version: 66.08
glider: 503
mission: 7
dive: 425
start: 12 26 110 5 40 30
data:
$ID,503
$MISSION,7
$DIVE,425
$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,-20024.119
$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,45
$R_STBD_OVSHOOT,41
$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
$GPS1,261210,053456,-7624.712,17552.982,29,1.7,29,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.9
$GPS2,261210,054002,-7624.718,17552.816,13,1.7,13,123.6
$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,238.1,43440,-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,-219.0,0.0,0.0,0,110,0.00,0.00,-92.00,0.000,2,0.000,0.000,168,2807,3531,0,0,0,0,0,0
$GC,113,-0.84,-219.0,4.1,-9.9,15,134,8.80,2.38,-6.43,0.000,4,0.207,0.054,2521,1365,3855,0,0,0,0,0,0
$GC,385,-0.84,-219.0,59.5,-16.0,63,392,0.00,2.30,0.00,0.000,6,0.000,0.044,2510,2773,3859,0,0,0,0,0,0
$GC,527,-0.84,-219.0,86.4,-19.0,88,534,0.00,2.22,0.00,0.000,4,0.000,0.032,2510,1369,3859,0,0,0,0,0,0
$GC,568,-0.84,-219.0,94.3,-18.4,95,575,0.00,2.30,0.00,0.000,6,0.000,0.045,2500,2781,3859,0,0,0,0,0,0
$GC,709,-0.84,-219.0,122.7,-20.5,111,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2781,3859,0,0,0,0,0,0
$GC,837,-0.84,-219.0,148.6,-20.3,123,841,0.00,1.58,0.00,0.000,4,0.000,0.051,2493,3758,3859,0,0,0,0,0,0
$GC,872,-0.84,-219.0,156.1,-22.1,126,876,0.10,1.52,0.00,0.000,6,0.142,0.031,2541,2786,3859,0,0,0,0,0,0
$GC,1011,-0.84,-219.0,179.5,-16.0,139,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2786,3860,0,0,0,0,0,0
$GC,1141,-0.84,-219.0,199.6,-15.5,151,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2786,3860,0,0,0,0,0,0
$GC,1275,-0.84,-219.0,220.9,-15.2,164,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2786,3860,0,0,0,0,0,0
$GC,1403,-0.84,-219.0,240.6,-15.5,176,1406,0.00,1.60,0.00,0.000,4,0.000,0.050,2535,3766,3860,0,0,0,0,0,0
$GC,1441,-0.84,-219.0,247.0,-16.7,179,1448,0.00,1.52,0.00,0.000,6,0.000,0.030,2535,2781,3860,0,0,0,0,0,0
$GC,1575,-0.84,-219.0,267.7,-15.4,192,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2782,3859,0,0,0,0,0,0
$GC,1767,-0.84,-219.0,296.8,-15.1,210,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2782,3860,0,0,0,0,0,0
$GC,1958,-0.84,-219.0,326.5,-15.7,228,1961,0.00,1.60,0.00,0.000,4,0.000,0.050,2527,3764,3859,0,0,0,0,0,0
$GC,2016,-0.84,-219.0,336.4,-17.6,233,2020,0.00,1.50,0.00,0.000,6,0.000,0.031,2528,2799,3859,0,0,0,0,0,0
$STATE,2105,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2105,begin apogee
$GC,2111,-0.16,0.0,351.3,16.8,241,2292,0.65,0.00,172.95,0.955,4,0.121,0.000,2744,2683,2959,0,0,0,0,0,0
$STATE,2293,end apogee,CONTROL_FINISHED_OK
$STATE,2293,begin climb
$GC,2295,0.84,219.0,361.8,0.0,257,2493,1.00,2.38,189.07,0.905,4,0.077,0.033,3073,1310,2067,0,0,0,0,0,0
$GC,2664,0.85,226.1,328.3,13.0,289,2676,0.00,2.40,6.47,0.734,6,0.000,0.041,3073,2704,2038,0,0,0,0,0,0
$GC,2868,0.85,226.1,300.5,13.4,308,2872,0.00,2.30,0.00,0.000,4,0.000,0.033,3083,1309,2035,0,0,0,0,0,0
$GC,3034,0.86,239.4,277.8,12.8,322,3053,0.00,2.33,13.25,0.844,6,0.000,0.041,3083,2708,1983,0,0,0,0,0,0
$GC,3245,0.86,239.4,246.5,15.4,342,3248,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3771,1981,0,0,0,0,0,0
$GC,3282,0.86,239.4,239.7,17.6,345,3290,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2724,1980,0,0,1,0,0,0
$GC,3417,0.86,239.4,219.3,15.2,358,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2723,1980,0,0,0,0,0,0
$GC,3545,0.86,239.4,199.9,15.1,370,3546,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2724,1980,0,0,0,0,0,0
$GC,3672,0.86,239.4,181.3,14.2,382,3676,0.00,1.67,0.00,0.000,4,0.000,0.048,3092,3768,1979,0,0,0,0,0,0
$GC,3699,0.86,239.4,176.6,16.0,384,3708,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2714,1979,0,0,1,0,0,0
$GC,3836,0.86,239.4,156.1,15.2,397,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2715,1979,0,0,0,0,0,0
$GC,3962,0.86,239.4,136.5,15.7,409,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2714,1978,0,0,0,0,0,0
$GC,4089,0.86,239.4,116.9,15.3,421,4092,0.00,1.67,0.00,0.000,4,0.000,0.049,3100,3765,1978,0,0,0,0,0,0
$GC,4135,0.86,239.4,109.0,17.9,425,4139,0.12,1.65,0.00,0.000,6,0.164,0.031,3074,2698,1978,0,0,0,0,0,0
$GC,4273,0.87,240.9,89.8,13.3,444,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2698,1978,0,0,0,0,0,0
$GC,4414,0.88,256.0,71.5,12.7,469,4432,0.00,0.00,15.23,0.789,6,0.000,0.000,3074,2697,1916,0,0,0,0,0,0
$GC,4570,0.90,273.1,50.9,12.6,496,4592,0.00,1.80,16.55,0.769,4,0.000,0.048,3074,3766,1846,0,0,0,0,0,0
$GC,4615,0.90,273.1,44.5,14.8,503,4622,0.00,1.67,0.00,0.000,6,0.000,0.031,3081,2723,1846,0,0,0,0,0,0
$GC,4758,0.90,273.1,24.5,13.8,528,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2723,1845,0,0,0,0,0,0
$FREEZE,8.20,-0.995,-1.895,2,1,0
$FREEZE,7.49,-0.995,-1.894,2,1,0
$FREEZE,6.80,-0.995,-1.894,2,1,0
$FREEZE,5.96,-0.995,-1.893,2,1,0
$FREEZE,5.24,-0.994,-1.892,2,1,0
$FREEZE,4.45,-0.994,-1.892,2,1,0
$FREEZE,3.61,-0.994,-1.891,2,1,0
$GC,4901,0.90,273.1,3.6,14.7,553,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2723,1844,0,0,0,0,0,0
$FREEZE,1.35,-0.994,-1.890,2,1,0
$STATE,4913,end climb,SURFACE_DEPTH_REACHED
$STATE,4913,begin surface coast
$FREEZE,0.77,-0.993,-1.889,2,1,0
$FREEZE,0.28,-0.995,-1.889,2,1,0
$FREEZE,0.24,-0.996,-1.889,2,1,0
$FREEZE,0.15,-0.994,-1.889,2,1,0
$FINISH,0.2,1.027675
$STATE,4935,end surface coast,CONTROL_FINISHED_OK
$STATE,4936,begin surface
$SM_CCo,4953,22.70,0.103,0,0,1655,320.11
$SM_GC,1.45,0.00,0.00,22.70,0.000,0.000,0.103,168,2801,1655,-8.21,0.59,320.11
$IRIDIUM_FIX,-7536.68,17611.76,261210,040423
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,20.6
$ALTIM_BOTTOM_PING,351.3,7.3
$24V_AH,22.5,39.802
$10V_AH,9.9,15.578
$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,18.325,41.625,413.525,22.700,0.000,30.818,36.934,123.648,2.250,0.000,16.663,1377.541,2066.105,488.886,1203.571,159.617,0.000,1069.039,0.000,939.678,0.000,16.121,0.000
$DEVICE_MAMPS,207.315,94.095,954.720,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.813,730.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258256
$DATA_FILE_SIZE,37048,559
$CAP_FILE_SIZE,76375,0
$CFSIZE,260165632,232128512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.252,228.2,1
$GPS,261210,070454,-7624.415,17550.926,31,1.1,49,123.6