version: 66.08
glider: 503
mission: 7
dive: 441
start: 12 27 110 5 5 55
data:
$ID,503
$MISSION,7
$DIVE,441
$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,-20045.678
$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,46
$R_STBD_OVSHOOT,32
$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
$GPS1,271210,045922,-7618.659,17536.236,19,2.1,38,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-72.8
$GPS2,271210,050525,-7618.704,17536.217,41,1.1,41,123.6
$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,229.8,30073,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.72,0.000,2,0.000,0.000,173,2783,3535,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.9,-10.1,15,135,8.95,1.62,-6.28,0.000,4,0.213,0.063,2518,3765,3856,0,0,0,0,0,0
$GC,385,-0.84,-219.0,65.5,-18.4,63,392,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2773,3860,0,0,0,0,0,0
$GC,528,-0.84,-219.0,92.3,-19.1,88,535,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3760,3859,0,0,0,0,0,0
$GC,578,-0.84,-219.0,103.0,-19.9,96,586,0.00,1.52,0.00,0.000,6,0.000,0.030,2510,2793,3860,0,0,0,0,0,0
$GC,714,-0.84,-219.0,128.8,-19.5,109,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3860,0,0,0,0,0,0
$GC,840,-0.84,-219.0,153.2,-19.2,121,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3861,0,0,0,0,0,0
$GC,968,-0.84,-219.0,177.2,-18.5,133,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3860,0,0,0,0,0,0
$GC,1096,-0.84,-219.0,200.4,-17.8,145,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3861,0,0,0,0,0,0
$GC,1223,-0.84,-219.0,223.1,-17.7,157,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3860,0,0,0,0,0,0
$GC,1350,-0.84,-219.0,245.6,-17.4,169,1354,0.00,1.58,0.00,0.000,4,0.000,0.050,2503,3756,3860,0,0,0,0,0,0
$GC,1388,-0.84,-219.0,253.1,-19.1,172,1395,0.00,1.52,0.00,0.000,6,0.000,0.031,2503,2783,3860,0,0,0,0,0,0
$GC,1588,-0.84,-219.0,289.2,-18.2,191,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2782,3861,0,0,0,0,0,0
$GC,1777,-0.84,-219.0,323.2,-17.8,209,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2782,3861,0,0,0,0,0,0
$GC,1969,-0.84,-219.0,357.4,-18.1,227,1972,0.00,1.58,0.00,0.000,4,0.000,0.050,2495,3748,3861,0,0,0,0,0,0
$GC,2007,-0.84,-219.0,365.1,-19.6,230,2015,0.08,1.50,0.00,0.000,6,0.145,0.030,2521,2788,3861,0,0,0,0,0,0
$STATE,2065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2065,begin apogee
$GC,2070,-0.16,0.0,375.2,16.9,236,2251,0.68,0.00,173.93,0.968,4,0.122,0.000,2745,2692,2960,0,0,0,0,0,0
$STATE,2252,end apogee,CONTROL_FINISHED_OK
$STATE,2252,begin climb
$GC,2254,0.84,219.0,384.9,0.0,252,2459,0.98,2.40,190.40,0.915,4,0.075,0.034,3067,1306,2066,0,0,0,0,0,0
$GC,2596,0.86,235.4,356.5,12.7,282,2619,0.00,2.40,15.30,0.848,6,0.000,0.042,3068,2695,1999,0,0,0,0,0,0
$GC,2813,0.89,260.2,329.1,12.3,302,2846,0.00,2.40,23.23,0.874,4,0.000,0.035,3078,1309,1899,0,0,1,0,0,0
$GC,2994,0.89,260.2,304.0,13.9,318,2998,0.00,2.33,0.00,0.000,6,0.000,0.043,3078,2706,1896,0,0,1,0,0,0
$GC,3191,0.89,260.2,273.8,14.3,336,3195,0.00,1.70,0.00,0.000,4,0.000,0.049,3078,3763,1895,0,0,0,0,0,0
$GC,3237,0.89,260.2,266.4,16.6,340,3241,0.00,1.70,0.00,0.000,6,0.000,0.031,3086,2713,1895,0,0,0,0,0,0
$GC,3441,0.89,260.2,235.6,15.0,359,3444,0.00,1.70,0.00,0.000,4,0.000,0.049,3087,3762,1894,0,0,0,0,0,0
$GC,3478,0.89,260.2,229.0,16.6,362,3486,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2721,1894,0,0,1,0,0,0
$GC,3614,0.89,260.2,208.4,15.2,375,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2721,1893,0,0,0,0,0,0
$GC,3740,0.89,260.2,189.5,14.3,387,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2721,1893,0,0,0,0,0,0
$GC,3868,0.89,260.2,170.7,15.3,399,3872,0.00,1.70,0.00,0.000,4,0.000,0.048,3095,3756,1893,0,0,0,0,0,0
$GC,3928,0.89,260.2,159.9,18.2,404,3935,0.00,1.62,0.00,0.000,6,0.000,0.031,3103,2718,1893,0,0,1,0,0,0
$GC,4063,0.89,260.2,138.4,16.1,417,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2718,1892,0,0,0,0,0,0
$GC,4190,0.89,260.2,118.0,15.8,429,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2718,1892,0,0,0,0,0,0
$GC,4319,0.89,260.2,97.3,16.0,442,4326,0.00,1.70,0.00,0.000,4,0.000,0.049,3103,3754,1893,0,0,0,0,0,0
$GC,4360,0.89,260.2,89.8,18.2,449,4368,0.00,1.60,0.00,0.000,6,0.000,0.031,3111,2729,1893,0,0,1,0,0,0
$GC,4506,0.89,260.2,65.6,16.5,474,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2729,1892,0,0,0,0,0,0
$GC,4647,0.89,260.2,42.0,17.0,499,4653,0.00,1.67,0.00,0.000,4,0.000,0.050,3111,3753,1892,0,0,0,0,0,0
$GC,4704,0.89,260.2,31.2,19.5,509,4713,0.10,1.60,0.00,0.000,6,0.142,0.031,3085,2741,1892,0,0,0,0,0,0
$GC,4847,0.89,260.2,9.4,14.9,534,4854,0.00,2.30,0.00,0.000,4,0.000,0.036,3095,1293,1892,0,0,0,0,0,0
$FREEZE,7.18,-0.475,-1.894,2,1,0
$FREEZE,6.52,-0.494,-1.893,2,1,0
$FREEZE,5.81,-0.492,-1.893,2,1,0
$FREEZE,4.93,-0.492,-1.892,2,1,0
$FREEZE,4.24,-0.489,-1.892,2,1,0
$GC,4882,0.89,260.2,4.2,14.2,540,4889,0.00,2.33,0.00,0.000,6,0.000,0.043,3095,2733,1892,0,0,0,0,0,0
$FREEZE,2.17,-0.474,-1.890,2,1,0
$STATE,4896,end climb,SURFACE_DEPTH_REACHED
$STATE,4896,begin surface coast
$FREEZE,1.23,-0.470,-1.889,2,1,0
$FREEZE,0.50,-0.476,-1.889,2,1,0
$FREEZE,0.09,-0.497,-1.890,2,1,0
$FREEZE,0.02,-0.513,-1.891,2,1,0
$FINISH,0.0,1.027685
$STATE,4918,end surface coast,CONTROL_FINISHED_OK
$STATE,4919,begin surface
$SM_CCo,4936,28.35,0.102,0,0,1654,320.11
$SM_GC,1.26,0.00,0.00,28.35,0.000,0.000,0.102,182,2785,1654,-8.18,0.11,320.11
$IRIDIUM_FIX,-7511.02,-17704.31,271210,030312
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.6
$24V_AH,22.5,41.645
$10V_AH,10.0,16.281
$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,18.450,43.475,402.850,28.350,0.000,30.808,38.552,152.707,1.250,0.000,44.280,1338.219,2114.092,500.588,1224.668,164.131,0.000,1071.788,0.000,915.415,0.000,10.577,0.000
$DEVICE_MAMPS,212.670,117.045,967.725,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.511,695.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258268
$DATA_FILE_SIZE,37019,546
$CAP_FILE_SIZE,75764,0
$CFSIZE,260165632,231456768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.212,185.1,1
$GPS,271210,062932,-7618.481,17536.109,13,1.7,13,123.6