version: 66.08
glider: 503
mission: 7
dive: 439
start: 12 27 110 2 4 32
data:
$ID,503
$MISSION,7
$DIVE,439
$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,-20043.162
$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
$GPS1,271210,015839,-7619.137,17537.596,30,1.8,30,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-73.1
$GPS2,271210,020402,-7619.174,17537.453,13,1.6,13,123.6
$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,228.7,31103,-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,-219.0,0.0,0.0,0,109,0.00,0.00,-90.43,0.000,2,0.000,0.000,168,2785,3467,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.5,-8.1,15,134,8.95,1.62,-8.02,0.000,4,0.212,0.064,2517,3768,3855,0,0,0,0,0,0
$GC,386,-0.84,-219.0,64.7,-19.6,63,392,0.00,1.55,0.00,0.000,6,0.000,0.028,2517,2775,3859,0,0,0,0,0,0
$GC,529,-0.84,-219.0,91.4,-18.2,88,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2774,3859,0,0,0,0,0,0
$GC,671,-0.84,-219.0,117.6,-18.5,105,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2774,3860,0,0,0,0,0,0
$GC,800,-0.84,-219.0,141.1,-18.3,117,803,0.00,1.62,0.00,0.000,4,0.000,0.050,2509,3791,3860,0,0,0,0,0,0
$GC,834,-0.84,-219.0,147.8,-19.6,120,838,0.00,1.58,0.00,0.000,6,0.000,0.030,2509,2788,3859,0,0,0,0,0,0
$GC,973,-0.84,-219.0,175.3,-20.1,133,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2787,3860,0,0,0,0,0,0
$GC,1101,-0.84,-219.0,201.2,-20.1,145,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2788,3860,0,0,0,0,0,0
$GC,1228,-0.84,-219.0,226.3,-19.2,157,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2787,3860,0,0,0,0,0,0
$GC,1357,-0.84,-219.0,250.5,-18.7,169,1360,0.00,1.58,0.00,0.000,4,0.000,0.050,2501,3755,3860,0,0,0,0,0,0
$GC,1391,-0.84,-219.0,257.5,-20.2,172,1395,0.00,1.50,0.00,0.000,6,0.000,0.031,2501,2797,3860,0,0,0,0,0,0
$GC,1596,-0.84,-219.0,296.8,-19.2,191,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2796,3860,0,0,0,0,0,0
$GC,1785,-0.84,-219.0,332.1,-18.1,209,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2796,3860,0,0,0,0,0,0
$GC,1977,-0.84,-219.0,365.9,-18.0,227,1980,0.00,1.58,0.00,0.000,4,0.000,0.050,2493,3760,3860,0,0,0,0,0,0
$GC,2005,-0.84,-219.0,371.4,-19.9,229,2013,0.08,1.50,0.00,0.000,6,0.144,0.032,2520,2803,3860,0,0,0,0,0,0
$STATE,2030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2030,begin apogee
$GC,2036,-0.16,0.0,376.2,18.1,232,2217,0.68,0.00,174.18,0.968,4,0.120,0.000,2745,2697,2960,0,0,0,0,0,0
$STATE,2217,end apogee,CONTROL_FINISHED_OK
$STATE,2217,begin climb
$GC,2219,0.84,219.0,385.8,0.0,248,2424,0.98,2.40,190.35,0.916,4,0.074,0.034,3068,1299,2065,0,0,0,0,0,0
$GC,2553,0.87,241.3,358.0,12.4,277,2583,0.00,2.42,20.62,0.864,6,0.000,0.042,3068,2701,1975,0,0,0,0,0,0
$GC,2777,0.87,246.4,328.6,13.1,298,2789,0.00,2.38,5.35,0.705,4,0.000,0.034,3079,1302,1956,0,0,0,0,0,0
$GC,2963,0.90,266.8,303.5,12.5,314,2992,0.00,2.35,19.77,0.870,6,0.000,0.043,3079,2700,1871,0,0,0,0,0,0
$GC,3185,0.90,266.8,271.3,15.1,335,3189,0.00,1.75,0.00,0.000,4,0.000,0.050,3079,3764,1870,0,0,0,0,0,0
$GC,3235,0.90,266.8,262.5,17.3,339,3242,0.00,1.67,0.00,0.000,6,0.000,0.031,3086,2716,1870,0,0,1,0,0,0
$GC,3433,0.90,266.8,230.3,16.4,358,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2716,1869,0,0,0,0,0,0
$GC,3561,0.90,266.8,210.1,15.5,370,3564,0.00,1.67,0.00,0.000,4,0.000,0.049,3087,3763,1868,0,0,0,0,0,0
$GC,3609,0.90,266.8,202.4,17.2,374,3612,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2704,1868,0,0,0,0,0,0
$GC,3748,0.90,266.8,180.0,15.6,387,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2703,1868,0,0,0,0,0,0
$GC,3876,0.90,266.8,160.5,15.3,399,3879,0.00,1.70,0.00,0.000,4,0.000,0.050,3095,3763,1868,0,0,0,0,0,0
$GC,3913,0.90,266.8,153.9,17.3,402,3920,0.00,1.65,0.00,0.000,6,0.000,0.032,3104,2725,1868,0,0,0,0,0,0
$GC,4048,0.90,266.8,132.4,15.6,415,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2725,1868,0,0,0,0,0,0
$GC,4175,0.90,266.8,112.8,15.4,427,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2725,1868,0,0,0,0,0,0
$GC,4305,0.90,266.8,92.7,15.9,443,4312,0.00,1.70,0.00,0.000,4,0.000,0.050,3104,3758,1868,0,0,0,0,0,0
$GC,4363,0.90,266.8,82.1,18.0,453,4370,0.00,1.62,0.00,0.000,6,0.000,0.032,3111,2736,1867,0,0,0,0,0,0
$GC,4508,0.90,266.8,58.1,16.4,478,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2736,1867,0,0,0,0,0,0
$GC,4648,0.90,266.8,34.6,16.8,503,4655,0.00,1.67,0.00,0.000,4,0.000,0.050,3111,3760,1867,0,0,0,0,0,0
$GC,4683,0.90,266.8,28.2,18.0,509,4692,0.08,1.62,0.00,0.000,6,0.151,0.032,3093,2738,1867,0,0,0,0,0,0
$FREEZE,8.83,-0.766,-1.895,2,1,0
$FREEZE,7.79,-0.762,-1.894,2,1,0
$FREEZE,6.96,-0.761,-1.893,2,1,0
$FREEZE,6.30,-0.758,-1.893,2,1,0
$FREEZE,5.46,-0.762,-1.892,2,1,0
$GC,4827,0.90,266.8,5.5,15.1,534,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2738,1867,0,0,0,0,0,0
$FREEZE,3.16,-0.758,-1.890,2,1,0
$FREEZE,2.28,-0.751,-1.889,2,1,0
$STATE,4844,end climb,SURFACE_DEPTH_REACHED
$STATE,4844,begin surface coast
$FREEZE,1.50,-0.746,-1.889,2,1,0
$FREEZE,0.63,-0.741,-1.888,2,1,0
$FREEZE,-0.09,-0.755,-1.888,2,1,0
$FINISH,-0.1,1.027666
$STATE,4862,end surface coast,CONTROL_FINISHED_OK
$STATE,4862,begin surface
$SM_CCo,4878,25.45,0.103,0,0,1655,320.11
$SM_GC,1.20,0.00,0.00,25.45,0.000,0.000,0.103,184,2790,1655,-8.18,0.28,320.11
$IRIDIUM_FIX,-7536.68,17536.77,271210,000009
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,22.5,41.415
$10V_AH,9.9,16.190
$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,18.425,39.000,410.275,25.450,0.000,31.082,37.592,139.218,1.250,0.000,17.265,1323.957,2080.518,492.793,1179.560,165.347,0.000,1059.870,0.000,910.695,0.000,10.690,0.000
$DEVICE_MAMPS,211.905,107.865,967.725,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,376.392,686.943,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258208
$DATA_FILE_SIZE,37108,540
$CAP_FILE_SIZE,74566,0
$CFSIZE,260165632,231542784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1
$CURRENT,0.196,199.3,1
$GPS,271210,032736,-7618.856,17536.832,39,0.8,40,123.6