version: 66.08
glider: 503
mission: 7
dive: 455
start: 12 28 110 2 7 24
data:
$ID,503
$MISSION,7
$DIVE,455
$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,-20063.273
$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,25
$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
$GPS1,281210,020136,-7613.436,17523.918,38,0.8,38,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.1
$GPS2,281210,020655,-7613.442,17523.832,10,1.0,10,123.5
$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,222.4,18897,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-88.80,0.000,2,0.000,0.000,184,2772,3425,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-6.4,15,138,8.90,2.30,-9.18,0.000,4,0.213,0.046,2521,1362,3856,0,0,0,0,0,0
$GC,389,-0.84,-219.0,57.8,-16.3,64,396,0.00,2.33,0.00,0.000,6,0.000,0.044,2510,2783,3859,0,0,0,0,0,0
$GC,531,-0.84,-219.0,85.0,-19.6,89,539,0.00,2.25,0.00,0.000,4,0.000,0.031,2510,1365,3859,0,0,0,0,0,0
$GC,581,-0.84,-219.0,94.0,-17.4,97,589,0.00,2.30,0.00,0.000,6,0.000,0.044,2500,2781,3859,0,0,0,0,0,0
$GC,719,-0.84,-219.0,121.1,-19.8,112,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2781,3860,0,0,0,0,0,0
$GC,846,-0.84,-219.0,146.5,-20.3,124,847,0.10,0.00,0.00,0.000,6,0.189,0.000,2525,2781,3860,0,0,0,0,0,0
$GC,973,-0.84,-219.0,168.6,-16.7,136,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2781,3860,0,0,0,0,0,0
$GC,1101,-0.84,-219.0,190.6,-17.3,148,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2781,3860,0,0,0,0,0,0
$GC,1228,-0.84,-219.0,212.7,-17.6,160,1231,0.00,1.58,0.00,0.000,4,0.000,0.050,2518,3763,3860,0,0,0,0,0,0
$GC,1265,-0.84,-219.0,219.9,-18.6,163,1273,0.00,1.52,0.00,0.000,6,0.000,0.029,2518,2776,3860,0,0,0,0,0,0
$GC,1400,-0.84,-219.0,243.2,-17.9,176,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2776,3860,0,0,0,0,0,0
$GC,1528,-0.84,-219.0,265.0,-16.8,188,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2776,3860,0,0,0,0,0,0
$GC,1721,-0.84,-219.0,297.1,-17.0,206,1724,0.00,1.62,0.00,0.000,4,0.000,0.051,2510,3795,3860,0,0,0,0,0,0
$GC,1767,-0.84,-219.0,305.4,-17.9,210,1771,0.00,1.58,0.00,0.000,6,0.000,0.030,2510,2782,3860,0,0,0,0,0,0
$GC,1972,-0.84,-219.0,340.2,-16.8,229,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2782,3860,0,0,0,0,0,0
$GC,2161,-0.84,-219.0,372.8,-17.3,247,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2782,3860,0,0,0,0,0,0
$STATE,2181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2181,begin apogee
$GC,2187,-0.16,0.0,376.5,17.0,249,2367,0.70,0.00,174.15,0.970,4,0.123,0.000,2742,2698,2960,0,0,0,0,0,0
$STATE,2368,end apogee,CONTROL_FINISHED_OK
$STATE,2368,begin climb
$GC,2371,0.84,219.0,386.2,0.0,265,2574,1.00,2.42,190.32,0.918,4,0.075,0.031,3071,1295,2067,0,0,0,0,0,0
$GC,2736,0.85,226.1,353.4,13.0,297,2748,0.00,2.42,6.53,0.744,6,0.000,0.040,3072,2707,2038,0,0,0,0,0,0
$GC,2948,0.85,226.1,323.9,13.8,317,2952,0.00,2.33,0.00,0.000,4,0.000,0.033,3082,1301,2035,0,0,0,0,0,0
$GC,3104,0.85,231.8,303.0,13.1,330,3117,0.00,2.35,6.05,0.753,6,0.000,0.041,3082,2720,2015,0,0,0,0,0,0
$GC,3309,0.85,231.8,272.8,15.2,349,3313,0.00,1.67,0.00,0.000,4,0.000,0.049,3082,3764,2014,0,0,0,0,0,0
$GC,3377,0.85,231.8,261.3,17.3,355,3381,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2733,2014,0,0,0,0,0,0
$GC,3581,0.85,231.8,230.8,14.5,374,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2733,2014,0,0,0,0,0,0
$GC,3709,0.85,231.8,212.4,14.6,386,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2733,2013,0,0,0,0,0,0
$GC,3836,0.85,231.8,193.7,14.8,398,3839,0.00,1.65,0.00,0.000,4,0.000,0.050,3091,3764,2013,0,0,0,0,0,0
$GC,3884,0.85,231.8,186.0,17.5,402,3887,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2700,2013,0,0,1,0,0,0
$GC,4024,0.85,231.8,163.5,15.9,415,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2699,2013,0,0,0,0,0,0
$GC,4150,0.85,231.8,143.6,15.4,427,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2699,2013,0,0,0,0,0,0
$GC,4278,0.85,231.8,124.1,15.3,439,4282,0.00,1.75,0.00,0.000,4,0.000,0.050,3100,3766,2013,0,0,0,0,0,0
$GC,4315,0.85,231.8,117.6,16.9,442,4323,0.08,1.62,0.00,0.000,6,0.144,0.031,3082,2727,2012,0,0,1,0,0,0
$GC,4450,0.85,231.8,99.6,13.5,455,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2727,2012,0,0,0,0,0,0
$GC,4592,0.85,231.8,80.0,13.5,480,4599,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3765,2012,0,0,0,0,0,0
$GC,4629,0.85,231.8,74.6,15.3,486,4636,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2735,2012,0,0,0,0,0,0
$GC,4770,0.85,231.8,53.4,14.7,511,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2735,2012,0,0,0,0,0,0
$GC,4912,0.85,231.8,33.1,13.9,536,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2735,2012,0,0,0,0,0,0
$GC,5052,0.85,231.8,13.5,14.3,561,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2735,2012,0,0,0,0,0,0
$FREEZE,8.40,-0.516,-1.895,2,1,0
$FREEZE,7.67,-0.518,-1.894,2,1,0
$FREEZE,6.92,-0.505,-1.893,2,1,0
$FREEZE,6.24,-0.505,-1.893,2,1,0
$FREEZE,5.49,-0.501,-1.893,2,1,0
$FREEZE,4.71,-0.502,-1.892,2,1,0
$FREEZE,4.02,-0.506,-1.892,2,1,0
$FREEZE,3.17,-0.502,-1.891,2,1,0
$FREEZE,2.29,-0.507,-1.890,2,1,0
$STATE,5128,end climb,SURFACE_DEPTH_REACHED
$STATE,5128,begin surface coast
$FREEZE,1.51,-0.497,-1.889,2,1,0
$FREEZE,0.83,-0.490,-1.889,2,1,0
$FREEZE,0.03,-0.497,-1.888,2,1,0
$FINISH,0.0,1.027654
$STATE,5147,end surface coast,CONTROL_FINISHED_OK
$STATE,5147,begin surface
$SM_CCo,5163,42.83,0.102,0,0,1655,320.11
$SM_GC,0.92,0.00,0.00,42.83,0.000,0.000,0.102,176,2789,1655,-8.20,0.25,320.11
$IRIDIUM_FIX,-7528.04,17520.17,281210,000027
$TT8_MAMPS,0.027713
$HUMID,52.59
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$24V_AH,22.5,43.227
$10V_AH,10.0,16.907
$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,18.400,38.450,377.050,42.825,0.000,30.276,36.754,137.758,1.000,0.000,12.992,1429.054,2232.816,482.114,1224.423,170.662,0.000,1065.575,0.000,963.319,0.000,7.756,0.000
$DEVICE_MAMPS,212.670,113.220,970.020,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.866,741.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258268
$DATA_FILE_SIZE,37092,578
$CAP_FILE_SIZE,76265,0
$CFSIZE,260165632,230879232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.127,226.0,1
$GPS,281210,033508,-7612.919,17522.045,17,1.3,17,123.5