version: 66.08
glider: 503
mission: 7
dive: 444
start: 12 27 110 9 41 6
data:
$ID,503
$MISSION,7
$DIVE,444
$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,-20049.447
$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,33
$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
$GPS1,271210,093514,-7618.215,17535.666,18,1.4,18,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-74.8
$GPS2,271210,094038,-7618.257,17535.666,14,1.3,14,123.6
$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,224.6,29243,-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,17,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-90.12,0.000,2,0.000,0.000,186,2793,3457,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.4,-7.5,15,134,8.95,1.62,-8.23,0.000,4,0.213,0.065,2517,3766,3855,0,0,0,0,0,0
$GC,386,-0.84,-219.0,63.2,-18.0,63,392,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2774,3859,0,0,0,0,0,0
$GC,529,-0.84,-219.0,89.3,-18.2,88,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3859,0,0,0,0,0,0
$GC,666,-0.84,-219.0,114.1,-17.8,106,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,795,-0.84,-219.0,137.4,-18.2,118,798,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3748,3859,0,0,0,0,0,0
$GC,829,-0.84,-219.0,144.3,-19.1,121,833,0.00,1.48,0.00,0.000,6,0.000,0.030,2510,2792,3859,0,0,1,0,0,0
$GC,969,-0.84,-219.0,170.2,-18.7,134,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3860,0,0,0,0,0,0
$GC,1097,-0.84,-219.0,194.1,-19.0,146,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3860,0,0,0,0,0,0
$GC,1224,-0.84,-219.0,218.2,-18.8,158,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3859,0,0,0,0,0,0
$GC,1351,-0.84,-219.0,241.8,-18.5,170,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3860,0,0,0,0,0,0
$GC,1479,-0.84,-219.0,264.8,-18.5,182,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3860,0,0,0,0,0,0
$GC,1670,-0.84,-219.0,298.7,-17.9,200,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2791,3860,0,0,0,0,0,0
$GC,1861,-0.84,-219.0,333.7,-18.5,218,1864,0.00,1.55,0.00,0.000,4,0.000,0.051,2502,3739,3860,0,0,0,0,0,0
$GC,1899,-0.84,-219.0,341.4,-18.8,221,1907,0.00,1.48,0.00,0.000,6,0.000,0.031,2502,2781,3859,0,0,1,0,0,0
$STATE,2095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2095,begin apogee
$GC,2101,-0.16,0.0,376.5,17.9,240,2283,0.73,0.00,174.23,0.965,4,0.125,0.000,2741,2695,2959,0,0,0,0,0,0
$STATE,2284,end apogee,CONTROL_FINISHED_OK
$STATE,2284,begin climb
$GC,2286,0.84,219.0,385.8,0.0,256,2490,1.00,2.40,190.57,0.916,4,0.076,0.034,3069,1306,2066,0,0,0,0,0,0
$GC,2641,0.85,232.6,353.0,12.8,287,2661,0.00,2.38,12.68,0.834,6,0.000,0.042,3070,2694,2010,0,0,1,0,0,0
$GC,2854,0.85,232.6,322.8,14.9,307,2859,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1308,2008,0,0,0,0,0,0
$GC,3022,0.87,244.6,299.2,12.8,321,3041,0.00,2.33,11.85,0.842,6,0.000,0.042,3081,2709,1962,0,0,0,0,0,0
$GC,3233,0.87,244.6,268.9,14.9,341,3237,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3767,1960,0,0,0,0,0,0
$GC,3282,0.87,244.6,260.1,17.2,345,3289,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2716,1959,0,0,1,0,0,0
$GC,3481,0.87,244.6,228.7,15.8,364,3485,0.00,1.67,0.00,0.000,4,0.000,0.048,3089,3766,1959,0,0,0,0,0,0
$GC,3519,0.87,244.6,221.7,17.8,367,3528,0.00,1.67,0.00,0.000,6,0.000,0.030,3097,2717,1959,0,0,0,0,0,0
$GC,3654,0.87,244.6,200.3,15.6,380,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2717,1959,0,0,0,0,0,0
$GC,3782,0.87,244.6,180.6,15.5,392,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2717,1959,0,0,0,0,0,0
$GC,3909,0.87,244.6,161.2,15.4,404,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2717,1958,0,0,0,0,0,0
$GC,4037,0.87,244.6,141.8,15.2,416,4040,0.00,1.73,0.00,0.000,4,0.000,0.050,3097,3765,1958,0,0,0,0,0,0
$GC,4083,0.87,244.6,134.1,16.9,420,4087,0.00,1.65,0.00,0.000,6,0.000,0.031,3106,2701,1958,0,0,0,0,0,0
$GC,4223,0.87,244.6,112.0,15.4,433,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2700,1958,0,0,0,0,0,0
$GC,4352,0.87,244.6,91.7,15.5,449,4359,0.00,1.75,0.00,0.000,4,0.000,0.050,3105,3764,1958,0,0,1,0,0,0
$GC,4394,0.87,244.6,84.5,18.3,456,4402,0.10,1.62,0.00,0.000,6,0.145,0.031,3080,2744,1958,0,0,0,0,0,0
$GC,4537,0.87,244.6,64.4,13.5,481,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2744,1958,0,0,0,0,0,0
$GC,4677,0.87,244.6,45.1,13.5,506,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2744,1957,0,0,0,0,0,0
$GC,4818,0.87,244.6,25.9,14.1,531,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2744,1957,0,0,0,0,0,0
$FREEZE,8.66,-0.502,-1.895,2,1,0
$FREEZE,7.66,-0.505,-1.894,2,1,0
$FREEZE,7.02,-0.501,-1.894,2,1,0
$GC,4961,0.87,244.6,7.0,14.1,556,4967,0.00,1.67,0.00,0.000,4,0.000,0.049,3080,3767,1957,0,0,0,0,0,0
$FREEZE,4.31,-0.498,-1.892,2,1,0
$FREEZE,3.46,-0.498,-1.891,2,1,0
$FREEZE,2.60,-0.498,-1.890,2,1,0
$STATE,4984,end climb,SURFACE_DEPTH_REACHED
$STATE,4984,begin surface coast
$FREEZE,1.67,-0.498,-1.890,2,1,0
$FREEZE,0.86,-0.500,-1.889,2,1,0
$FREEZE,0.14,-0.501,-1.889,2,1,0
$FINISH,0.1,1.027656
$STATE,5001,end surface coast,CONTROL_FINISHED_OK
$STATE,5001,begin surface
$SM_CCo,5018,36.80,0.102,0,0,1654,320.11
$SM_GC,0.55,0.00,0.00,36.80,0.000,0.000,0.102,187,2771,1654,-8.16,-0.23,320.11
$IRIDIUM_FIX,-7536.68,17536.77,271210,080823
$TT8_MAMPS,0.027713
$HUMID,52.67
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.2
$24V_AH,22.5,41.982
$10V_AH,10.0,16.418
$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,18.375,35.475,389.325,36.800,0.000,23.642,38.836,146.927,1.000,0.000,16.776,1376.049,2160.343,485.426,1207.213,163.803,0.000,1055.984,0.000,938.278,0.000,7.760,0.000
$DEVICE_MAMPS,213.435,100.980,965.430,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.093,722.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36969,563
$CAP_FILE_SIZE,73822,0
$CFSIZE,260165632,231329792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.204,176.1,1
$GPS,271210,110637,-7618.019,17535.729,34,0.9,35,123.5