version: 66.08
glider: 503
mission: 7
dive: 450
start: 12 27 110 18 30 15
data:
$ID,503
$MISSION,7
$DIVE,450
$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,-20056.986
$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,38
$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
$GPS1,271210,182402,-7616.538,17532.785,17,2.0,17,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.5
$GPS2,271210,182946,-7616.548,17532.793,8,2.7,27,123.5
$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,207.3,25899,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-92.82,0.000,2,0.000,0.000,182,2792,3550,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-10.0,16,137,8.93,1.60,-6.00,0.000,4,0.213,0.065,2514,3758,3856,0,0,0,0,0,0
$GC,387,-0.84,-219.0,67.3,-19.9,64,393,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2771,3860,0,0,0,0,0,0
$GC,530,-0.84,-219.0,94.5,-18.5,89,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2771,3860,0,0,0,0,0,0
$GC,666,-0.84,-219.0,120.1,-18.3,104,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2771,3860,0,0,0,0,0,0
$GC,794,-0.84,-219.0,143.1,-18.6,116,798,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3744,3861,0,0,0,0,0,0
$GC,844,-0.84,-219.0,153.0,-19.3,120,851,0.00,1.48,0.00,0.000,6,0.000,0.029,2506,2789,3861,0,0,1,0,0,0
$GC,978,-0.84,-219.0,178.0,-18.3,133,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2789,3861,0,0,0,0,0,0
$GC,1106,-0.84,-219.0,202.6,-18.9,145,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3861,0,0,0,0,0,0
$GC,1233,-0.84,-219.0,226.9,-19.1,157,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3861,0,0,0,0,0,0
$GC,1361,-0.84,-219.0,250.3,-18.1,169,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2789,3861,0,0,0,0,0,0
$GC,1553,-0.84,-219.0,285.4,-18.4,187,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3861,0,0,0,0,0,0
$GC,1743,-0.84,-219.0,321.4,-18.9,205,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3861,0,0,0,0,0,0
$GC,1934,-0.84,-219.0,356.2,-18.1,223,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2789,3861,0,0,0,0,0,0
$STATE,2038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2038,begin apogee
$GC,2044,-0.16,0.0,375.1,17.9,233,2225,0.73,0.00,174.35,0.966,4,0.125,0.000,2744,2688,2960,0,0,0,0,0,0
$STATE,2226,end apogee,CONTROL_FINISHED_OK
$STATE,2226,begin climb
$GC,2229,0.84,219.0,384.6,0.0,249,2432,1.00,2.38,190.50,0.914,4,0.075,0.032,3074,1310,2067,0,0,0,0,0,0
$GC,2595,0.84,219.0,348.9,13.5,281,2602,0.00,2.38,0.00,0.000,6,0.000,0.041,3074,2691,2059,0,0,0,0,0,0
$GC,2793,0.84,219.0,320.6,14.4,300,2797,0.00,2.30,0.00,0.000,4,0.000,0.034,3084,1307,2057,0,0,0,0,0,0
$GC,2959,0.85,232.2,297.8,12.8,314,2979,0.00,2.33,11.50,0.845,6,0.000,0.041,3084,2715,2012,0,0,1,0,0,0
$GC,3173,0.85,232.2,266.2,15.5,334,3176,0.00,1.67,0.00,0.000,4,0.000,0.049,3084,3763,2011,0,0,0,0,0,0
$GC,3221,0.85,232.2,257.1,17.1,338,3230,0.00,1.62,0.00,0.000,6,0.000,0.030,3093,2729,2011,0,0,1,0,0,0
$GC,3420,0.85,232.2,225.8,16.1,357,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2728,2010,0,0,0,0,0,0
$GC,3548,0.85,232.2,206.0,15.8,369,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2728,2010,0,0,0,0,0,0
$GC,3675,0.85,232.2,186.6,15.1,381,3678,0.00,1.65,0.00,0.000,4,0.000,0.050,3093,3763,2010,0,0,0,0,0,0
$GC,3735,0.85,232.2,176.3,17.1,386,3744,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2721,2010,0,0,0,0,0,0
$GC,3871,0.85,232.2,155.7,15.2,399,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2720,2010,0,0,0,0,0,0
$GC,3998,0.85,232.2,135.9,15.8,411,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2721,2009,0,0,0,0,0,0
$GC,4125,0.85,232.2,116.0,15.3,423,4129,0.00,1.70,0.00,0.000,4,0.000,0.050,3101,3761,2009,0,0,0,0,0,0
$GC,4171,0.85,232.2,108.2,18.4,427,4176,0.12,1.65,0.00,0.000,6,0.170,0.031,3075,2691,2008,0,0,0,0,0,0
$GC,4309,0.87,242.8,89.5,12.9,446,4323,0.00,0.00,10.07,0.780,6,0.000,0.000,3075,2691,1970,0,0,0,0,0,0
$GC,4460,0.87,242.8,69.1,13.6,472,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2691,1969,0,0,0,0,0,0
$GC,4601,0.87,242.8,49.5,13.4,497,4608,0.00,1.75,0.00,0.000,4,0.000,0.050,3074,3777,1969,0,0,0,0,0,0
$GC,4653,0.87,242.8,41.8,15.4,506,4660,0.00,1.65,0.00,0.000,6,0.000,0.030,3082,2720,1968,0,0,1,0,0,0
$GC,4799,0.87,242.8,21.7,13.9,531,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2720,1968,0,0,0,0,0,0
$FREEZE,8.31,-0.069,-1.895,2,1,0
$FREEZE,7.51,-0.067,-1.894,2,1,0
$FREEZE,6.75,-0.063,-1.894,2,1,0
$FREEZE,6.07,-0.063,-1.893,2,1,0
$FREEZE,5.36,-0.063,-1.893,2,1,0
$FREEZE,4.68,-0.066,-1.892,2,1,0
$FREEZE,3.83,-0.065,-1.892,2,1,0
$FREEZE,2.86,-0.065,-1.891,2,1,0
$STATE,4927,end climb,SURFACE_DEPTH_REACHED
$STATE,4927,begin surface coast
$FREEZE,2.04,-0.063,-1.890,2,1,0
$FREEZE,1.20,-0.064,-1.890,2,1,0
$FREEZE,0.53,-0.064,-1.889,2,1,0
$FREEZE,-0.02,-0.063,-1.889,2,1,0
$FINISH,-0.0,1.027636
$STATE,4950,end surface coast,CONTROL_FINISHED_OK
$STATE,4950,begin surface
$SM_CCo,4967,37.92,0.102,0,0,1655,320.11
$SM_GC,0.58,0.00,0.00,37.92,0.000,0.000,0.102,179,2791,1655,-8.19,0.31,320.11
$IRIDIUM_FIX,-7536.68,17536.77,271210,161625
$TT8_MAMPS,0.028462
$HUMID,52.52
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.2
$24V_AH,22.5,42.648
$10V_AH,9.9,16.682
$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,18.375,29.150,386.425,37.925,0.000,25.736,41.352,143.688,1.000,0.000,31.574,1365.160,2138.849,478.001,1216.882,164.196,0.000,1043.012,0.000,931.880,0.000,7.761,0.000
$DEVICE_MAMPS,213.435,100.980,966.195,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.476,717.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258292
$DATA_FILE_SIZE,36997,558
$CAP_FILE_SIZE,71926,0
$CFSIZE,260165632,231088128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.044,196.0,1
$GPS,271210,195501,-7615.932,17531.770,41,1.3,41,123.5