$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,18.300,38.425,392.575,33.775,0.000,54.389,110.513,113.333,1.250,0.000,15.457,1394.752,2252.287,479.461,1286.612,156.895,0.000,1054.599,0.000,942.800,0.000,10.643,0.000
$DEVICE_MAMPS,211.905,100.980,971.550,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.652,727.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,36954,568
$CAP_FILE_SIZE,75313,0
$CFSIZE,260165632,232333312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.119,311.6,1
$GPS,251210,233358,-7627.571,17603.496,17,2.3,37,123.5