version: 66.08
glider: 503
mission: 7
dive: 438
start: 12 27 110 0 32 18
data:
$ID,503
$MISSION,7
$DIVE,438
$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,-20041.904
$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,47
$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
$GPS1,271210,002637,-7619.622,17539.039,39,0.9,39,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-72.4
$GPS2,271210,003149,-7619.642,17538.908,10,1.4,10,123.6
$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,226.1,32181,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-88.80,0.000,2,0.000,0.000,171,2796,3420,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-6.4,15,138,8.90,1.58,-9.30,0.000,4,0.211,0.067,2517,3747,3856,0,0,0,0,0,0
$GC,378,-0.84,-219.0,61.2,-18.9,62,384,0.00,1.52,0.00,0.000,6,0.000,0.030,2517,2773,3859,0,0,0,0,0,0
$GC,520,-0.84,-219.0,88.0,-18.4,87,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3859,0,0,0,0,0,0
$GC,665,-0.84,-219.0,113.9,-17.7,106,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3859,0,0,0,0,0,0
$GC,793,-0.84,-219.0,136.6,-17.6,118,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3860,0,0,0,0,0,0
$GC,919,-0.84,-219.0,158.8,-17.4,130,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1047,-0.84,-219.0,180.4,-16.5,142,1051,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3747,3860,0,0,0,0,0,0
$GC,1096,-0.84,-219.0,189.7,-17.5,146,1104,0.00,1.50,0.00,0.000,6,0.000,0.028,2510,2781,3860,0,0,0,0,0,0
$GC,1232,-0.84,-219.0,212.7,-17.2,159,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2781,3860,0,0,0,0,0,0
$GC,1358,-0.84,-219.0,234.5,-17.2,171,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2781,3860,0,0,0,0,0,0
$GC,1487,-0.84,-219.0,256.8,-17.4,183,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2781,3860,0,0,0,0,0,0
$GC,1677,-0.84,-219.0,289.3,-17.2,201,1681,0.00,1.58,0.00,0.000,4,0.000,0.050,2502,3744,3860,0,0,0,0,0,0
$GC,1715,-0.84,-219.0,296.5,-18.2,204,1723,0.00,1.50,0.00,0.000,6,0.000,0.029,2502,2770,3860,0,0,1,0,0,0
$GC,1914,-0.84,-219.0,330.8,-17.1,223,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2770,3860,0,0,0,0,0,0
$GC,2105,-0.84,-219.0,363.9,-17.1,241,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2770,3860,0,0,0,0,0,0
$STATE,2166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2166,begin apogee
$GC,2172,-0.16,0.0,375.1,17.2,247,2353,0.73,0.00,173.95,0.968,4,0.126,0.000,2741,2684,2959,0,0,0,0,0,0
$STATE,2353,end apogee,CONTROL_FINISHED_OK
$STATE,2354,begin climb
$GC,2356,0.84,219.0,384.3,0.0,263,2559,1.00,2.38,190.18,0.916,4,0.076,0.034,3070,1309,2066,0,0,0,0,0,0
$GC,2564,0.86,239.1,370.5,12.5,281,2594,0.00,2.45,19.88,0.851,6,0.000,0.041,3070,2687,1985,0,0,1,0,0,0
$GC,2785,0.86,239.1,339.6,13.8,302,2788,0.00,1.80,0.00,0.000,4,0.000,0.047,3069,3763,1979,0,0,0,0,0,0
$GC,2879,0.86,239.1,324.6,16.2,310,2887,0.00,1.67,0.00,0.000,6,0.000,0.029,3078,2731,1976,0,0,1,0,0,0
$GC,3079,0.86,239.1,296.4,14.6,329,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2730,1975,0,0,0,0,0,0
$GC,3268,0.86,239.1,269.2,14.2,347,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2731,1974,0,0,0,0,0,0
$GC,3459,0.86,239.1,241.3,14.9,365,3463,0.00,1.67,0.00,0.000,4,0.000,0.048,3078,3764,1974,0,0,0,0,0,0
$GC,3531,0.86,239.1,229.5,16.1,371,3538,0.00,1.67,0.00,0.000,6,0.000,0.030,3086,2714,1973,0,0,0,0,0,0
$GC,3665,0.86,239.1,209.2,15.3,384,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2714,1973,0,0,0,0,0,0
$GC,3793,0.86,239.1,190.2,15.2,396,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2714,1973,0,0,0,0,0,0
$GC,3920,0.86,239.1,171.8,14.1,408,3923,0.00,1.67,0.00,0.000,4,0.000,0.049,3086,3765,1973,0,0,0,0,0,0
$GC,3977,0.86,239.1,162.9,15.9,413,3981,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2701,1972,0,0,0,0,0,0
$GC,4117,0.86,239.1,141.1,15.7,426,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2700,1973,0,0,0,0,0,0
$GC,4244,0.86,239.1,121.6,15.2,438,4248,0.00,1.70,0.00,0.000,4,0.000,0.050,3095,3765,1972,0,0,0,0,0,0
$GC,4279,0.86,239.1,116.0,16.9,441,4282,0.00,1.62,0.00,0.000,6,0.000,0.031,3103,2700,1972,0,0,1,0,0,0
$GC,4414,0.86,239.1,94.2,15.4,456,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2700,1972,0,0,0,0,0,0
$GC,4557,0.86,239.1,72.3,15.2,481,4564,0.00,1.73,0.00,0.000,4,0.000,0.050,3103,3754,1972,0,0,0,0,0,0
$GC,4625,0.86,239.1,60.8,17.6,493,4632,0.10,1.60,0.00,0.000,6,0.145,0.031,3078,2744,1972,0,0,0,0,0,0
$GC,4769,0.86,239.1,41.3,13.4,518,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2744,1972,0,0,0,0,0,0
$GC,4909,0.86,239.1,20.8,14.4,543,4919,0.00,1.65,0.00,0.000,4,0.000,0.049,3077,3758,1971,0,0,0,0,0,0
$GC,4960,0.86,239.1,13.2,14.6,551,4967,0.00,1.60,0.00,0.000,6,0.000,0.031,3084,2742,1970,0,0,0,0,0,0
$FREEZE,8.39,-0.734,-1.894,2,1,0
$FREEZE,7.61,-0.735,-1.893,2,1,0
$FREEZE,6.87,-0.734,-1.893,2,1,0
$FREEZE,6.16,-0.730,-1.892,2,1,0
$FREEZE,5.53,-0.733,-1.892,2,1,0
$FREEZE,4.74,-0.731,-1.891,2,1,0
$FREEZE,4.14,-0.730,-1.891,2,1,0
$FREEZE,3.52,-0.725,-1.890,2,1,0
$FREEZE,2.76,-0.724,-1.890,2,1,0
$STATE,5032,end climb,SURFACE_DEPTH_REACHED
$STATE,5032,begin surface coast
$FREEZE,1.87,-0.730,-1.889,2,1,0
$FREEZE,1.33,-0.721,-1.889,2,1,0
$FREEZE,0.46,-0.717,-1.888,2,1,0
$FREEZE,0.01,-0.722,-1.888,2,1,0
$FINISH,0.0,1.027662
$STATE,5056,end surface coast,CONTROL_FINISHED_OK
$STATE,5056,begin surface
$SM_CCo,5073,37.33,0.100,0,0,1655,320.11
$SM_GC,0.72,0.00,0.00,37.33,0.000,0.000,0.100,168,2784,1655,-8.23,0.11,320.11
$IRIDIUM_FIX,-7536.68,17535.38,261210,222244
$TT8_MAMPS,0.027713
$HUMID,53.26
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.6
$24V_AH,22.5,41.296
$10V_AH,9.9,16.146
$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,18.275,34.300,384.000,37.325,0.000,23.705,37.727,143.038,1.000,0.000,12.941,1388.159,2222.085,486.579,1179.588,161.079,0.000,1054.982,0.000,922.470,0.000,7.755,0.000
$DEVICE_MAMPS,211.140,115.515,967.725,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.526,727.345,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37236,568
$CAP_FILE_SIZE,74854,0
$CFSIZE,260165632,231583744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.154,216.2,1
$GPS,271210,015839,-7619.137,17537.596,30,1.8,30,123.6