version: 66.08
glider: 503
mission: 7
dive: 460
start: 12 28 110 10 0 0
data:
$ID,503
$MISSION,7
$DIVE,460
$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,-20071.031
$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,39
$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
$GPS1,281210,095406,-7610.778,17516.760,39,1.1,40,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-75.5
$GPS2,281210,095931,-7610.801,17516.721,12,1.2,12,123.5
$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,221.1,13072,-18.2,-13.333
$D_GRID,395
$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,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,105,0.00,0.00,-86.68,0.000,2,0.000,0.000,177,2795,3377,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.1,-6.4,15,136,9.02,1.55,-10.30,0.000,4,0.215,0.063,2518,3757,3855,0,0,0,0,0,0
$GC,336,-0.84,-219.0,51.9,-18.7,55,342,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2771,3858,0,0,0,0,0,0
$GC,478,-0.84,-219.0,78.5,-18.6,80,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3858,0,0,0,0,0,0
$GC,617,-0.84,-219.0,104.7,-18.5,103,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,745,-0.84,-219.0,128.6,-18.6,115,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3858,0,0,0,0,0,0
$GC,872,-0.84,-219.0,151.9,-18.2,127,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,1000,-0.84,-219.0,175.1,-18.6,139,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,1127,-0.84,-219.0,198.4,-18.0,151,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3859,0,0,0,0,0,0
$GC,1255,-0.84,-219.0,221.5,-18.2,163,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3859,0,0,0,0,0,0
$GC,1382,-0.84,-219.0,244.3,-17.9,175,1386,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3752,3859,0,0,0,0,0,0
$GC,1420,-0.84,-219.0,251.9,-19.4,178,1427,0.00,1.50,0.00,0.000,6,0.000,0.029,2510,2785,3859,0,0,0,0,0,0
$GC,1620,-0.84,-219.0,288.2,-18.8,197,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2785,3858,0,0,0,0,0,0
$GC,1809,-0.84,-219.0,322.7,-17.6,215,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2785,3859,0,0,0,0,0,0
$GC,2000,-0.84,-219.0,355.4,-17.3,233,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2785,3859,0,0,0,0,0,0
$GC,2191,-0.84,-219.0,388.5,-17.5,251,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2785,3859,0,0,0,0,0,0
$STATE,2231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2232,begin apogee
$GC,2237,-0.16,0.0,395.9,17.1,255,2417,0.70,0.00,174.25,0.981,4,0.125,0.000,2741,2683,2961,0,0,0,0,0,0
$STATE,2417,end apogee,CONTROL_FINISHED_OK
$STATE,2418,begin climb
$GC,2420,0.84,219.0,405.0,0.0,271,2624,1.00,2.38,191.32,0.929,4,0.075,0.032,3071,1311,2066,0,0,0,0,0,0
$GC,2820,0.89,259.7,368.5,11.7,306,2864,0.00,2.38,37.33,0.894,6,0.000,0.041,3071,2693,1900,0,0,0,0,0,0
$GC,3063,0.89,259.7,334.7,14.0,329,3067,0.00,2.30,0.00,0.000,4,0.000,0.033,3081,1314,1896,0,0,0,0,0,0
$GC,3230,0.89,259.7,311.8,13.6,343,3238,0.00,2.35,0.00,0.000,6,0.000,0.041,3081,2702,1895,0,0,0,0,0,0
$GC,3430,0.89,259.7,282.9,14.8,362,3433,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3762,1894,0,0,0,0,0,0
$GC,3479,0.89,259.7,274.1,17.3,366,3486,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2722,1893,0,0,1,0,0,0
$GC,3677,0.89,259.7,242.3,15.9,385,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2723,1893,0,0,0,0,0,0
$GC,3805,0.89,259.7,222.3,15.7,397,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2723,1893,0,0,0,0,0,0
$GC,3933,0.89,259.7,202.6,15.2,409,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2722,1892,0,0,0,0,0,0
$GC,4060,0.89,259.7,183.1,15.4,421,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2722,1892,0,0,0,0,0,0
$GC,4187,0.89,259.7,164.1,14.6,433,4191,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3757,1892,0,0,0,0,0,0
$GC,4225,0.89,259.7,157.6,17.1,436,4232,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2705,1892,0,0,1,0,0,0
$GC,4359,0.89,259.7,136.7,15.7,449,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,1892,0,0,0,0,0,0
$GC,4487,0.89,259.7,116.6,15.8,461,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,1892,0,0,0,0,0,0
$GC,4615,0.89,259.7,96.5,15.6,475,4623,0.00,1.73,0.00,0.000,4,0.000,0.050,3098,3759,1892,0,0,0,0,0,0
$GC,4651,0.89,259.7,90.2,17.4,481,4658,0.00,1.65,0.00,0.000,6,0.000,0.031,3105,2717,1892,0,0,0,0,0,0
$GC,4793,0.89,259.7,67.5,16.2,506,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2717,1892,0,0,0,0,0,0
$GC,4936,0.89,259.7,44.2,16.1,531,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2717,1892,0,0,0,0,0,0
$GC,5078,0.89,259.7,21.6,15.2,556,5085,0.00,1.70,0.00,0.000,4,0.000,0.050,3106,3759,1892,0,0,0,0,0,0
$GC,5132,0.89,259.7,12.0,18.0,565,5139,0.00,1.65,0.00,0.000,6,0.000,0.031,3115,2718,1892,0,0,0,0,0,0
$FREEZE,8.08,-0.258,-1.893,2,1,0
$FREEZE,7.22,-0.259,-1.892,2,1,0
$FREEZE,6.22,-0.259,-1.891,2,1,0
$FREEZE,5.41,-0.259,-1.891,2,1,0
$FREEZE,4.60,-0.260,-1.890,2,1,0
$FREEZE,3.67,-0.260,-1.890,2,1,0
$FREEZE,3.06,-0.265,-1.889,2,1,0
$FREEZE,2.30,-0.262,-1.889,2,1,0
$STATE,5186,end climb,SURFACE_DEPTH_REACHED
$STATE,5186,begin surface coast
$FREEZE,1.07,-0.262,-1.888,2,1,0
$FREEZE,0.16,-0.262,-1.887,2,1,0
$FREEZE,-0.07,-0.407,-1.731,2,1,0
$FREEZE,0.06,-0.616,-0.868,2,1,0
$FINISH,0.1,1.012814
$STATE,5210,end surface coast,CONTROL_FINISHED_OK
$STATE,5210,begin surface
$SM_CCo,5226,28.33,0.103,0,0,1654,320.11
$SM_GC,1.20,0.00,0.00,28.33,0.000,0.000,0.103,186,2796,1654,-8.17,0.45,320.11
$IRIDIUM_FIX,-7528.04,17511.94,281210,080802
$TT8_MAMPS,0.027713
$HUMID,52.83
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.0
$24V_AH,22.4,43.818
$10V_AH,9.8,17.139
$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,18.400,29.225,402.900,28.325,0.000,28.482,38.368,143.673,1.000,0.000,14.896,1410.396,2307.077,481.540,1227.509,167.302,0.000,1061.962,0.000,956.597,0.000,7.754,0.000
$DEVICE_MAMPS,214.965,97.155,981.495,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.197,727.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258200
$DATA_FILE_SIZE,37201,579
$CAP_FILE_SIZE,74465,0
$CFSIZE,260165632,230662144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.100,221.3,1
$GPS,281210,112832,-7610.211,17515.531,17,1.8,17,123.5