version: 66.08
glider: 503
mission: 7
dive: 459
start: 12 28 110 8 24 46
data:
$ID,503
$MISSION,7
$DIVE,459
$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,-20069.773
$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,31
$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
$GPS1,281210,081822,-7611.418,17517.705,17,2.4,37,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.9
$GPS2,281210,082416,-7611.438,17517.695,10,4.4,29,123.5
$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,227.6,14292,-18.2,-13.333
$D_GRID,394
$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,-92.22,0.000,2,0.000,0.000,183,2784,3541,0,0,0,0,0,0
$GC,113,-0.84,-219.0,4.1,-10.4,16,135,8.98,1.62,-6.10,0.000,4,0.214,0.064,2519,3768,3855,0,0,0,0,0,0
$GC,325,-0.84,-219.0,54.1,-18.7,53,332,0.00,1.55,0.00,0.000,6,0.000,0.029,2519,2779,3859,0,0,0,0,0,0
$GC,468,-0.84,-219.0,80.5,-18.0,78,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2779,3859,0,0,0,0,0,0
$GC,608,-0.84,-219.0,106.5,-18.7,100,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2779,3859,0,0,0,0,0,0
$GC,736,-0.84,-219.0,129.8,-18.0,112,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2779,3859,0,0,0,0,0,0
$GC,863,-0.84,-219.0,153.1,-18.0,124,866,0.00,1.60,0.00,0.000,4,0.000,0.050,2512,3755,3859,0,0,0,0,0,0
$GC,908,-0.84,-219.0,161.6,-19.0,128,911,0.00,1.52,0.00,0.000,6,0.000,0.031,2512,2784,3859,0,0,0,0,0,0
$GC,1047,-0.84,-219.0,187.7,-18.7,141,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2784,3859,0,0,0,0,0,0
$GC,1175,-0.84,-219.0,211.0,-18.0,153,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2784,3859,0,0,0,0,0,0
$GC,1302,-0.84,-219.0,233.7,-18.1,165,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2784,3860,0,0,0,0,0,0
$GC,1431,-0.84,-219.0,257.0,-18.2,177,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2784,3860,0,0,0,0,0,0
$GC,1622,-0.84,-219.0,290.8,-17.3,195,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2784,3860,0,0,0,0,0,0
$GC,1812,-0.84,-219.0,324.2,-17.9,213,1816,0.00,1.58,0.00,0.000,4,0.000,0.050,2504,3753,3859,0,0,0,0,0,0
$GC,1850,-0.84,-219.0,331.5,-19.2,216,1857,0.00,1.50,0.00,0.000,6,0.000,0.029,2504,2786,3860,0,0,0,0,0,0
$GC,2049,-0.84,-219.0,367.6,-18.6,235,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2786,3859,0,0,0,0,0,0
$STATE,2195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2195,begin apogee
$GC,2200,-0.16,0.0,394.9,18.3,249,2381,0.73,0.00,174.55,0.978,4,0.125,0.000,2742,2684,2960,0,0,0,0,0,0
$STATE,2382,end apogee,CONTROL_FINISHED_OK
$STATE,2382,begin climb
$GC,2384,0.84,219.0,405.3,0.0,265,2589,1.00,2.40,191.32,0.929,4,0.075,0.032,3071,1308,2066,0,0,0,0,0,0
$GC,2615,0.86,239.3,390.8,12.5,285,2640,0.00,2.45,19.62,0.868,6,0.000,0.040,3071,2700,1984,0,0,1,0,0,0
$GC,2839,0.86,239.3,359.1,14.4,306,2842,0.00,1.80,0.00,0.000,4,0.000,0.048,3071,3764,1979,0,0,0,0,0,0
$GC,2910,0.86,239.3,347.4,16.4,312,2918,0.00,1.73,0.00,0.000,6,0.000,0.029,3079,2714,1978,0,0,1,0,0,0
$GC,3109,0.86,239.3,317.5,15.3,331,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2714,1977,0,0,0,0,0,0
$GC,3300,0.86,239.3,289.8,14.2,349,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2714,1976,0,0,0,0,0,0
$GC,3492,0.86,239.3,261.7,14.8,367,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2714,1975,0,0,0,0,0,0
$GC,3682,0.86,239.3,233.0,14.9,385,3686,0.00,1.67,0.00,0.000,4,0.000,0.049,3079,3764,1974,0,0,0,0,0,0
$GC,3739,0.86,239.3,223.7,16.6,390,3743,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2699,1974,0,0,0,0,0,0
$GC,3879,0.86,239.3,202.8,14.4,403,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2699,1974,0,0,0,0,0,0
$GC,4006,0.86,239.3,184.7,14.0,415,4010,0.00,1.70,0.00,0.000,4,0.000,0.049,3088,3767,1973,0,0,0,0,0,0
$GC,4055,0.86,239.3,176.9,16.2,419,4062,0.00,1.67,0.00,0.000,6,0.000,0.030,3096,2708,1973,0,0,0,0,0,0
$GC,4190,0.86,239.3,157.2,14.2,432,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2708,1973,0,0,0,0,0,0
$GC,4317,0.86,239.3,138.8,14.8,444,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2708,1974,0,0,0,0,0,0
$GC,4444,0.86,239.3,119.8,14.7,456,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2708,1973,0,0,0,0,0,0
$GC,4572,0.86,239.3,100.7,14.9,468,4576,0.00,1.67,0.00,0.000,4,0.000,0.050,3096,3764,1973,0,0,0,0,0,0
$GC,4628,0.86,239.3,91.4,17.0,477,4635,0.00,1.67,0.00,0.000,6,0.000,0.031,3104,2706,1973,0,0,0,0,0,0
$GC,4770,0.86,239.3,69.1,15.6,502,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2706,1973,0,0,0,0,0,0
$GC,4911,0.86,239.3,47.3,15.2,527,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2706,1973,0,0,0,0,0,0
$GC,5050,0.86,239.3,26.0,15.2,552,5057,0.00,1.73,0.00,0.000,4,0.000,0.050,3105,3765,1972,0,0,0,0,0,0
$GC,5117,0.86,239.3,14.6,18.0,563,5124,0.10,1.65,0.00,0.000,6,0.139,0.031,3068,2721,1972,0,0,0,0,0,0
$FREEZE,8.57,-0.394,-1.892,2,1,0
$FREEZE,7.98,-0.393,-1.892,2,1,0
$FREEZE,7.24,-0.393,-1.891,2,1,0
$FREEZE,6.67,-0.393,-1.891,2,1,0
$FREEZE,6.06,-0.392,-1.890,2,1,0
$FREEZE,5.26,-0.391,-1.890,2,1,0
$FREEZE,4.47,-0.391,-1.889,2,1,0
$FREEZE,3.79,-0.392,-1.889,2,1,0
$FREEZE,3.15,-0.392,-1.888,2,1,0
$FREEZE,2.33,-0.392,-1.888,2,1,0
$STATE,5201,end climb,SURFACE_DEPTH_REACHED
$STATE,5201,begin surface coast
$FREEZE,1.59,-0.392,-1.887,2,1,0
$FREEZE,0.95,-0.392,-1.887,2,1,0
$FREEZE,0.26,-0.396,-1.886,2,1,0
$FREEZE,-0.03,-0.434,-1.885,2,1,0
$FINISH,-0.0,1.027603
$STATE,5223,end surface coast,CONTROL_FINISHED_OK
$STATE,5224,begin surface
$SM_CCo,5241,38.38,0.102,0,0,1655,320.11
$SM_GC,0.71,0.00,0.00,38.38,0.000,0.000,0.102,177,2794,1655,-8.20,0.42,320.11
$IRIDIUM_FIX,-7528.04,17511.94,281210,060605
$TT8_MAMPS,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$24V_AH,22.4,43.698
$10V_AH,9.9,17.093
$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,18.375,31.375,385.500,38.375,0.000,29.652,38.581,153.562,1.000,0.000,32.669,1428.678,2346.253,473.661,1228.829,170.619,0.000,1045.756,0.000,936.304,0.000,7.756,0.000
$DEVICE_MAMPS,214.200,97.920,977.670,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.815,733.661,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258228
$DATA_FILE_SIZE,37189,582
$CAP_FILE_SIZE,75052,0
$CFSIZE,260165632,230703104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.116,223.4,1
$GPS,281210,095406,-7610.778,17516.760,39,1.1,40,123.5