version: 66.08
glider: 503
mission: 7
dive: 432
start: 12 26 110 15 13 2
data:
$ID,503
$MISSION,7
$DIVE,432
$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,-20032.928
$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,43
$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
$GPS1,261210,150506,-7622.600,17548.047,36,1.0,36,123.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.3
$GPS2,261210,151232,-7622.610,17548.053,14,1.8,14,123.5
$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,211.1,39009,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-89.88,0.000,2,0.000,0.000,174,2806,3459,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.5,-8.0,15,138,8.88,2.35,-8.25,0.000,4,0.210,0.044,2523,1370,3856,0,0,0,0,0,0
$GC,388,-0.84,-219.0,59.1,-17.0,64,395,0.00,2.28,0.00,0.000,6,0.000,0.044,2513,2763,3859,0,0,0,0,0,0
$GC,531,-0.84,-219.0,85.8,-18.8,89,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2763,3859,0,0,0,0,0,0
$GC,670,-0.84,-219.0,112.5,-18.9,108,673,0.00,1.62,0.00,0.000,4,0.000,0.051,2505,3794,3859,0,0,0,0,0,0
$GC,704,-0.84,-219.0,119.5,-20.8,111,708,0.00,1.60,0.00,0.000,6,0.000,0.031,2505,2774,3859,0,0,0,0,0,0
$GC,844,-0.84,-219.0,147.7,-20.4,124,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3859,0,0,0,0,0,0
$GC,971,-0.84,-219.0,172.3,-19.5,136,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3859,0,0,0,0,0,0
$GC,1099,-0.84,-219.0,196.3,-18.5,148,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3859,0,0,0,0,0,0
$GC,1226,-0.84,-219.0,220.8,-19.7,160,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3860,0,0,0,0,0,0
$GC,1354,-0.84,-219.0,245.7,-19.4,172,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3860,0,0,0,0,0,0
$GC,1482,-0.84,-219.0,270.3,-18.8,184,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2773,3859,0,0,0,0,0,0
$GC,1673,-0.84,-219.0,305.9,-17.8,202,1676,0.00,1.62,0.00,0.000,4,0.000,0.050,2497,3795,3860,0,0,0,0,0,0
$GC,1719,-0.84,-219.0,314.5,-18.1,206,1723,0.05,1.58,0.00,0.000,6,0.153,0.030,2530,2784,3859,0,0,0,0,0,0
$GC,1923,-0.84,-219.0,346.4,-15.3,225,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2783,3859,0,0,0,0,0,0
$STATE,2110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2110,begin apogee
$GC,2116,-0.16,0.0,375.5,15.5,243,2296,0.62,0.00,174.02,0.965,4,0.122,0.000,2740,2683,2959,0,0,0,0,0,0
$STATE,2297,end apogee,CONTROL_FINISHED_OK
$STATE,2297,begin climb
$GC,2299,0.84,219.0,384.6,0.0,259,2498,1.00,2.38,190.02,0.916,4,0.077,0.034,3068,1314,2067,0,0,0,0,0,0
$GC,2690,0.84,219.0,347.6,13.3,293,2694,0.00,2.38,0.00,0.000,6,0.000,0.041,3068,2701,2059,0,0,0,0,0,0
$GC,2888,0.84,219.0,320.4,13.7,311,2892,0.00,2.30,0.00,0.000,4,0.000,0.034,3079,1313,2056,0,0,0,0,0,0
$GC,3061,0.84,219.0,296.5,13.8,326,3069,0.00,2.33,0.00,0.000,6,0.000,0.042,3079,2711,2055,0,0,0,0,0,0
$GC,3259,0.84,219.0,268.4,14.5,345,3262,0.00,1.67,0.00,0.000,4,0.000,0.047,3079,3761,2053,0,0,0,0,0,0
$GC,3327,0.84,219.0,257.7,15.8,351,3331,0.00,1.65,0.00,0.000,6,0.000,0.031,3087,2700,2053,0,0,0,0,0,0
$GC,3531,0.84,219.0,227.7,14.5,370,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2699,2053,0,0,0,0,0,0
$GC,3658,0.84,219.0,209.2,14.6,382,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2699,2053,0,0,0,0,0,0
$GC,3785,0.84,219.0,190.7,14.3,394,3789,0.00,1.70,0.00,0.000,4,0.000,0.048,3088,3762,2053,0,0,0,0,0,0
$GC,3844,0.84,219.0,181.6,16.2,399,3848,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2693,2052,0,0,0,0,0,0
$GC,3984,0.84,219.0,160.9,14.0,412,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2692,2052,0,0,0,0,0,0
$GC,4111,0.84,219.0,142.5,14.4,424,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2692,2052,0,0,0,0,0,0
$GC,4239,0.84,219.0,123.9,14.4,436,4243,0.00,1.75,0.00,0.000,4,0.000,0.049,3096,3760,2051,0,0,0,0,0,0
$GC,4288,0.84,219.0,115.4,17.0,440,4296,0.10,1.65,0.00,0.000,6,0.146,0.031,3072,2716,2052,0,0,0,0,0,0
$GC,4423,0.85,231.5,97.6,12.8,454,4437,0.00,0.00,9.70,0.789,6,0.000,0.000,3071,2717,2015,0,0,0,0,0,0
$GC,4574,0.88,255.5,79.2,12.4,480,4606,0.00,1.75,22.83,0.791,4,0.000,0.049,3071,3766,1918,0,0,1,0,0,0
$GC,4629,0.88,255.5,71.3,14.2,489,4636,0.00,1.70,0.00,0.000,6,0.000,0.031,3080,2705,1917,0,0,0,0,0,0
$GC,4773,0.88,255.5,51.0,14.4,514,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2705,1915,0,0,0,0,0,0
$GC,4915,0.88,255.5,31.0,14.1,539,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2705,1915,0,0,0,0,0,0
$GC,5054,0.88,255.5,11.0,14.3,564,5061,0.00,1.73,0.00,0.000,4,0.000,0.048,3079,3760,1914,0,0,0,0,0,0
$FREEZE,8.88,-0.458,-1.896,2,1,0
$FREEZE,7.96,-0.453,-1.895,2,1,0
$FREEZE,7.26,-0.451,-1.894,2,1,0
$FREEZE,6.37,-0.453,-1.894,2,1,0
$FREEZE,5.55,-0.452,-1.893,2,1,0
$FREEZE,4.67,-0.452,-1.893,2,1,0
$FREEZE,3.91,-0.453,-1.892,2,1,0
$FREEZE,3.12,-0.451,-1.891,2,1,0
$FREEZE,2.34,-0.452,-1.891,2,1,0
$STATE,5109,end climb,SURFACE_DEPTH_REACHED
$STATE,5109,begin surface coast
$FREEZE,1.51,-0.457,-1.890,2,1,0
$FINISH,1.5,1.027662
$STATE,5118,end surface coast,CONTROL_FINISHED_OK
$STATE,5118,begin surface
$SM_CCo,5136,32.25,0.102,0,0,1654,320.11
$SM_GC,1.12,0.00,0.00,32.25,0.000,0.000,0.102,172,2780,1654,-8.21,0.00,320.11
$IRIDIUM_FIX,-7536.68,17553.56,261210,151541
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.4
$24V_AH,22.5,40.585
$10V_AH,10.0,15.870
$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,18.250,37.325,396.575,32.250,0.000,50.511,101.494,116.601,1.000,0.000,17.516,1408.590,2284.497,475.294,1301.966,158.406,0.000,1059.867,0.000,965.110,0.000,7.757,0.000
$DEVICE_MAMPS,210.375,80.325,965.430,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.603,737.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258144
$DATA_FILE_SIZE,37031,575
$CAP_FILE_SIZE,75028,0
$CFSIZE,260165632,231841792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.095,173.7,1
$GPS,261210,164037,-7622.165,17546.938,46,0.9,47,123.5