version: 66.08
glider: 503
mission: 7
dive: 447
start: 12 27 110 13 51 48
data:
$ID,503
$MISSION,7
$DIVE,447
$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,-20053.213
$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,49
$R_STBD_OVSHOOT,26
$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
$GPS1,271210,134613,-7617.809,17535.031,25,1.0,32,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.1
$GPS2,271210,135120,-7617.841,17535.053,14,2.0,14,123.5
$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,215.9,28448,-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,-219.0,0.0,0.0,0,110,0.00,0.00,-90.45,0.000,2,0.000,0.000,170,2772,3471,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.3,-7.3,15,135,8.88,1.65,-7.95,0.000,4,0.210,0.066,2513,3767,3855,0,0,1,0,0,0
$GC,385,-0.84,-219.0,63.9,-18.8,63,392,0.00,1.55,0.00,0.000,6,0.000,0.028,2513,2773,3859,0,0,0,0,0,0
$GC,528,-0.84,-219.0,90.2,-17.6,88,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,671,-0.84,-219.0,116.3,-18.0,106,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,799,-0.84,-219.0,139.7,-18.4,118,802,0.00,1.62,0.00,0.000,4,0.000,0.050,2505,3792,3859,0,0,0,0,0,0
$GC,845,-0.84,-219.0,148.9,-19.6,122,849,0.00,1.58,0.00,0.000,6,0.000,0.030,2505,2786,3859,0,0,0,0,0,0
$GC,985,-0.84,-219.0,175.8,-19.3,135,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2786,3860,0,0,0,0,0,0
$GC,1112,-0.84,-219.0,199.9,-18.7,147,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2786,3860,0,0,0,0,0,0
$GC,1239,-0.84,-219.0,223.3,-18.5,159,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2786,3860,0,0,0,0,0,0
$GC,1367,-0.84,-219.0,246.2,-17.6,171,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2786,3860,0,0,0,0,0,0
$GC,1494,-0.84,-219.0,268.8,-18.0,183,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2786,3859,0,0,0,0,0,0
$GC,1686,-0.84,-219.0,302.8,-17.8,201,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2786,3860,0,0,0,0,0,0
$GC,1877,-0.84,-219.0,336.4,-17.6,219,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2786,3860,0,0,0,0,0,0
$GC,2068,-0.84,-219.0,369.4,-17.5,237,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2786,3859,0,0,0,0,0,0
$STATE,2098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2098,begin apogee
$GC,2103,-0.16,0.0,375.1,17.9,240,2285,0.73,0.00,174.10,0.965,4,0.125,0.000,2743,2684,2959,0,0,0,0,0,0
$STATE,2285,end apogee,CONTROL_FINISHED_OK
$STATE,2285,begin climb
$GC,2288,0.84,219.0,384.4,0.0,256,2491,1.00,2.38,190.15,0.915,4,0.075,0.032,3073,1314,2066,0,0,0,0,0,0
$GC,2642,0.87,243.7,352.3,12.3,287,2673,0.00,2.38,22.83,0.867,6,0.000,0.040,3073,2701,1966,0,0,0,0,0,0
$GC,2866,0.87,243.7,320.8,14.6,308,2870,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1308,1961,0,0,0,0,0,0
$GC,3040,0.87,243.7,296.6,13.8,323,3044,0.00,2.33,0.00,0.000,6,0.000,0.042,3084,2706,1960,0,0,0,0,0,0
$GC,3239,0.87,243.7,267.7,14.0,341,3243,0.00,1.73,0.00,0.000,4,0.000,0.049,3084,3753,1959,0,0,0,0,0,0
$GC,3310,0.87,243.7,256.1,15.9,347,3317,0.00,1.62,0.00,0.000,6,0.000,0.029,3092,2724,1958,0,0,1,0,0,0
$GC,3509,0.87,243.7,227.3,13.9,366,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2724,1958,0,0,0,0,0,0
$GC,3635,0.87,243.7,209.0,14.7,378,3639,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3756,1958,0,0,0,0,0,0
$GC,3681,0.87,243.7,201.5,16.6,382,3685,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2694,1958,0,0,0,0,0,0
$GC,3821,0.87,243.7,180.1,14.9,395,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2693,1958,0,0,0,0,0,0
$GC,3948,0.87,243.7,161.3,14.9,407,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2693,1958,0,0,0,0,0,0
$GC,4075,0.87,243.7,142.0,15.3,419,4079,0.00,1.70,0.00,0.000,4,0.000,0.049,3100,3765,1957,0,0,0,0,0,0
$GC,4137,0.87,243.7,131.6,16.6,424,4145,0.08,1.62,0.00,0.000,6,0.147,0.031,3083,2724,1957,0,0,1,0,0,0
$GC,4271,0.87,243.7,112.5,14.0,437,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2724,1957,0,0,0,0,0,0
$GC,4400,0.87,243.7,94.6,13.9,452,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2724,1957,0,0,0,0,0,0
$GC,4544,0.87,243.7,74.9,14.2,477,4550,0.00,1.70,0.00,0.000,4,0.000,0.050,3083,3767,1956,0,0,0,0,0,0
$GC,4584,0.87,243.7,68.5,15.8,484,4592,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2720,1955,0,0,0,0,0,0
$GC,4729,0.87,243.7,47.1,14.7,509,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2720,1955,0,0,0,0,0,0
$GC,4872,0.87,243.7,25.9,15.3,534,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2720,1955,0,0,0,0,0,0
$FREEZE,8.15,-0.311,-1.895,2,1,0
$FREEZE,7.51,-0.317,-1.895,2,1,0
$FREEZE,6.76,-0.317,-1.894,2,1,0
$FREEZE,5.94,-0.316,-1.893,2,1,0
$FREEZE,5.11,-0.317,-1.893,2,1,0
$GC,5016,0.87,243.7,5.1,14.5,559,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2720,1955,0,0,0,0,0,0
$FREEZE,2.34,-0.316,-1.891,2,1,0
$STATE,5028,end climb,SURFACE_DEPTH_REACHED
$STATE,5028,begin surface coast
$FREEZE,1.64,-0.314,-1.890,2,1,0
$FREEZE,0.76,-0.314,-1.889,2,1,0
$FREEZE,0.08,-0.313,-1.889,2,1,0
$FINISH,0.1,1.027651
$STATE,5045,end surface coast,CONTROL_FINISHED_OK
$STATE,5045,begin surface
$SM_CCo,5061,37.00,0.101,0,0,1655,320.11
$SM_GC,0.78,0.00,0.00,37.00,0.000,0.000,0.101,183,2792,1655,-8.18,0.34,320.11
$IRIDIUM_FIX,-7536.68,17527.01,271210,121226
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.2
$ALTIM_BOTTOM_PING,350.9,95.9
$24V_AH,22.5,42.312
$10V_AH,10.0,16.545
$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,18.300,29.375,387.075,37.000,0.000,25.198,36.416,129.673,1.250,0.000,16.991,1379.957,2200.842,477.015,1199.323,163.930,0.000,1047.684,0.000,942.817,0.000,10.722,0.000
$DEVICE_MAMPS,209.610,101.745,965.430,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.032,723.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37172,564
$CAP_FILE_SIZE,73049,0
$CFSIZE,260165632,231215104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.121,171.3,1
$GPS,271210,151804,-7617.430,17534.699,18,3.2,37,123.5