version: 66.08
glider: 503
mission: 7
dive: 421
start: 12 25 110 23 39 58
data:
$ID,503
$MISSION,7
$DIVE,421
$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,-20019.096
$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,46
$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
$GPS1,251210,233358,-7627.571,17603.496,17,2.3,37,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-70.4
$GPS2,251210,233930,-7627.542,17603.365,39,1.2,44,123.5
$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,207.4,50394,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.47,0.000,2,0.000,0.000,170,2773,3505,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.9,-8.8,15,133,8.88,2.30,-7.07,0.000,4,0.212,0.054,2522,1371,3856,0,0,0,0,0,0
$GC,385,-0.84,-219.0,59.2,-16.8,63,392,0.00,2.30,0.00,0.000,6,0.000,0.044,2512,2777,3859,0,0,0,0,0,0
$GC,528,-0.84,-219.0,86.1,-19.3,88,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2777,3860,0,0,0,0,0,0
$GC,665,-0.84,-219.0,112.8,-19.6,107,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2777,3860,0,0,0,0,0,0
$GC,793,-0.84,-219.0,137.6,-18.9,119,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2777,3860,0,0,0,0,0,0
$GC,921,-0.84,-219.0,162.2,-19.2,131,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2777,3861,0,0,0,0,0,0
$GC,1048,-0.84,-219.0,185.9,-18.6,143,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2777,3860,0,0,0,0,0,0
$GC,1175,-0.84,-219.0,208.7,-17.0,155,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2777,3860,0,0,0,0,0,0
$GC,1303,-0.84,-219.0,230.8,-17.4,167,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2777,3860,0,0,0,0,0,0
$GC,1430,-0.84,-219.0,252.7,-17.4,179,1434,0.00,1.58,0.00,0.000,4,0.000,0.050,2504,3758,3860,0,0,0,0,0,0
$GC,1467,-0.84,-219.0,259.7,-18.2,182,1475,0.00,1.52,0.00,0.000,6,0.000,0.030,2504,2780,3860,0,0,0,0,0,0
$GC,1667,-0.84,-219.0,294.8,-17.6,201,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3861,0,0,0,0,0,0
$GC,1857,-0.84,-219.0,328.5,-17.9,219,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3860,0,0,0,0,0,0
$GC,2049,-0.84,-219.0,364.7,-18.7,237,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3860,0,0,0,0,0,0
$STATE,2111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2111,begin apogee
$GC,2117,-0.16,0.0,376.6,18.4,243,2297,0.73,0.00,173.85,0.968,4,0.126,0.000,2742,2679,2959,0,0,0,0,0,0
$STATE,2298,end apogee,CONTROL_FINISHED_OK
$STATE,2298,begin climb
$GC,2301,0.84,219.0,387.4,0.0,259,2504,1.00,2.38,189.95,0.919,4,0.077,0.033,3071,1305,2066,0,0,0,0,0,0
$GC,2696,0.85,230.7,352.3,12.9,294,2713,0.00,2.40,10.85,0.828,6,0.000,0.041,3070,2706,2018,0,0,0,0,0,0
$GC,2913,0.86,235.7,324.5,13.1,314,2927,0.00,2.33,5.22,0.708,4,0.000,0.032,3081,1314,2000,0,0,0,0,0,0
$GC,3067,0.86,235.7,303.3,13.7,327,3074,0.00,2.30,0.00,0.000,6,0.000,0.041,3081,2715,2000,0,0,1,0,0,0
$GC,3265,0.86,235.7,273.4,15.6,346,3268,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3761,1999,0,0,0,0,0,0
$GC,3310,0.86,235.7,265.9,17.0,350,3314,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2701,1999,0,0,0,0,0,0
$GC,3513,0.86,235.7,235.7,14.7,369,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2701,1997,0,0,0,0,0,0
$GC,3641,0.86,235.7,216.6,15.5,381,3644,0.00,1.75,0.00,0.000,4,0.000,0.049,3090,3762,1997,0,0,1,0,0,0
$GC,3675,0.86,235.7,210.9,16.4,384,3679,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2725,1997,0,0,0,0,0,0
$GC,3814,0.86,235.7,189.5,15.1,397,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2725,1997,0,0,0,0,0,0
$GC,3942,0.86,235.7,170.1,15.2,409,3945,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3770,1997,0,0,0,0,0,0
$GC,3976,0.86,235.7,164.4,17.0,412,3980,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2701,1997,0,0,0,0,0,0
$GC,4115,0.86,235.7,143.0,15.0,425,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2700,1997,0,0,0,0,0,0
$GC,4243,0.86,235.7,123.9,14.6,437,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2700,1996,0,0,0,0,0,0
$GC,4370,0.86,235.7,104.9,15.5,449,4374,0.00,1.70,0.00,0.000,4,0.000,0.049,3106,3763,1996,0,0,1,0,0,0
$GC,4410,0.86,235.7,98.2,17.3,453,4417,0.10,1.62,0.00,0.000,6,0.141,0.031,3081,2739,1996,0,0,0,0,0,0
$GC,4554,0.87,247.1,78.4,12.9,478,4569,0.00,0.00,11.48,0.787,6,0.000,0.000,3080,2739,1952,0,0,0,0,0,0
$GC,4704,0.87,247.1,58.6,14.1,504,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2740,1950,0,0,0,0,0,0
$GC,4846,0.87,247.1,38.6,13.9,529,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2740,1949,0,0,0,0,0,0
$GC,4984,0.87,247.1,19.0,13.6,554,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2740,1949,0,0,0,0,0,0
$FREEZE,8.90,-0.564,-1.896,2,1,0
$FREEZE,8.30,-0.578,-1.896,2,1,0
$FREEZE,7.46,-0.562,-1.894,2,1,0
$FREEZE,6.75,-0.552,-1.894,2,1,0
$FREEZE,6.17,-0.553,-1.894,2,1,0
$FREEZE,5.38,-0.548,-1.893,2,1,0
$FREEZE,4.69,-0.553,-1.893,2,1,0
$FREEZE,3.93,-0.569,-1.892,2,1,0
$FREEZE,3.16,-0.555,-1.892,2,1,0
$FREEZE,2.81,-0.555,-1.891,2,1,0
$STATE,5102,end climb,SURFACE_DEPTH_REACHED
$STATE,5102,begin surface coast
$FREEZE,1.59,-0.559,-1.891,2,1,0
$FREEZE,1.05,-0.573,-1.890,2,1,0
$FREEZE,0.29,-0.573,-1.890,2,1,0
$FREEZE,0.18,-0.719,-1.897,2,1,0
$FINISH,0.2,1.027785
$STATE,5124,end surface coast,CONTROL_FINISHED_OK
$STATE,5124,begin surface
$SM_CCo,5141,35.75,0.103,0,0,1654,320.11
$SM_GC,1.00,0.00,0.00,35.75,0.000,0.000,0.103,177,2795,1654,-8.20,0.40,320.11
$IRIDIUM_FIX,-7545.40,17609.93,251210,222256
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.2
$24V_AH,22.5,39.346
$10V_AH,9.9,15.401
$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,18.300,30.650,391.350,35.750,0.000,26.263,35.338,126.992,1.250,0.000,46.780,1423.202,2227.558,471.281,1246.243,154.267,0.000,1050.314,0.000,959.830,0.000,7.757,0.000
$DEVICE_MAMPS,211.905,111.690,968.490,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.816,743.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258184
$DATA_FILE_SIZE,37175,579
$CAP_FILE_SIZE,73921,0
$CFSIZE,260165632,232292352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.127,300.6,1
$GPS,261210,010734,-7626.627,17600.635,19,2.5,38,123.5