version: 66.08
glider: 503
mission: 7
dive: 429
start: 12 26 110 10 47 54
data:
$ID,503
$MISSION,7
$DIVE,429
$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,-20029.156
$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,42
$R_STBD_OVSHOOT,45
$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
$GPS1,261210,104236,-7623.682,17549.508,10,1.4,26,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.6
$GPS2,261210,104726,-7623.696,17549.410,14,1.8,14,123.6
$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,233.5,41027,-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,-219.0,0.0,0.0,0,105,0.00,0.00,-87.30,0.000,2,0.000,0.000,174,2803,3394,0,0,0,0,0,0
$GC,108,-0.84,-219.0,3.1,-5.7,15,135,8.93,1.52,-10.20,0.000,4,0.214,0.065,2516,3747,3854,0,0,0,0,0,0
$GC,375,-0.84,-219.0,59.5,-18.6,62,382,0.00,1.52,0.00,0.000,6,0.000,0.029,2516,2772,3858,0,0,0,0,0,0
$GC,516,-0.84,-219.0,86.5,-19.1,87,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2772,3858,0,0,0,0,0,0
$GC,655,-0.84,-219.0,112.6,-18.9,106,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2772,3857,0,0,0,0,0,0
$GC,783,-0.84,-219.0,137.1,-19.2,118,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2772,3858,0,0,0,0,0,0
$GC,910,-0.84,-219.0,161.3,-18.8,130,914,0.00,1.58,0.00,0.000,4,0.000,0.050,2509,3735,3857,0,0,0,0,0,0
$GC,936,-0.84,-219.0,167.0,-18.8,132,944,0.00,1.45,0.00,0.000,6,0.000,0.030,2509,2794,3858,0,0,1,0,0,0
$GC,1071,-0.84,-219.0,192.3,-19.1,145,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2794,3857,0,0,0,0,0,0
$GC,1199,-0.84,-219.0,215.9,-19.0,157,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3858,0,0,0,0,0,0
$GC,1326,-0.84,-219.0,239.6,-18.6,169,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2794,3858,0,0,0,0,0,0
$GC,1453,-0.84,-219.0,263.1,-18.4,181,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2794,3858,0,0,0,0,0,0
$GC,1646,-0.84,-219.0,298.1,-18.5,199,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3858,0,0,0,0,0,0
$STATE,1656,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1656,begin apogee
$GC,1662,-0.16,0.0,300.1,18.8,200,1841,0.73,0.00,171.70,0.916,4,0.126,0.000,2745,2680,2960,0,0,0,0,0,0
$STATE,1842,end apogee,CONTROL_FINISHED_OK
$STATE,1842,begin climb
$GC,1844,0.84,219.0,311.1,0.0,216,2041,0.98,2.35,188.30,0.866,4,0.077,0.032,3068,1311,2067,0,0,0,0,0,0
$GC,2221,0.86,235.5,279.2,12.7,249,2244,0.00,2.35,15.15,0.812,6,0.000,0.041,3068,2686,1999,0,0,0,0,0,0
$GC,2438,0.86,237.0,251.2,13.3,269,2442,0.00,2.25,0.00,0.000,4,0.000,0.033,3078,1321,1995,0,0,0,0,0,0
$GC,2583,0.87,243.9,231.8,13.1,281,2602,0.00,2.30,8.23,0.767,6,0.000,0.041,3078,2715,1965,0,0,1,0,0,0
$GC,2729,0.87,243.9,212.0,13.3,295,2732,0.00,1.70,0.00,0.000,4,0.000,0.050,3078,3769,1964,0,0,0,0,0,0
$GC,2763,0.87,243.9,206.9,15.1,298,2767,0.00,1.62,0.00,0.000,6,0.000,0.031,3086,2713,1964,0,0,1,0,0,0
$GC,2903,0.87,243.9,186.8,13.9,311,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2711,1963,0,0,0,0,0,0
$GC,3030,0.87,243.9,168.6,14.3,323,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2712,1963,0,0,0,0,0,0
$GC,3157,0.87,243.9,150.6,13.8,335,3161,0.00,1.70,0.00,0.000,4,0.000,0.049,3086,3769,1963,0,0,0,0,0,0
$GC,3191,0.87,243.9,145.5,16.2,338,3195,0.00,1.62,0.00,0.000,6,0.000,0.031,3095,2703,1962,0,0,1,0,0,0
$GC,3331,0.87,243.9,124.7,14.7,351,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2702,1962,0,0,0,0,0,0
$GC,3458,0.87,243.9,105.4,15.1,363,3462,0.00,1.73,0.00,0.000,4,0.000,0.049,3095,3751,1962,0,0,0,0,0,0
$GC,3497,0.87,243.9,98.8,16.8,367,3504,0.00,1.62,0.00,0.000,6,0.000,0.030,3103,2724,1962,0,0,0,0,0,0
$GC,3641,0.87,243.9,76.3,15.2,392,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2724,1962,0,0,0,0,0,0
$GC,3784,0.87,243.9,53.4,16.3,417,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2724,1961,0,0,0,0,0,0
$GC,3923,0.87,243.9,31.9,15.5,442,3930,0.00,1.70,0.00,0.000,4,0.000,0.048,3103,3765,1962,0,0,0,0,0,0
$GC,3958,0.87,243.9,25.7,17.5,448,3967,0.08,1.62,0.00,0.000,6,0.151,0.031,3085,2737,1961,0,0,0,0,0,0
$FREEZE,8.82,-0.479,-1.897,2,1,0
$FREEZE,7.89,-0.481,-1.896,2,1,0
$FREEZE,7.11,-0.481,-1.896,2,1,0
$FREEZE,6.56,-0.485,-1.895,2,1,0
$FREEZE,5.78,-0.484,-1.895,2,1,0
$FREEZE,4.99,-0.490,-1.894,2,1,0
$GC,4102,0.87,243.9,5.0,13.7,473,4108,0.00,1.67,0.00,0.000,4,0.000,0.049,3085,3763,1961,0,0,0,0,0,0
$FREEZE,2.56,-0.483,-1.892,2,1,0
$STATE,4115,end climb,SURFACE_DEPTH_REACHED
$STATE,4115,begin surface coast
$FREEZE,1.77,-0.484,-1.892,2,1,0
$FREEZE,0.97,-0.487,-1.891,2,1,0
$FREEZE,0.22,-0.489,-1.891,2,1,0
$FINISH,0.2,1.027681
$STATE,4131,end surface coast,CONTROL_FINISHED_OK
$STATE,4132,begin surface
$SM_CCo,4149,37.38,0.101,0,0,1655,320.11
$SM_GC,0.62,0.00,0.00,37.38,0.000,0.000,0.101,189,2773,1655,-8.16,-0.23,320.11
$IRIDIUM_FIX,-7536.68,17543.79,261210,090913
$TT8_MAMPS,0.027713
$HUMID,52.48
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,300.1,7.5
$24V_AH,22.6,40.240
$10V_AH,10.0,15.733
$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,18.325,32.000,383.375,37.375,0.000,29.029,43.882,104.405,1.250,0.000,16.755,1168.930,1665.869,470.296,1044.778,142.174,0.000,978.042,0.000,808.734,0.000,8.764,0.000
$DEVICE_MAMPS,214.200,80.325,916.470,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.889,656.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258200
$DATA_FILE_SIZE,30388,478
$CAP_FILE_SIZE,65927,0
$CFSIZE,260165632,231985152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.188,195.4,1
$GPS,261210,115832,-7623.461,17549.203,11,1.4,11,123.6