version: 66.08
glider: 503
mission: 7
dive: 422
start: 12 26 110 1 13 4
data:
$ID,503
$MISSION,7
$DIVE,422
$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,-20020.35
$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,36
$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
$GPS1,261210,010734,-7626.627,17600.635,19,2.5,38,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.5
$GPS2,261210,011236,-7626.604,17600.527,13,1.5,30,123.5
$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,211.7,48247,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-88.78,0.000,2,0.000,0.000,166,2795,3439,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.5,-7.3,15,137,8.88,2.33,-8.77,0.000,4,0.210,0.045,2522,1372,3857,0,0,0,0,0,0
$GC,144,-0.84,-219.0,15.7,-33.8,20,151,0.00,2.30,0.00,0.000,6,0.000,0.044,2511,2771,3858,0,0,0,0,0,0
$GC,285,-0.84,-219.0,43.9,-19.1,45,292,0.00,2.25,0.00,0.000,4,0.000,0.033,2512,1364,3860,0,0,0,0,0,0
$GC,544,-0.84,-219.0,90.0,-17.7,91,551,0.00,2.33,0.00,0.000,6,0.000,0.044,2501,2788,3860,0,0,0,0,0,0
$GC,681,-0.84,-219.0,117.2,-19.8,108,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3860,0,0,0,0,0,0
$GC,809,-0.84,-219.0,143.0,-20.4,120,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3861,0,0,0,0,0,0
$GC,936,-0.84,-219.0,168.1,-19.5,132,940,0.00,2.22,0.00,0.000,4,0.000,0.033,2502,1368,3861,0,0,0,0,0,0
$GC,975,-0.84,-219.0,175.2,-17.6,135,980,0.12,2.30,0.00,0.000,6,0.160,0.046,2526,2788,3861,0,0,0,0,0,0
$GC,1109,-0.84,-219.0,198.0,-17.2,147,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2789,3860,0,0,0,0,0,0
$GC,1236,-0.84,-219.0,220.6,-17.7,159,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2788,3860,0,0,0,0,0,0
$GC,1364,-0.84,-219.0,243.1,-17.8,171,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2789,3860,0,0,0,0,0,0
$GC,1492,-0.84,-219.0,265.1,-17.4,183,1495,0.00,1.58,0.00,0.000,4,0.000,0.052,2519,3762,3860,0,0,0,0,0,0
$GC,1537,-0.84,-219.0,273.7,-19.0,187,1541,0.00,1.52,0.00,0.000,6,0.000,0.031,2520,2785,3860,0,0,0,0,0,0
$GC,1741,-0.84,-219.0,309.2,-17.1,206,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2785,3861,0,0,0,0,0,0
$GC,1932,-0.84,-219.0,340.9,-16.5,224,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2785,3861,0,0,0,0,0,0
$GC,2123,-0.84,-219.0,372.3,-16.3,242,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2785,3860,0,0,0,0,0,0
$STATE,2142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2142,begin apogee
$GC,2148,-0.16,0.0,375.7,16.1,244,2329,0.68,0.00,173.75,0.971,4,0.123,0.000,2743,2683,2959,0,0,0,0,0,0
$STATE,2329,end apogee,CONTROL_FINISHED_OK
$STATE,2330,begin climb
$GC,2332,0.84,219.0,384.6,0.0,260,2535,1.00,2.38,190.07,0.917,4,0.077,0.033,3071,1313,2066,0,0,0,0,0,0
$GC,2742,0.85,228.7,345.0,12.9,296,2760,0.00,2.40,8.62,0.796,6,0.000,0.041,3071,2703,2027,0,0,0,0,0,0
$GC,2954,0.86,232.6,317.2,13.2,316,2967,0.00,2.33,5.05,0.694,4,0.000,0.034,3081,1314,2011,0,0,0,0,0,0
$GC,3147,0.88,250.8,292.0,12.6,333,3171,0.00,2.30,17.98,0.867,6,0.000,0.042,3081,2704,1936,0,0,0,0,0,0
$GC,3362,0.88,250.8,261.8,14.6,353,3366,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3761,1934,0,0,0,0,0,0
$GC,3397,0.88,250.8,256.1,16.7,356,3401,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2705,1934,0,0,0,0,0,0
$GC,3600,0.88,250.8,225.1,14.8,375,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2705,1933,0,0,0,0,0,0
$GC,3728,0.88,250.8,207.1,14.1,387,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2705,1933,0,0,0,0,0,0
$GC,3855,0.88,250.8,189.2,14.1,399,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2705,1933,0,0,0,0,0,0
$GC,3982,0.88,250.8,170.6,14.7,411,3986,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3766,1932,0,0,0,0,0,0
$GC,4020,0.88,250.8,164.2,17.3,414,4027,0.00,1.67,0.00,0.000,6,0.000,0.031,3098,2706,1931,0,0,0,0,0,0
$GC,4154,0.88,250.8,143.4,15.5,427,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2706,1931,0,0,0,0,0,0
$GC,4282,0.88,250.8,123.5,15.7,439,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2706,1931,0,0,0,0,0,0
$GC,4410,0.88,250.8,103.8,15.2,451,4414,0.00,1.73,0.00,0.000,4,0.000,0.050,3098,3756,1931,0,0,0,0,0,0
$GC,4444,0.88,250.8,98.0,16.3,454,4451,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2710,1930,0,0,0,0,0,0
$GC,4587,0.88,250.8,75.4,15.9,479,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2709,1930,0,0,0,0,0,0
$GC,4730,0.88,250.8,52.7,15.9,504,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2709,1930,0,0,0,0,0,0
$GC,4871,0.88,250.8,31.9,15.4,529,4877,0.00,1.73,0.00,0.000,4,0.000,0.050,3106,3760,1930,0,0,0,0,0,0
$GC,4935,0.88,250.8,21.0,17.8,540,4946,0.08,1.62,0.00,0.000,6,0.146,0.032,3087,2718,1930,0,0,1,0,0,0
$FREEZE,8.79,-0.826,-1.896,2,1,0
$FREEZE,7.87,-0.805,-1.895,2,1,0
$FREEZE,7.15,-0.811,-1.894,2,1,0
$FREEZE,6.33,-0.811,-1.894,2,1,0
$FREEZE,5.36,-0.809,-1.893,2,1,0
$FREEZE,4.62,-0.805,-1.892,2,1,0
$FREEZE,3.82,-0.802,-1.892,2,1,0
$FREEZE,2.85,-0.803,-1.891,2,1,0
$STATE,5051,end climb,SURFACE_DEPTH_REACHED
$STATE,5051,begin surface coast
$FREEZE,1.86,-0.801,-1.890,2,1,0
$FREEZE,1.07,-0.797,-1.890,2,1,0
$FREEZE,0.47,-0.800,-1.889,2,1,0
$FINISH,0.5,1.027672
$STATE,5068,end surface coast,CONTROL_FINISHED_OK
$STATE,5068,begin surface
$SM_CCo,5085,33.38,0.103,0,0,1655,320.11
$SM_GC,0.93,0.00,0.00,33.38,0.000,0.000,0.103,160,2794,1655,-8.24,0.40,320.11
$IRIDIUM_FIX,-7545.40,17552.25,251210,232333
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$24V_AH,22.5,39.460
$10V_AH,9.9,15.446
$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,18.375,39.875,395.475,33.375,0.000,27.189,35.956,108.540,1.000,0.000,32.933,1386.397,2205.896,485.190,1198.130,157.791,0.000,1064.426,0.000,946.721,0.000,7.754,0.000
$DEVICE_MAMPS,210.375,98.685,970.785,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.083,715.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258260
$DATA_FILE_SIZE,37126,563
$CAP_FILE_SIZE,74937,0
$CFSIZE,260165632,232251392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.140,275.9,1
$GPS,261210,023931,-7625.935,17557.721,12,1.2,29,123.5