version: 66.08
glider: 503
mission: 7
dive: 423
start: 12 26 110 2 44 47
data:
$ID,503
$MISSION,7
$DIVE,423
$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,-20021.605
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,261210,023931,-7625.935,17557.721,12,1.2,29,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.2
$GPS2,261210,024419,-7625.921,17557.613,8,1.0,13,123.5
$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,221.3,46474,-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,-219.0,0.0,0.0,0,106,0.00,0.00,-88.70,0.000,2,0.000,0.000,158,2795,3426,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.2,-6.3,15,137,8.90,2.33,-9.15,0.000,4,0.210,0.044,2524,1365,3857,0,0,0,0,0,0
$GC,305,-0.84,-219.0,43.5,-14.8,49,313,0.00,2.30,0.00,0.000,6,0.000,0.043,2514,2769,3860,0,0,0,0,0,0
$GC,449,-0.84,-219.0,70.1,-19.3,74,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3860,0,0,0,0,0,0
$GC,590,-0.84,-219.0,97.3,-19.5,99,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2770,3860,0,0,0,0,0,0
$GC,725,-0.84,-219.0,122.4,-18.5,113,728,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3758,3860,0,0,0,0,0,0
$GC,763,-0.84,-219.0,130.2,-19.3,116,770,0.00,1.55,0.00,0.000,6,0.000,0.030,2506,2773,3861,0,0,0,0,0,0
$GC,897,-0.84,-219.0,155.6,-19.2,129,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2773,3861,0,0,0,0,0,0
$GC,1025,-0.84,-219.0,180.7,-19.8,141,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3861,0,0,0,0,0,0
$GC,1153,-0.84,-219.0,205.5,-19.5,153,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3861,0,0,0,0,0,0
$GC,1280,-0.84,-219.0,230.0,-18.9,165,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3861,0,0,0,0,0,0
$GC,1407,-0.84,-219.0,254.0,-18.8,177,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3860,0,0,0,0,0,0
$GC,1599,-0.84,-219.0,289.5,-19.3,195,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3860,0,0,0,0,0,0
$GC,1790,-0.84,-219.0,325.1,-18.3,213,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2772,3861,0,0,0,0,0,0
$GC,1981,-0.84,-219.0,360.2,-18.0,231,1984,0.00,1.62,0.00,0.000,4,0.000,0.050,2498,3793,3861,0,0,0,0,0,0
$GC,2039,-0.84,-219.0,371.1,-18.9,236,2043,0.05,1.58,0.00,0.000,6,0.153,0.030,2531,2776,3861,0,0,0,0,0,0
$STATE,2060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2060,begin apogee
$GC,2065,-0.16,0.0,375.2,18.2,238,2245,0.62,0.00,173.93,0.972,4,0.120,0.000,2741,2699,2959,0,0,0,0,0,0
$STATE,2246,end apogee,CONTROL_FINISHED_OK
$STATE,2246,begin climb
$GC,2248,0.84,219.0,384.1,0.0,254,2452,1.00,2.42,190.02,0.917,4,0.077,0.033,3069,1297,2067,0,0,0,0,0,0
$GC,2632,0.87,245.0,349.4,12.3,288,2661,0.00,2.40,23.83,0.871,6,0.000,0.041,3069,2701,1961,0,0,0,0,0,0
$GC,2852,0.87,245.0,319.0,13.5,308,2856,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1304,1957,0,0,0,0,0,0
$GC,3027,0.89,258.6,296.1,12.8,323,3050,0.00,2.33,12.88,0.846,6,0.000,0.042,3080,2703,1906,0,0,0,0,0,0
$GC,3244,0.89,258.6,266.8,14.2,343,3247,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3760,1903,0,0,0,0,0,0
$GC,3280,0.89,258.6,261.1,15.9,346,3284,0.00,1.62,0.00,0.000,6,0.000,0.031,3087,2705,1903,0,0,1,0,0,0
$GC,3483,0.89,258.6,230.5,14.7,365,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2704,1902,0,0,0,0,0,0
$GC,3610,0.89,258.6,211.5,15.3,377,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2704,1902,0,0,0,0,0,0
$GC,3738,0.89,258.6,192.2,15.4,389,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2704,1901,0,0,0,0,0,0
$GC,3865,0.89,258.6,173.0,14.7,401,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2704,1901,0,0,0,0,0,0
$GC,3993,0.89,258.6,154.3,14.9,413,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2704,1901,0,0,0,0,0,0
$GC,4120,0.89,258.6,135.4,14.7,425,4123,0.00,1.70,0.00,0.000,4,0.000,0.049,3088,3769,1901,0,0,0,0,0,0
$GC,4158,0.89,258.6,129.0,16.8,428,4165,0.00,1.67,0.00,0.000,6,0.000,0.031,3096,2698,1901,0,0,1,0,0,0
$GC,4293,0.89,258.6,108.6,15.5,441,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2698,1901,0,0,0,0,0,0
$GC,4424,0.89,258.6,88.8,14.8,459,4430,0.00,1.73,0.00,0.000,4,0.000,0.049,3096,3753,1901,0,0,0,0,0,0
$GC,4460,0.89,258.6,82.8,16.9,465,4468,0.00,1.65,0.00,0.000,6,0.000,0.031,3104,2710,1900,0,0,0,0,0,0
$GC,4604,0.89,258.6,59.3,16.0,490,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2710,1900,0,0,0,0,0,0
$GC,4745,0.89,258.6,37.1,15.7,515,4751,0.00,1.73,0.00,0.000,4,0.000,0.050,3105,3759,1900,0,0,0,0,0,0
$GC,4775,0.89,258.6,32.1,16.8,520,4782,0.00,1.65,0.00,0.000,6,0.000,0.032,3113,2717,1900,0,0,0,0,0,0
$GC,4917,0.89,258.6,9.1,16.5,545,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2717,1900,0,0,0,0,0,0
$FREEZE,6.79,-0.478,-1.893,2,1,0
$FREEZE,5.78,-0.478,-1.893,2,1,0
$FREEZE,5.07,-0.477,-1.892,2,1,0
$FREEZE,4.31,-0.477,-1.891,2,1,0
$FREEZE,3.39,-0.474,-1.891,2,1,0
$FREEZE,2.31,-0.470,-1.890,2,1,0
$STATE,4958,end climb,SURFACE_DEPTH_REACHED
$STATE,4958,begin surface coast
$FREEZE,1.26,-0.472,-1.889,2,1,0
$FREEZE,0.38,-0.473,-1.888,2,1,0
$FREEZE,0.04,-0.614,-1.841,2,1,0
$FINISH,0.0,1.026981
$STATE,4975,end surface coast,CONTROL_FINISHED_OK
$STATE,4975,begin surface
$SM_CCo,4992,29.55,0.104,0,0,1655,320.11
$SM_GC,1.17,0.00,0.00,29.55,0.000,0.000,0.104,165,2789,1655,-8.23,0.28,320.11
$IRIDIUM_FIX,-7545.40,17552.25,261210,010110
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.2
$24V_AH,22.5,39.576
$10V_AH,9.9,15.491
$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,18.250,34.075,400.650,29.550,0.000,22.918,37.835,112.865,1.000,0.000,16.191,1361.352,2156.530,485.694,1160.869,158.140,0.000,1057.045,0.000,929.195,0.000,7.759,0.000
$DEVICE_MAMPS,209.610,97.920,971.550,104.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.270,710.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258168
$DATA_FILE_SIZE,37043,555
$CAP_FILE_SIZE,73222,0
$CFSIZE,260165632,232214528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.161,247.1,1
$GPS,261210,040937,-7625.268,17555.248,18,1.6,29,123.5