version: 66.08
glider: 503
mission: 7
dive: 428
start: 12 26 110 9 31 55
data:
$ID,503
$MISSION,7
$DIVE,428
$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,-20027.896
$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,27
$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
$GPS1,261210,092637,-7623.948,17549.500,39,1.3,39,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-69.3
$GPS2,261210,093126,-7623.961,17549.381,10,1.9,10,123.6
$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,248.8,41436,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-91.03,0.000,2,0.000,0.000,177,2787,3501,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.7,-8.8,15,133,8.85,1.62,-7.22,0.000,4,0.211,0.065,2518,3767,3857,0,0,0,0,0,0
$GC,378,-0.84,-219.0,62.9,-18.7,62,385,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2774,3860,0,0,0,0,0,0
$GC,521,-0.84,-219.0,89.6,-19.5,87,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3860,0,0,0,0,0,0
$GC,664,-0.84,-219.0,116.2,-18.9,105,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,791,-0.84,-219.0,139.2,-17.8,117,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3860,0,0,0,0,0,0
$GC,919,-0.84,-219.0,162.2,-18.0,129,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3861,0,0,0,0,0,0
$GC,1046,-0.84,-219.0,185.7,-18.5,141,1050,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3766,3861,0,0,0,0,0,0
$GC,1094,-0.84,-219.0,195.0,-17.5,145,1102,0.00,1.52,0.00,0.000,6,0.000,0.030,2510,2792,3861,0,0,0,0,0,0
$GC,1230,-0.84,-219.0,218.7,-18.0,158,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2791,3861,0,0,0,0,0,0
$GC,1357,-0.84,-219.0,242.2,-18.8,170,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2791,3861,0,0,0,0,0,0
$GC,1484,-0.84,-219.0,265.5,-18.0,182,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2791,3861,0,0,0,0,0,0
$GC,1675,-0.84,-219.0,299.9,-17.4,200,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2791,3861,0,0,0,0,0,0
$STATE,1688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1688,begin apogee
$GC,1693,-0.16,0.0,301.7,17.0,201,1873,0.70,0.00,172.40,0.916,4,0.125,0.000,2742,2686,2959,0,0,0,0,0,0
$STATE,1874,end apogee,CONTROL_FINISHED_OK
$STATE,1874,begin climb
$GC,1876,0.84,219.0,310.2,0.0,217,2073,1.00,2.38,188.30,0.862,4,0.079,0.033,3070,1310,2067,0,0,0,0,0,0
$GC,2091,0.86,236.4,295.0,12.6,235,2113,0.00,2.45,17.12,0.796,6,0.000,0.040,3070,2697,1995,0,0,1,0,0,0
$GC,2312,0.86,236.4,265.1,14.0,256,2316,0.00,1.77,0.00,0.000,4,0.000,0.049,3070,3765,1989,0,0,0,0,0,0
$GC,2357,0.86,236.4,258.3,16.7,260,2361,0.00,1.67,0.00,0.000,6,0.000,0.030,3078,2717,1988,0,0,1,0,0,0
$GC,2561,0.86,236.4,229.5,14.2,279,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2717,1987,0,0,0,0,0,0
$GC,2688,0.86,236.4,211.0,14.9,291,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2717,1986,0,0,0,0,0,0
$GC,2815,0.86,236.4,192.6,14.1,303,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2717,1986,0,0,0,0,0,0
$GC,2943,0.86,236.4,174.6,14.2,315,2947,0.00,1.70,0.00,0.000,4,0.000,0.048,3078,3774,1985,0,0,0,0,0,0
$GC,2969,0.86,236.4,170.1,15.6,317,2977,0.00,1.70,0.00,0.000,6,0.000,0.030,3087,2709,1985,0,0,0,0,0,0
$GC,3104,0.86,236.4,150.5,14.8,330,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2709,1985,0,0,0,0,0,0
$GC,3232,0.86,236.4,131.9,14.6,342,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2708,1985,0,0,0,0,0,0
$GC,3359,0.86,236.4,113.8,14.3,354,3362,0.00,1.70,0.00,0.000,4,0.000,0.049,3087,3770,1984,0,0,0,0,0,0
$GC,3408,0.86,236.4,105.8,16.5,358,3415,0.00,1.67,0.00,0.000,6,0.000,0.031,3095,2703,1984,0,0,1,0,0,0
$GC,3547,0.86,236.4,84.7,15.4,380,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2703,1984,0,0,0,0,0,0
$GC,3689,0.86,236.4,63.3,15.8,405,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2703,1984,0,0,0,0,0,0
$GC,3829,0.86,236.4,41.9,14.9,430,3836,0.00,1.75,0.00,0.000,4,0.000,0.049,3095,3789,1984,0,0,0,0,0,0
$GC,3871,0.86,236.4,34.9,17.2,437,3878,0.05,1.70,0.00,0.000,6,0.152,0.031,3075,2719,1983,0,0,0,0,0,0
$GC,4011,0.89,264.8,16.3,12.2,462,4037,0.00,0.00,23.85,0.763,6,0.000,0.000,3075,2719,1879,0,0,0,0,0,0
$FREEZE,8.55,-0.444,-1.897,2,1,0
$FREEZE,7.86,-0.445,-1.896,2,1,0
$FREEZE,7.17,-0.446,-1.896,2,1,0
$FREEZE,6.40,-0.447,-1.895,2,1,0
$FREEZE,5.68,-0.445,-1.895,2,1,0
$FREEZE,4.73,-0.442,-1.894,2,1,0
$FREEZE,4.04,-0.446,-1.893,2,1,0
$FREEZE,3.30,-0.449,-1.893,2,1,0
$FREEZE,2.54,-0.450,-1.892,2,1,0
$STATE,4108,end climb,SURFACE_DEPTH_REACHED
$STATE,4108,begin surface coast
$FREEZE,1.31,-0.446,-1.891,2,1,0
$FREEZE,0.68,-0.445,-1.891,2,1,0
$FREEZE,-0.04,-0.446,-1.890,2,1,0
$FREEZE,-0.03,-0.529,-1.878,2,1,0
$FINISH,-0.0,1.027515
$STATE,4130,end surface coast,CONTROL_FINISHED_OK
$STATE,4131,begin surface
$SM_CCo,4147,27.58,0.102,0,0,1654,320.11
$SM_GC,1.49,0.00,0.00,27.58,0.000,0.000,0.102,176,2802,1654,-8.20,0.62,320.11
$IRIDIUM_FIX,-7536.68,17553.56,261210,080807
$TT8_MAMPS,0.026964
$HUMID,52.40
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$ALTIM_BOTTOM_PING,301.7,7.3
$24V_AH,22.6,40.134
$10V_AH,10.0,15.693
$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,18.275,25.025,401.675,27.575,0.000,28.220,36.935,114.530,1.250,0.000,12.608,1172.561,1683.887,465.043,1015.379,142.424,0.000,959.924,0.000,780.104,0.000,11.584,0.000
$DEVICE_MAMPS,211.140,94.095,916.470,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.336,666.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,30337,483
$CAP_FILE_SIZE,64566,0
$CFSIZE,260165632,232030208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.191,209.4,1
$GPS,261210,104236,-7623.682,17549.508,10,1.4,26,123.6