version: 66.08
glider: 503
mission: 7
dive: 449
start: 12 27 110 16 58 6
data:
$ID,503
$MISSION,7
$DIVE,449
$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,-20055.729
$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,48
$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
$GPS1,271210,165144,-7617.036,17533.746,17,1.5,17,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.8
$GPS2,271210,165736,-7617.056,17533.783,34,0.9,34,123.5
$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,209.2,26925,-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,-219.0,0.0,0.0,0,111,0.00,0.00,-92.93,0.000,2,0.000,0.000,180,2806,3552,0,0,0,0,0,0
$GC,114,-0.84,-219.0,4.1,-10.3,15,136,8.90,2.35,-5.90,0.000,4,0.212,0.044,2523,1371,3857,0,0,0,0,0,0
$GC,386,-0.84,-219.0,59.1,-16.1,63,393,0.00,2.28,0.00,0.000,6,0.000,0.044,2513,2763,3860,0,0,0,0,0,0
$GC,527,-0.84,-219.0,84.5,-18.4,88,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2763,3860,0,0,0,0,0,0
$GC,666,-0.84,-219.0,110.2,-18.4,108,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2763,3861,0,0,0,0,0,0
$GC,794,-0.84,-219.0,133.5,-18.4,120,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2763,3861,0,0,0,0,0,0
$GC,921,-0.84,-219.0,156.8,-18.1,132,924,0.00,1.62,0.00,0.000,4,0.000,0.052,2505,3797,3861,0,0,0,0,0,0
$GC,959,-0.84,-219.0,164.3,-19.3,135,966,0.00,1.58,0.00,0.000,6,0.000,0.029,2505,2777,3861,0,0,0,0,0,0
$GC,1094,-0.84,-219.0,189.3,-18.9,148,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3861,0,0,0,0,0,0
$GC,1221,-0.84,-219.0,213.1,-18.3,160,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2778,3861,0,0,0,0,0,0
$GC,1348,-0.84,-219.0,237.2,-19.0,172,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2778,3861,0,0,0,0,0,0
$GC,1476,-0.84,-219.0,260.9,-18.3,184,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2778,3861,0,0,0,0,0,0
$GC,1667,-0.84,-219.0,295.4,-18.0,202,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3861,0,0,0,0,0,0
$GC,1858,-0.84,-219.0,329.5,-18.0,220,1861,0.00,1.60,0.00,0.000,4,0.000,0.051,2497,3761,3861,0,0,0,0,0,0
$GC,1893,-0.84,-219.0,335.9,-19.1,223,1897,0.08,1.50,0.00,0.000,6,0.145,0.031,2523,2798,3861,0,0,0,0,0,0
$GC,2097,-0.84,-219.0,368.5,-15.7,242,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2797,3861,0,0,0,0,0,0
$STATE,2136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2136,begin apogee
$GC,2141,-0.16,0.0,375.1,16.3,246,2322,0.65,0.00,173.88,0.968,4,0.119,0.000,2742,2680,2960,0,0,0,0,0,0
$STATE,2323,end apogee,CONTROL_FINISHED_OK
$STATE,2323,begin climb
$GC,2325,0.84,219.0,384.3,0.0,262,2528,1.00,2.35,190.48,0.916,4,0.074,0.032,3072,1308,2066,0,0,0,0,0,0
$GC,2701,0.84,222.2,349.2,13.2,295,2705,0.00,2.38,0.00,0.000,6,0.000,0.041,3072,2701,2058,0,0,0,0,0,0
$GC,2898,0.84,222.2,320.3,14.3,313,2902,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1307,2056,0,0,1,0,0,0
$GC,3073,0.84,222.2,296.5,13.8,328,3077,0.00,2.33,0.00,0.000,6,0.000,0.041,3083,2715,2055,0,0,0,0,0,0
$GC,3270,0.84,222.2,267.2,14.9,346,3274,0.00,1.67,0.00,0.000,4,0.000,0.049,3083,3769,2055,0,0,0,0,0,0
$GC,3315,0.84,222.2,259.7,16.9,350,3319,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2705,2053,0,0,0,0,0,0
$GC,3519,0.84,222.2,228.1,15.3,369,3522,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3766,2053,0,0,0,0,0,0
$GC,3575,0.84,222.2,218.6,17.3,374,3579,0.00,1.67,0.00,0.000,6,0.000,0.031,3100,2715,2053,0,0,0,0,0,0
$GC,3715,0.84,222.2,196.9,15.5,387,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2713,2053,0,0,0,0,0,0
$GC,3842,0.84,222.2,176.4,15.8,399,3846,0.00,1.67,0.00,0.000,4,0.000,0.050,3100,3764,2052,0,0,0,0,0,0
$GC,3900,0.84,222.2,166.3,18.5,404,3904,0.12,1.65,0.00,0.000,6,0.171,0.031,3074,2697,2052,0,0,0,0,0,0
$GC,4040,0.84,222.2,146.2,13.5,417,4044,0.00,2.22,0.00,0.000,4,0.000,0.034,3084,1294,2052,0,0,0,0,0,0
$GC,4067,0.84,222.2,142.2,13.6,419,4074,0.00,2.35,0.00,0.000,6,0.000,0.042,3084,2721,2052,0,0,0,0,0,0
$GC,4202,0.84,222.2,123.8,13.6,432,4205,0.00,1.65,0.00,0.000,4,0.000,0.051,3084,3767,2052,0,0,0,0,0,0
$GC,4251,0.84,222.2,115.8,15.8,436,4258,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2725,2051,0,0,0,0,0,0
$GC,4387,0.84,222.2,95.8,14.8,451,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2724,2051,0,0,0,0,0,0
$GC,4527,0.84,222.2,74.9,14.7,476,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2724,2051,0,0,0,0,0,0
$GC,4669,0.84,222.2,54.0,14.7,501,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2724,2051,0,0,0,0,0,0
$GC,4810,0.84,222.2,33.6,14.0,526,4817,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3764,2051,0,0,0,0,0,0
$GC,4864,0.84,222.2,25.3,15.9,535,4871,0.00,1.62,0.00,0.000,6,0.000,0.031,3100,2734,2051,0,0,0,0,0,0
$FREEZE,8.59,-0.144,-1.894,2,1,0
$FREEZE,7.65,-0.166,-1.894,2,1,0
$FREEZE,6.97,-0.178,-1.893,2,1,0
$FREEZE,6.13,-0.163,-1.893,2,1,0
$FREEZE,5.49,-0.162,-1.893,2,1,0
$FREEZE,4.51,-0.145,-1.892,2,1,0
$FREEZE,3.75,-0.148,-1.891,2,1,0
$GC,5005,0.84,222.2,3.7,14.9,560,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2734,2051,0,0,0,0,0,0
$FREEZE,1.54,-0.141,-1.890,2,1,0
$STATE,5017,end climb,SURFACE_DEPTH_REACHED
$STATE,5017,begin surface coast
$FREEZE,0.69,-0.138,-1.889,2,1,0
$FREEZE,-0.00,-0.140,-1.888,2,1,0
$FREEZE,-0.04,-0.231,-0.893,2,1,0
$FINISH,-0.0,1.013198
$STATE,5035,end surface coast,CONTROL_FINISHED_OK
$STATE,5035,begin surface
$SM_CCo,5052,47.38,0.100,0,0,1654,320.11
$SM_GC,1.12,0.00,0.00,47.38,0.000,0.000,0.100,183,2792,1654,-8.18,0.34,320.11
$IRIDIUM_FIX,-7536.68,17527.73,271210,151542
$TT8_MAMPS,0.027713
$HUMID,52.44
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,22.5,42.534
$10V_AH,10.0,16.637
$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,18.450,41.700,364.350,47.375,0.000,31.155,37.920,147.841,1.000,0.000,37.218,1406.421,2167.629,473.644,1253.835,165.007,0.000,1056.042,0.000,957.862,0.000,7.757,0.000
$DEVICE_MAMPS,211.905,110.925,968.490,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.944,723.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37112,565
$CAP_FILE_SIZE,76061,0
$CFSIZE,260165632,231129088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.064,173.7,1
$GPS,271210,182402,-7616.538,17532.785,17,2.0,17,123.5