version: 66.08
glider: 503
mission: 7
dive: 465
start: 12 28 110 18 29 49
data:
$ID,503
$MISSION,7
$DIVE,465
$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,-20077.32
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,281210,182336,-7606.871,17508.396,30,1.1,36,123.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-74.2
$GPS2,281210,182919,-7606.880,17508.350,10,1.5,10,123.4
$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,180.2,5095,-18.2,-13.333
$D_GRID,459
$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,15,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-89.47,0.000,2,0.000,0.000,175,2763,3442,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.4,-7.7,15,138,8.93,1.65,-8.62,0.000,4,0.211,0.065,2518,3766,3857,0,0,1,0,0,0
$GC,389,-0.84,-219.0,63.4,-18.9,64,396,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2774,3860,0,0,0,0,0,0
$GC,531,-0.84,-219.0,90.0,-18.9,89,539,0.00,1.62,0.00,0.000,4,0.000,0.050,2510,3762,3860,0,0,0,0,0,0
$GC,574,-0.84,-219.0,98.1,-19.0,96,581,0.00,1.52,0.00,0.000,6,0.000,0.031,2511,2794,3860,0,0,0,0,0,0
$GC,716,-0.84,-219.0,124.7,-19.1,110,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2793,3860,0,0,0,0,0,0
$GC,843,-0.84,-219.0,148.7,-18.6,122,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3861,0,0,0,0,0,0
$GC,971,-0.84,-219.0,173.1,-19.1,134,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2793,3861,0,0,0,0,0,0
$GC,1099,-0.84,-219.0,197.3,-19.0,146,1103,0.00,1.58,0.00,0.000,4,0.000,0.050,2503,3762,3860,0,0,0,0,0,0
$GC,1148,-0.84,-219.0,207.9,-20.0,150,1156,0.00,1.52,0.00,0.000,6,0.000,0.030,2503,2779,3861,0,0,0,0,0,0
$GC,1283,-0.84,-219.0,233.7,-19.7,163,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2779,3861,0,0,0,0,0,0
$GC,1411,-0.84,-219.0,258.0,-18.7,175,1414,0.00,1.60,0.00,0.000,4,0.000,0.050,2495,3760,3861,0,0,0,0,0,0
$GC,1460,-0.84,-219.0,268.5,-20.7,179,1467,0.08,1.50,0.00,0.000,6,0.145,0.031,2522,2796,3861,0,0,0,0,0,0
$GC,1660,-0.84,-219.0,302.8,-17.5,198,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2796,3861,0,0,0,0,0,0
$GC,1850,-0.84,-219.0,335.0,-16.5,216,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2796,3861,0,0,0,0,0,0
$GC,2041,-0.84,-219.0,365.7,-16.2,234,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2796,3861,0,0,0,0,0,0
$GC,2232,-0.84,-219.0,396.1,-15.6,252,2235,0.00,1.58,0.00,0.000,4,0.000,0.051,2515,3762,3860,0,0,0,0,0,0
$GC,2270,-0.84,-219.0,402.7,-16.7,255,2277,0.00,1.50,0.00,0.000,6,0.000,0.031,2515,2802,3861,0,0,0,0,0,0
$GC,2469,-0.84,-219.0,435.4,-17.0,274,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2802,3861,0,0,0,0,0,0
$STATE,2615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2615,begin apogee
$GC,2621,-0.16,0.0,459.9,16.7,288,2803,0.70,0.00,175.93,1.027,4,0.121,0.000,2747,2684,2960,0,0,0,0,0,0
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin climb
$GC,2807,0.84,219.0,469.3,0.0,304,3014,0.98,2.40,193.20,0.972,4,0.070,0.032,3071,1308,2067,0,0,0,0,0,0
$GC,3116,0.84,220.1,442.0,13.3,332,3120,0.00,2.42,0.00,0.000,6,0.000,0.041,3071,2704,2061,0,0,0,0,0,0
$GC,3314,0.84,220.1,413.7,14.1,350,3318,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1309,2057,0,0,0,0,0,0
$GC,3488,0.84,220.1,389.9,13.7,365,3492,0.00,2.33,0.00,0.000,6,0.000,0.041,3082,2710,2056,0,0,0,0,0,0
$GC,3688,0.84,220.1,360.7,14.7,383,3691,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3761,2055,0,0,0,0,0,0
$GC,3756,0.84,220.1,348.8,17.8,389,3759,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2703,2054,0,0,1,0,0,0
$GC,3959,0.84,220.1,316.1,16.3,408,3962,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3762,2054,0,0,0,0,0,0
$GC,4008,0.84,220.1,307.1,18.3,412,4015,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2717,2054,0,0,0,0,0,0
$GC,4208,0.84,220.1,274.3,16.6,431,4212,0.00,1.67,0.00,0.000,4,0.000,0.049,3099,3762,2054,0,0,0,0,0,0
$GC,4244,0.84,220.1,267.8,18.1,434,4248,0.12,1.65,0.00,0.000,6,0.169,0.031,3073,2699,2053,0,0,0,0,0,0
$GC,4447,0.84,220.1,238.4,13.7,453,4451,0.00,1.75,0.00,0.000,4,0.000,0.048,3073,3764,2053,0,0,0,0,0,0
$GC,4537,0.84,220.1,224.2,16.2,461,4541,0.00,1.60,0.00,0.000,6,0.000,0.031,3080,2750,2052,0,0,0,0,0,0
$GC,4677,0.84,220.1,203.8,14.1,474,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2750,2052,0,0,0,0,0,0
$GC,4806,0.84,220.1,184.9,15.2,486,4809,0.00,1.62,0.00,0.000,4,0.000,0.049,3080,3772,2052,0,0,0,0,0,0
$GC,4863,0.84,220.1,175.5,16.3,491,4867,0.00,1.60,0.00,0.000,6,0.000,0.031,3087,2757,2051,0,0,0,0,0,0
$GC,5003,0.84,220.1,154.5,14.3,504,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2756,2052,0,0,0,0,0,0
$GC,5130,0.84,220.1,136.6,13.9,516,5134,0.00,1.62,0.00,0.000,4,0.000,0.050,3087,3780,2052,0,0,0,0,0,0
$GC,5186,0.84,220.1,127.8,16.0,521,5190,0.00,1.58,0.00,0.000,6,0.000,0.031,3095,2769,2051,0,0,1,0,0,0
$GC,5326,0.84,220.1,107.4,14.6,534,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2769,2051,0,0,0,0,0,0
$GC,5456,0.84,220.1,87.9,15.0,553,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2769,2051,0,0,0,0,0,0
$GC,5599,0.84,220.1,66.3,14.8,578,5606,0.00,1.62,0.00,0.000,4,0.000,0.049,3096,3764,2051,0,0,0,0,0,0
$GC,5653,0.84,220.1,57.5,16.4,587,5661,0.10,1.55,0.00,0.000,6,0.142,0.031,3069,2783,2051,0,0,0,0,0,0
$GC,5796,0.86,239.6,38.5,12.5,612,5816,0.00,0.00,16.62,0.781,6,0.000,0.000,3070,2783,1983,0,0,0,0,0,0
$GC,5953,0.86,239.6,17.8,13.6,639,5960,0.00,2.38,0.00,0.000,4,0.000,0.035,3080,1298,1983,0,0,0,0,0,0
$GC,5983,0.86,239.6,13.3,13.6,644,5990,0.00,2.42,0.00,0.000,6,0.000,0.044,3080,2784,1982,0,0,0,0,0,0
$FREEZE,8.52,-0.417,-1.894,2,1,0
$FREEZE,7.85,-0.414,-1.894,2,1,0
$FREEZE,7.12,-0.413,-1.893,2,1,0
$FREEZE,6.47,-0.417,-1.893,2,1,0
$FREEZE,5.75,-0.417,-1.892,2,1,0
$FREEZE,5.02,-0.415,-1.892,2,1,0
$FREEZE,4.39,-0.414,-1.891,2,1,0
$FREEZE,3.61,-0.409,-1.890,2,1,0
$FREEZE,2.97,-0.411,-1.890,2,1,0
$STATE,6058,end climb,SURFACE_DEPTH_REACHED
$STATE,6059,begin surface coast
$FREEZE,1.87,-0.410,-1.889,2,1,0
$FREEZE,1.08,-0.410,-1.889,2,1,0
$FREEZE,0.39,-0.409,-1.888,2,1,0
$FREEZE,-0.05,-0.407,-1.888,2,1,0
$FINISH,-0.0,1.027639
$STATE,6083,end surface coast,CONTROL_FINISHED_OK
$STATE,6083,begin surface
$SM_CCo,6099,39.65,0.103,0,0,1655,320.11
$SM_GC,0.76,0.00,0.00,39.65,0.000,0.000,0.103,171,2785,1655,-8.21,0.14,320.11
$IRIDIUM_FIX,-7528.04,17512.69,281210,161633
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$24V_AH,22.4,44.415
$10V_AH,9.9,17.390
$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,18.525,52.975,385.750,39.650,0.000,25.420,41.074,156.931,1.500,0.000,12.986,1652.096,2754.944,492.867,1399.457,194.032,0.000,1159.144,0.000,1113.452,0.000,12.963,0.000
$DEVICE_MAMPS,211.140,71.910,1027.395,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.220,798.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258172
$DATA_FILE_SIZE,43707,662
$CAP_FILE_SIZE,88703,0
$CFSIZE,260165632,230416384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.092, 17.0,1
$GPS,281210,201314,-7605.979,17505.623,26,1.4,27,123.5