version: 66.08
glider: 503
mission: 7
dive: 427
start: 12 26 110 8 16 56
data:
$ID,503
$MISSION,7
$DIVE,427
$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,-20026.639
$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,42
$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
$GPS1,261210,081131,-7624.212,17550.107,8,1.6,13,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-70.3
$GPS2,261210,081628,-7624.230,17549.934,11,3.6,30,123.6
$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,249.4,41989,-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,17,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-87.93,0.000,2,0.000,0.000,164,2796,3413,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-6.7,15,137,8.82,1.58,-9.55,0.000,4,0.210,0.083,2513,3743,3856,0,0,0,0,0,0
$GC,349,-0.84,-219.0,56.5,-19.1,57,356,0.00,1.52,0.00,0.000,6,0.000,0.030,2514,2772,3859,0,0,0,0,0,0
$GC,491,-0.84,-219.0,83.0,-18.6,82,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,630,-0.84,-219.0,108.1,-17.8,103,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,756,-0.84,-219.0,131.2,-18.4,115,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3860,0,0,0,0,0,0
$GC,884,-0.84,-219.0,154.5,-18.7,127,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3860,0,0,0,0,0,0
$GC,1011,-0.84,-219.0,177.6,-17.9,139,1015,0.00,1.60,0.00,0.000,4,0.000,0.049,2507,3749,3860,0,0,0,0,0,0
$GC,1061,-0.84,-219.0,187.4,-19.0,143,1068,0.00,1.48,0.00,0.000,6,0.000,0.030,2506,2785,3860,0,0,1,0,0,0
$GC,1196,-0.84,-219.0,212.4,-18.9,156,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2785,3860,0,0,0,0,0,0
$GC,1322,-0.84,-219.0,236.6,-18.8,168,1326,0.00,1.58,0.00,0.000,4,0.000,0.050,2498,3749,3859,0,0,0,0,0,0
$GC,1360,-0.84,-219.0,244.4,-19.8,171,1368,0.08,1.45,0.00,0.000,6,0.147,0.030,2524,2799,3859,0,0,1,0,0,0
$GC,1495,-0.84,-219.0,266.7,-16.9,184,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2799,3860,0,0,0,0,0,0
$GC,1686,-0.84,-219.0,299.5,-16.9,202,1695,0.00,1.55,0.00,0.000,4,0.000,0.051,2517,3748,3860,0,0,0,0,0,0
$STATE,1700,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1700,begin apogee
$GC,1707,-0.16,0.0,302.2,16.9,203,1887,0.68,0.00,172.18,0.922,4,0.123,0.000,2741,2702,2959,0,0,0,0,0,0
$STATE,1887,end apogee,CONTROL_FINISHED_OK
$STATE,1887,begin climb
$GC,1889,0.84,219.0,312.7,0.0,219,2086,1.00,2.40,188.27,0.867,4,0.078,0.033,3070,1297,2066,0,0,0,0,0,0
$GC,2092,0.89,265.1,302.1,11.4,236,2144,0.00,2.47,42.90,0.829,6,0.000,0.040,3070,2683,1880,0,0,1,0,0,0
$GC,2334,0.89,265.1,268.0,14.6,259,2338,0.00,1.80,0.00,0.000,4,0.000,0.047,3070,3763,1872,0,0,0,0,0,0
$GC,2381,0.89,265.1,260.7,16.3,263,2384,0.00,1.70,0.00,0.000,6,0.000,0.031,3079,2702,1872,0,0,1,0,0,0
$GC,2584,0.89,265.1,230.2,14.1,282,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2701,1871,0,0,0,0,0,0
$GC,2711,0.89,265.1,212.4,14.0,294,2715,0.00,1.73,0.00,0.000,4,0.000,0.048,3079,3764,1870,0,0,0,0,0,0
$GC,2749,0.89,265.1,206.3,16.0,297,2756,0.00,1.70,0.00,0.000,6,0.000,0.031,3087,2710,1870,0,0,0,0,0,0
$GC,2884,0.89,265.1,186.3,14.7,310,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2710,1870,0,0,0,0,0,0
$GC,3011,0.89,265.1,166.8,15.1,322,3014,0.00,1.70,0.00,0.000,4,0.000,0.050,3087,3764,1869,0,0,0,0,0,0
$GC,3056,0.89,265.1,159.2,16.4,326,3060,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2707,1869,0,0,0,0,0,0
$GC,3197,0.89,265.1,137.7,15.2,339,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2706,1869,0,0,0,0,0,0
$GC,3324,0.89,265.1,118.5,15.2,351,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2706,1869,0,0,0,0,0,0
$GC,3451,0.89,265.1,99.8,14.4,363,3458,0.00,1.75,0.00,0.000,4,0.000,0.049,3094,3766,1868,0,0,0,0,0,0
$GC,3482,0.89,265.1,94.8,17.0,368,3489,0.00,1.67,0.00,0.000,6,0.000,0.031,3104,2717,1868,0,0,0,0,0,0
$GC,3624,0.89,265.1,71.9,16.4,393,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2717,1868,0,0,0,0,0,0
$GC,3766,0.89,265.1,49.3,15.9,418,3773,0.00,1.73,0.00,0.000,4,0.000,0.050,3104,3767,1868,0,0,0,0,0,0
$GC,3813,0.89,265.1,41.0,17.7,426,3821,0.00,1.65,0.00,0.000,6,0.000,0.031,3112,2728,1868,0,0,0,0,0,0
$GC,3956,0.89,265.1,17.4,16.9,451,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2727,1868,0,0,0,0,0,0
$FREEZE,8.67,-0.875,-1.896,2,1,0
$FREEZE,7.88,-0.858,-1.896,2,1,0
$FREEZE,6.96,-0.833,-1.895,2,1,0
$FREEZE,6.12,-0.807,-1.894,2,1,0
$FREEZE,5.25,-0.805,-1.894,2,1,0
$FREEZE,4.30,-0.775,-1.892,2,1,0
$FREEZE,3.51,-0.780,-1.892,2,1,0
$FREEZE,2.58,-0.748,-1.891,2,1,0
$STATE,4042,end climb,SURFACE_DEPTH_REACHED
$STATE,4042,begin surface coast
$FREEZE,1.52,-0.737,-1.891,2,1,0
$FREEZE,0.70,-0.747,-1.890,2,1,0
$FREEZE,0.02,-0.789,-1.810,2,1,0
$FINISH,0.0,1.026551
$STATE,4060,end surface coast,CONTROL_FINISHED_OK
$STATE,4060,begin surface
$SM_CCo,4077,25.45,0.101,0,0,1654,320.11
$SM_GC,1.10,0.00,0.00,25.45,0.000,0.000,0.101,181,2785,1654,-8.18,0.14,320.11
$IRIDIUM_FIX,-7536.68,17552.91,261210,070739
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,19.5
$ALTIM_BOTTOM_PING,300.5,7.3
$24V_AH,22.6,40.025
$10V_AH,10.0,15.654
$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,18.300,34.450,403.350,25.450,0.000,29.685,39.543,98.663,1.250,0.000,33.693,1138.661,1637.807,480.229,1012.022,146.585,0.000,980.655,0.000,771.299,0.000,8.761,0.000
$DEVICE_MAMPS,209.610,104.040,921.825,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.850,643.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258220
$DATA_FILE_SIZE,30366,470
$CAP_FILE_SIZE,65530,0
$CFSIZE,260165632,232071168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.248,223.3,1
$GPS,261210,092637,-7623.948,17549.500,39,1.3,39,123.6