version: 66.08
glider: 503
mission: 7
dive: 433
start: 12 26 110 16 50 20
data:
$ID,503
$MISSION,7
$DIVE,433
$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,1
$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,-20034.186
$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,48
$R_STBD_OVSHOOT,29
$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
$GPS1,261210,164037,-7622.165,17546.938,46,0.9,47,123.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.8
$GPS2,261210,164950,-7622.171,17546.932,13,1.0,13,123.5
$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,210.4,38057,-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,16,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-89.62,0.000,2,0.000,0.000,162,2779,3451,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-6.5,15,138,8.90,2.30,-8.57,0.000,4,0.209,0.046,2522,1377,3857,0,0,0,0,0,0
$GC,389,-0.84,-219.0,57.0,-16.4,64,396,0.00,2.30,0.00,0.000,6,0.000,0.045,2512,2779,3859,0,0,0,0,0,0
$GC,532,-0.84,-219.0,82.9,-18.2,89,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,676,-0.84,-219.0,110.7,-18.8,110,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,804,-0.84,-219.0,134.7,-18.9,122,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,931,-0.84,-219.0,158.1,-17.8,134,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,1059,-0.84,-219.0,181.8,-18.8,146,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2779,3860,0,0,0,0,0,0
$GC,1186,-0.84,-219.0,205.5,-18.8,158,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,1314,-0.84,-219.0,229.0,-18.4,170,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,1441,-0.84,-219.0,252.1,-18.1,182,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,1631,-0.84,-219.0,286.5,-17.4,200,1635,0.00,1.58,0.00,0.000,4,0.000,0.050,2504,3760,3860,0,0,0,0,0,0
$GC,1669,-0.84,-219.0,293.9,-18.6,203,1676,0.00,1.52,0.00,0.000,6,0.000,0.030,2504,2785,3861,0,0,0,0,0,0
$GC,1868,-0.84,-219.0,330.0,-18.2,222,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2785,3860,0,0,0,0,0,0
$GC,2058,-0.84,-219.0,364.2,-18.1,240,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3860,0,0,0,0,0,0
$STATE,2121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2121,begin apogee
$GC,2127,-0.16,0.0,375.5,18.1,246,2306,0.73,0.00,173.75,0.967,4,0.125,0.000,2742,2684,2959,0,0,0,0,0,0
$STATE,2307,end apogee,CONTROL_FINISHED_OK
$STATE,2307,begin climb
$GC,2310,0.84,219.0,385.0,0.0,262,2513,1.00,2.38,189.93,0.914,4,0.076,0.034,3071,1308,2066,0,0,0,0,0,0
$GC,2716,0.87,240.9,346.8,12.4,298,2742,0.00,2.38,20.05,0.868,6,0.000,0.041,3071,2700,1978,0,0,0,0,0,0
$GC,2942,0.87,240.9,316.1,13.8,319,2946,0.00,2.30,0.00,0.000,4,0.000,0.036,3082,1317,1974,0,0,1,0,0,0
$GC,3099,0.88,254.8,294.9,12.8,332,3119,0.00,2.33,13.25,0.851,6,0.000,0.042,3082,2709,1921,0,0,0,0,0,0
$GC,3309,0.88,254.8,264.9,14.8,352,3313,0.00,1.67,0.00,0.000,4,0.000,0.048,3081,3761,1919,0,0,0,0,0,0
$GC,3388,0.88,254.8,251.7,16.8,359,3392,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2703,1918,0,0,0,0,0,0
$GC,3592,0.88,254.8,220.2,14.8,378,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2702,1917,0,0,0,0,0,0
$GC,3719,0.88,254.8,201.0,15.1,390,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2702,1917,0,0,0,0,0,0
$GC,3846,0.88,254.8,182.0,14.8,402,3850,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3764,1916,0,0,0,0,0,0
$GC,3893,0.88,254.8,174.3,17.4,406,3896,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2699,1917,0,0,0,0,0,0
$GC,4033,0.88,254.8,152.7,15.7,419,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2699,1916,0,0,0,0,0,0
$GC,4160,0.88,254.8,133.4,14.9,431,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2699,1916,0,0,0,0,0,0
$GC,4288,0.88,254.8,114.1,14.9,443,4291,0.00,1.70,0.00,0.000,4,0.000,0.049,3098,3766,1916,0,0,0,0,0,0
$GC,4337,0.88,254.8,105.6,16.3,447,4344,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2725,1916,0,0,0,0,0,0
$GC,4476,0.88,254.8,84.2,15.1,469,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2725,1915,0,0,0,0,0,0
$GC,4617,0.88,254.8,62.3,15.7,494,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2725,1915,0,0,0,0,0,0
$GC,4756,0.88,254.8,40.5,15.6,519,4763,0.00,1.70,0.00,0.000,4,0.000,0.049,3106,3764,1915,0,0,0,0,0,0
$GC,4808,0.88,254.8,31.4,18.5,528,4815,0.08,1.65,0.00,0.000,6,0.149,0.032,3088,2726,1915,0,0,0,0,0,0
$GC,4950,0.88,254.8,9.7,14.8,553,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2727,1915,0,0,0,0,0,0
$FREEZE,7.47,-0.510,-1.895,2,1,0
$FREEZE,6.77,-0.507,-1.895,2,1,0
$FREEZE,5.94,-0.507,-1.894,2,1,0
$FREEZE,5.25,-0.508,-1.893,2,1,0
$FREEZE,4.48,-0.507,-1.893,2,1,0
$FREEZE,3.74,-0.508,-1.892,2,1,0
$FREEZE,2.94,-0.509,-1.892,2,1,0
$STATE,4994,end climb,SURFACE_DEPTH_REACHED
$STATE,4994,begin surface coast
$FREEZE,2.41,-0.509,-1.891,2,1,0
$FREEZE,1.62,-0.510,-1.891,2,1,0
$FREEZE,1.14,-0.515,-1.890,2,1,0
$FREEZE,0.27,-0.516,-1.890,2,1,0
$FINISH,0.3,1.027672
$STATE,5018,end surface coast,CONTROL_FINISHED_OK
$STATE,5018,begin surface
$SM_CCo,5035,32.15,0.101,0,0,1654,320.11
$SM_GC,1.16,0.00,0.00,32.15,0.000,0.000,0.101,170,2795,1654,-8.22,0.42,320.11
$IRIDIUM_FIX,-7536.68,17552.91,261210,161615
$TT8_MAMPS,0.027713
$HUMID,52.79
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.5
$24V_AH,22.5,40.708
$10V_AH,9.9,15.918
$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,18.350,30.650,396.975,32.150,0.000,48.494,75.503,219.169,1.250,0.000,16.424,1380.332,2229.031,476.234,1381.380,167.933,0.000,1049.588,0.000,948.895,0.000,12.104,0.000
$DEVICE_MAMPS,208.845,100.215,966.960,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.645,722.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258280
$DATA_FILE_SIZE,37056,565
$CAP_FILE_SIZE,75326,0
$CFSIZE,260165632,231796736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.076,187.2,1
$GPS,261210,181604,-7621.678,17545.467,16,2.7,36,123.5