version: 66.08
glider: 503
mission: 7
dive: 451
start: 12 27 110 20 1 4
data:
$ID,503
$MISSION,7
$DIVE,451
$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,-20058.244
$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,36
$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
$GPS1,271210,195501,-7615.932,17531.770,41,1.3,41,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.0
$GPS2,271210,200034,-7615.942,17531.766,13,2.2,32,123.5
$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,207.4,24715,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-89.35,0.000,2,0.000,0.000,179,2792,3456,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.4,-6.6,15,139,8.93,2.30,-8.38,0.000,4,0.213,0.045,2526,1371,3857,0,0,1,0,0,0
$GC,145,-0.84,-219.0,16.2,-33.7,20,152,0.00,2.30,0.00,0.000,6,0.000,0.044,2516,2770,3858,0,0,0,0,0,0
$GC,287,-0.84,-219.0,44.1,-18.8,45,294,0.00,2.22,0.00,0.000,4,0.000,0.032,2516,1377,3859,0,0,0,0,0,0
$GC,544,-0.84,-219.0,86.7,-16.9,91,551,0.00,2.30,0.00,0.000,6,0.000,0.044,2505,2792,3859,0,0,0,0,0,0
$GC,683,-0.84,-219.0,112.8,-19.4,110,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2793,3860,0,0,0,0,0,0
$GC,810,-0.84,-219.0,137.9,-19.5,122,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2792,3861,0,0,0,0,0,0
$GC,938,-0.84,-219.0,162.1,-18.7,134,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2792,3861,0,0,0,0,0,0
$GC,1065,-0.84,-219.0,185.2,-18.3,146,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2793,3861,0,0,0,0,0,0
$GC,1193,-0.84,-219.0,209.6,-19.6,158,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2792,3861,0,0,0,0,0,0
$GC,1320,-0.84,-219.0,234.2,-19.5,170,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2793,3861,0,0,0,0,0,0
$GC,1447,-0.84,-219.0,258.8,-19.3,182,1451,0.00,2.25,0.00,0.000,4,0.000,0.033,2505,1368,3861,0,0,0,0,0,0
$GC,1471,-0.84,-219.0,263.3,-18.6,184,1476,0.12,2.30,0.00,0.000,6,0.159,0.045,2530,2793,3861,0,0,0,0,0,0
$GC,1669,-0.84,-219.0,295.1,-15.7,202,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2793,3861,0,0,0,0,0,0
$GC,1860,-0.84,-219.0,324.3,-14.7,220,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2793,3861,0,0,0,0,0,0
$GC,2051,-0.84,-219.0,353.8,-15.7,238,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2793,3861,0,0,0,0,0,0
$STATE,2187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2187,begin apogee
$GC,2192,-0.16,0.0,375.3,15.3,251,2372,0.62,0.00,174.20,0.965,4,0.117,0.000,2741,2691,2960,0,0,0,0,0,0
$STATE,2373,end apogee,CONTROL_FINISHED_OK
$STATE,2373,begin climb
$GC,2375,0.84,219.0,384.1,0.0,267,2579,1.00,2.38,190.52,0.915,4,0.074,0.032,3072,1304,2066,0,0,0,0,0,0
$GC,2738,0.88,254.2,351.5,11.9,299,2776,0.00,2.40,32.45,0.878,6,0.000,0.041,3072,2700,1922,0,0,0,0,0,0
$GC,2975,0.88,254.2,318.3,14.3,321,2979,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1308,1917,0,0,1,0,0,0
$GC,3139,0.89,263.0,296.2,13.0,335,3152,0.00,2.33,8.30,0.798,6,0.000,0.042,3082,2706,1887,0,0,0,0,0,0
$GC,3342,0.89,263.0,266.1,14.8,354,3346,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3764,1886,0,0,0,0,0,0
$GC,3388,0.89,263.0,258.3,17.4,358,3391,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2713,1886,0,0,1,0,0,0
$GC,3591,0.89,263.0,226.3,15.9,377,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2711,1885,0,0,0,0,0,0
$GC,3718,0.89,263.0,206.0,16.1,389,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2711,1885,0,0,0,0,0,0
$GC,3846,0.89,263.0,186.0,15.6,401,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2711,1884,0,0,0,0,0,0
$GC,3973,0.89,263.0,165.6,16.5,413,3977,0.00,1.73,0.00,0.000,4,0.000,0.050,3091,3761,1883,0,0,0,0,0,0
$GC,4012,0.89,263.0,158.8,18.0,416,4019,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2709,1883,0,0,1,0,0,0
$GC,4146,0.89,263.0,137.0,16.0,429,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2709,1883,0,0,0,0,0,0
$GC,4273,0.89,263.0,116.3,16.6,441,4277,0.00,1.67,0.00,0.000,4,0.000,0.050,3099,3763,1883,0,0,0,0,0,0
$GC,4311,0.89,263.0,109.4,18.5,444,4319,0.00,1.65,0.00,0.000,6,0.000,0.031,3107,2719,1883,0,0,0,0,0,0
$GC,4451,0.89,263.0,86.4,16.9,464,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2720,1883,0,0,0,0,0,0
$GC,4592,0.89,263.0,62.7,16.5,489,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2720,1883,0,0,0,0,0,0
$GC,4735,0.89,263.0,39.1,15.9,514,4741,0.00,1.70,0.00,0.000,4,0.000,0.050,3107,3761,1883,0,0,0,0,0,0
$GC,4771,0.89,263.0,32.8,17.4,520,4778,0.00,1.65,0.00,0.000,6,0.000,0.031,3116,2721,1883,0,0,0,0,0,0
$FREEZE,8.25,-0.219,-1.895,2,1,0
$GC,4913,0.89,263.0,8.3,17.3,545,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2721,1883,0,0,0,0,0,0
$FREEZE,5.58,-0.216,-1.893,2,1,0
$FREEZE,4.49,-0.215,-1.892,2,1,0
$FREEZE,3.50,-0.215,-1.891,2,1,0
$FREEZE,2.56,-0.212,-1.890,2,1,0
$STATE,4941,end climb,SURFACE_DEPTH_REACHED
$STATE,4941,begin surface coast
$FREEZE,1.65,-0.211,-1.890,2,1,0
$FREEZE,0.81,-0.208,-1.889,2,1,0
$FREEZE,-0.08,-0.207,-1.888,2,1,0
$FINISH,-0.1,1.027641
$STATE,4960,end surface coast,CONTROL_FINISHED_OK
$STATE,4960,begin surface
$SM_CCo,4977,27.52,0.103,0,0,1655,320.11
$SM_GC,1.36,0.00,0.00,27.52,0.000,0.000,0.103,182,2802,1655,-8.18,0.62,320.11
$IRIDIUM_FIX,-7536.68,17527.01,271210,181841
$TT8_MAMPS,0.027713
$HUMID,53.07
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.7
$24V_AH,22.5,42.766
$10V_AH,10.0,16.727
$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,18.400,36.700,405.475,27.525,0.000,26.222,37.731,136.409,1.000,0.000,36.636,1347.338,2165.553,479.340,1194.922,165.572,0.000,1043.625,0.000,917.881,0.000,7.756,0.000
$DEVICE_MAMPS,212.670,92.565,965.430,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.942,702.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258192
$DATA_FILE_SIZE,37082,553
$CAP_FILE_SIZE,72999,0
$CFSIZE,260165632,231047168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.034,245.4,1
$GPS,271210,212520,-7615.387,17530.051,12,1.5,12,123.5