version: 66.08
glider: 503
mission: 7
dive: 402
start: 12 24 110 19 42 18
data:
$ID,503
$MISSION,7
$DIVE,402
$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,9
$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,-19995.209
$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,41
$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
$GPS1,241210,193704,-7630.321,17703.154,21,6.4,40,122.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.9
$GPS2,241210,194149,-7630.298,17703.213,12,1.2,12,122.3
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,STATION_O
$TGT_LATLONG,-7630.000,17600.000
$TGT_RADIUS,5000.000
$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,140.6,27335,-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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.38,0.000,2,0.000,0.000,178,2793,3538,0,0,0,0,0,0
$GC,113,-0.84,-219.0,4.0,-10.0,16,134,8.85,2.33,-6.28,0.000,4,0.213,0.044,2521,1363,3855,0,0,1,0,0,0
$GC,246,-0.84,-219.0,36.5,-17.3,39,253,0.00,2.30,0.00,0.000,6,0.000,0.043,2510,2769,3859,0,0,0,0,0,0
$GC,388,-0.84,-219.0,64.0,-20.5,64,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3859,0,0,0,0,0,0
$GC,528,-0.84,-219.0,91.3,-19.2,89,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3859,0,0,0,0,0,0
$GC,669,-0.84,-219.0,118.7,-19.2,106,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3859,0,0,0,0,0,0
$GC,797,-0.84,-219.0,143.4,-19.5,118,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3860,0,0,0,0,0,0
$GC,924,-0.84,-219.0,167.7,-18.8,130,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3859,0,0,0,0,0,0
$GC,1052,-0.84,-219.0,191.9,-19.0,142,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3860,0,0,0,0,0,0
$GC,1179,-0.84,-219.0,216.0,-18.9,154,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3860,0,0,0,0,0,0
$GC,1307,-0.84,-219.0,240.7,-19.3,166,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3860,0,0,0,0,0,0
$GC,1434,-0.84,-219.0,264.8,-18.2,178,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3860,0,0,0,0,0,0
$GC,1627,-0.84,-219.0,300.0,-18.4,196,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3860,0,0,0,0,0,0
$GC,1817,-0.84,-219.0,334.4,-17.9,214,1821,0.00,1.60,0.00,0.000,4,0.000,0.050,2501,3764,3860,0,0,0,0,0,0
$GC,1866,-0.84,-219.0,343.8,-17.6,218,1874,0.00,1.52,0.00,0.000,6,0.000,0.030,2502,2780,3859,0,0,0,0,0,0
$STATE,1907,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1908,begin apogee
$GC,1913,-0.16,0.0,350.6,18.0,222,2093,0.73,0.00,173.57,0.949,4,0.125,0.000,2742,2699,2960,0,0,0,0,0,0
$STATE,2093,end apogee,CONTROL_FINISHED_OK
$STATE,2093,begin climb
$GC,2096,0.84,219.0,361.1,0.0,238,2294,1.00,2.40,189.45,0.900,4,0.076,0.031,3072,1293,2067,0,0,0,0,0,0
$GC,2464,0.85,226.4,328.4,13.0,270,2477,0.00,2.40,6.93,0.747,6,0.000,0.040,3072,2699,2036,0,0,0,0,0,0
$GC,2670,0.85,226.4,301.2,13.8,289,2674,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1299,2033,0,0,0,0,0,0
$GC,2878,0.86,236.6,273.6,12.9,307,2893,0.00,2.33,10.07,0.823,6,0.000,0.041,3083,2704,1995,0,0,0,0,0,0
$GC,3093,0.86,236.6,242.3,15.1,327,3097,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3768,1993,0,0,0,0,0,0
$GC,3131,0.86,236.6,235.6,16.7,330,3139,0.00,1.70,0.00,0.000,6,0.000,0.030,3091,2707,1992,0,0,0,0,0,0
$GC,3267,0.86,236.6,215.2,15.0,343,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2707,1992,0,0,0,0,0,0
$GC,3394,0.86,236.6,196.2,14.7,355,3398,0.00,1.73,0.00,0.000,4,0.000,0.049,3091,3755,1992,0,0,0,0,0,0
$GC,3431,0.86,236.6,189.7,16.6,358,3439,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2703,1992,0,0,0,0,0,0
$GC,3566,0.86,236.6,169.3,15.3,371,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2703,1991,0,0,0,0,0,0
$GC,3694,0.86,236.6,150.4,14.8,383,3697,0.00,1.70,0.00,0.000,4,0.000,0.049,3099,3762,1991,0,0,0,0,0,0
$GC,3739,0.86,236.6,142.8,16.8,387,3743,0.00,1.65,0.00,0.000,6,0.000,0.031,3108,2695,1990,0,0,0,0,0,0
$GC,3878,0.86,236.6,121.4,15.1,400,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2694,1991,0,0,0,0,0,0
$GC,4006,0.86,236.6,101.7,15.3,412,4011,0.12,1.70,0.00,0.000,4,0.167,0.049,3074,3762,1990,0,0,1,0,0,0
$GC,4047,0.86,236.6,95.5,15.2,418,4053,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2719,1990,0,0,0,0,0,0
$GC,4189,0.86,236.6,76.2,13.9,443,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2719,1990,0,0,0,0,0,0
$GC,4329,0.87,242.0,57.1,13.1,468,4343,0.00,1.70,5.60,0.698,4,0.000,0.050,3082,3761,1973,0,0,1,0,0,0
$GC,4367,0.87,242.0,51.5,15.0,474,4374,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2723,1973,0,0,0,0,0,0
$GC,4510,0.87,242.0,31.3,14.2,499,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2723,1973,0,0,0,0,0,0
$GC,4651,0.87,242.0,11.0,14.0,524,4657,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3763,1973,0,0,0,0,0,0
$FREEZE,8.76,-0.508,-1.895,2,1,0
$FREEZE,7.98,-0.508,-1.895,2,1,0
$FREEZE,7.38,-0.505,-1.894,2,1,0
$FREEZE,6.51,-0.489,-1.893,2,1,0
$GC,4680,0.87,242.0,6.5,14.7,529,4688,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2734,1972,0,0,0,0,0,0
$FREEZE,3.81,-0.488,-1.891,2,1,0
$FREEZE,2.95,-0.489,-1.891,2,1,0
$STATE,4699,end climb,SURFACE_DEPTH_REACHED
$STATE,4699,begin surface coast
$FREEZE,2.16,-0.496,-1.890,2,1,0
$FREEZE,1.35,-0.488,-1.890,2,1,0
$FREEZE,0.36,-0.492,-1.889,2,1,0
$FINISH,0.4,1.027656
$STATE,4717,end surface coast,CONTROL_FINISHED_OK
$STATE,4717,begin surface
$SM_CCo,4733,38.47,0.102,0,0,1655,320.11
$SM_GC,0.72,0.00,0.00,38.47,0.000,0.000,0.102,185,2784,1655,-8.17,0.11,320.11
$IRIDIUM_FIX,-7545.40,17714.23,241210,181807
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.7
$ALTIM_BOTTOM_PING,350.6,7.3
$24V_AH,22.5,37.186
$10V_AH,9.9,14.566
$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,18.350,37.525,385.625,38.475,0.000,29.276,35.881,110.353,1.500,0.000,15.007,1313.637,1984.136,483.450,1141.632,149.890,0.000,1040.280,0.000,901.670,0.000,13.298,0.000
$DEVICE_MAMPS,213.435,109.395,948.600,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.082,699.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258224
$DATA_FILE_SIZE,33696,535
$CAP_FILE_SIZE,73113,0
$CFSIZE,260165632,233078784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.087, 48.1,1
$GPS,241210,210255,-7630.178,17700.609,20,2.0,25,122.3