version: 66.08
glider: 503
mission: 7
dive: 424
start: 12 26 110 4 15 21
data:
$ID,503
$MISSION,7
$DIVE,424
$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,-20022.861
$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,44
$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
$GPS1,261210,040937,-7625.268,17555.248,18,1.6,29,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-72.2
$GPS2,261210,041453,-7625.264,17555.115,15,2.5,34,123.6
$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,230.6,44845,-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,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-91.90,0.000,2,0.000,0.000,158,2791,3517,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.8,-8.7,15,135,8.93,2.35,-6.85,0.000,4,0.211,0.045,2522,1365,3855,0,0,0,0,0,0
$GC,381,-0.84,-219.0,58.5,-16.0,62,388,0.00,2.30,0.00,0.000,6,0.000,0.043,2511,2775,3859,0,0,0,0,0,0
$GC,522,-0.84,-219.0,84.7,-18.9,87,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2775,3859,0,0,0,0,0,0
$GC,661,-0.84,-219.0,111.2,-18.9,107,664,0.00,1.60,0.00,0.000,4,0.000,0.050,2504,3766,3860,0,0,0,0,0,0
$GC,699,-0.84,-219.0,119.2,-20.8,110,706,0.00,1.52,0.00,0.000,6,0.000,0.030,2504,2789,3859,0,0,0,0,0,0
$GC,834,-0.84,-219.0,145.3,-19.5,123,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2789,3859,0,0,0,0,0,0
$GC,961,-0.84,-219.0,170.7,-20.3,135,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3860,0,0,0,0,0,0
$GC,1088,-0.84,-219.0,196.3,-20.3,147,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2789,3860,0,0,0,0,0,0
$GC,1216,-0.84,-219.0,222.0,-20.0,159,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2789,3860,0,0,0,0,0,0
$GC,1343,-0.84,-219.0,247.0,-19.2,171,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2789,3860,0,0,0,0,0,0
$GC,1470,-0.84,-219.0,271.4,-18.8,183,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2789,3860,0,0,0,0,0,0
$GC,1663,-0.84,-219.0,306.5,-18.3,201,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2789,3860,0,0,0,0,0,0
$GC,1853,-0.84,-219.0,341.9,-18.5,219,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2789,3860,0,0,0,0,0,0
$STATE,1908,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1908,begin apogee
$GC,1914,-0.16,0.0,351.7,18.3,224,2094,0.73,0.00,173.73,0.950,4,0.125,0.000,2742,2685,2960,0,0,0,0,0,0
$STATE,2095,end apogee,CONTROL_FINISHED_OK
$STATE,2095,begin climb
$GC,2097,0.84,219.0,361.4,0.0,240,2295,1.00,2.38,189.50,0.900,4,0.077,0.033,3071,1314,2067,0,0,0,0,0,0
$GC,2308,0.86,238.1,347.5,12.6,258,2332,0.00,2.45,19.05,0.838,6,0.000,0.039,3071,2698,1988,0,0,1,0,0,0
$GC,2524,0.86,238.1,316.4,14.8,278,2528,0.00,1.80,0.00,0.000,4,0.000,0.049,3071,3770,1981,0,0,0,0,0,0
$GC,2573,0.86,238.1,307.8,16.1,282,2580,0.00,1.73,0.00,0.000,6,0.000,0.028,3079,2717,1980,0,0,1,0,0,0
$GC,2772,0.86,238.1,279.1,14.4,301,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2717,1979,0,0,0,0,0,0
$GC,2964,0.86,238.1,251.2,14.3,319,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2717,1978,0,0,0,0,0,0
$GC,3154,0.86,238.1,223.8,14.5,337,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2717,1977,0,0,0,0,0,0
$GC,3281,0.86,238.1,205.6,14.1,349,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2718,1977,0,0,0,0,0,0
$GC,3408,0.86,238.1,188.0,14.0,361,3412,0.00,1.73,0.00,0.000,4,0.000,0.049,3079,3754,1977,0,0,0,0,0,0
$GC,3443,0.86,238.1,182.7,15.4,364,3447,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2702,1976,0,0,1,0,0,0
$GC,3583,0.86,238.1,162.5,14.4,377,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2701,1976,0,0,0,0,0,0
$GC,3710,0.86,238.1,144.4,14.2,389,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2701,1976,0,0,0,0,0,0
$GC,3838,0.86,238.1,126.3,14.3,401,3841,0.00,1.75,0.00,0.000,4,0.000,0.048,3087,3766,1976,0,0,0,0,0,0
$GC,3887,0.86,238.1,118.2,16.6,405,3894,0.00,1.67,0.00,0.000,6,0.000,0.030,3096,2702,1975,0,0,0,0,0,0
$GC,4022,0.86,238.1,98.2,15.3,419,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2702,1975,0,0,0,0,0,0
$GC,4163,0.86,238.1,76.8,15.0,444,4170,0.00,1.73,0.00,0.000,4,0.000,0.049,3096,3756,1976,0,0,0,0,0,0
$GC,4215,0.86,238.1,68.0,17.2,453,4222,0.00,1.65,0.00,0.000,6,0.000,0.031,3104,2714,1976,0,0,0,0,0,0
$GC,4358,0.86,238.1,46.0,15.9,478,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2714,1975,0,0,0,0,0,0
$GC,4499,0.86,238.1,23.4,15.4,503,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2714,1975,0,0,0,0,0,0
$FREEZE,8.96,-0.904,-1.895,2,1,0
$FREEZE,8.07,-0.904,-1.895,2,1,0
$FREEZE,7.33,-0.897,-1.894,2,1,0
$FREEZE,6.45,-0.898,-1.893,2,1,0
$FREEZE,5.78,-0.902,-1.893,2,1,0
$FREEZE,4.97,-0.904,-1.892,2,1,0
$FREEZE,4.07,-0.901,-1.892,2,1,0
$FREEZE,3.12,-0.898,-1.891,2,1,0
$FREEZE,2.43,-0.898,-1.890,2,1,0
$STATE,4634,end climb,SURFACE_DEPTH_REACHED
$STATE,4634,begin surface coast
$FREEZE,1.21,-0.896,-1.889,2,1,0
$FREEZE,0.37,-0.899,-1.889,2,1,0
$FREEZE,-0.04,-0.900,-0.921,2,1,0
$FINISH,-0.0,1.013607
$STATE,4651,end surface coast,CONTROL_FINISHED_OK
$STATE,4651,begin surface
$SM_CCo,4668,38.33,0.102,0,0,1654,320.11
$SM_GC,0.74,0.00,0.00,38.33,0.000,0.000,0.102,174,2805,1654,-8.21,0.68,320.11
$IRIDIUM_FIX,-7536.68,17552.91,261210,020203
$TT8_MAMPS,0.027713
$HUMID,53.11
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,20.1
$ALTIM_BOTTOM_PING,351.7,7.3
$24V_AH,22.5,39.685
$10V_AH,9.9,15.533
$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,18.325,26.525,382.275,38.325,0.000,24.468,48.563,107.698,1.750,0.000,37.856,1295.330,2017.283,466.137,1109.794,147.045,0.000,989.270,0.000,845.332,0.000,13.304,0.000
$DEVICE_MAMPS,211.140,85.680,950.130,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.078,695.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33697,530
$CAP_FILE_SIZE,67643,0
$CFSIZE,260165632,232181760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.194,238.9,1
$GPS,261210,053456,-7624.712,17552.982,29,1.7,29,123.6