version: 66.08
glider: 503
mission: 7
dive: 463
start: 12 28 110 14 55 16
data:
$ID,503
$MISSION,7
$DIVE,463
$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,-20074.809
$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,48
$R_STBD_OVSHOOT,37
$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
$GPS1,281210,144900,-7608.814,17512.834,42,1.1,42,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.2
$GPS2,281210,145446,-7608.818,17512.764,12,2.2,31,123.5
$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,203.5,9073,-18.2,-13.333
$D_GRID,433
$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,-219.0,0.0,0.0,0,110,0.00,0.00,-92.00,0.000,2,0.000,0.000,179,2796,3526,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.9,-10.1,16,135,9.02,1.60,-6.45,0.000,4,0.215,0.065,2518,3762,3856,0,0,0,0,0,0
$GC,383,-0.84,-219.0,64.0,-18.8,64,390,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2771,3860,0,0,0,0,0,0
$GC,526,-0.84,-219.0,91.0,-19.0,89,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,668,-0.84,-219.0,117.8,-18.8,106,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3860,0,0,0,0,0,0
$GC,797,-0.84,-219.0,141.4,-18.4,118,800,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3751,3861,0,0,0,0,0,0
$GC,835,-0.84,-219.0,149.2,-19.3,121,842,0.00,1.50,0.00,0.000,6,0.000,0.028,2511,2790,3860,0,0,0,0,0,0
$GC,969,-0.84,-219.0,174.4,-19.1,134,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3861,0,0,0,0,0,0
$GC,1098,-0.84,-219.0,198.5,-18.7,146,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2791,3861,0,0,0,0,0,0
$GC,1224,-0.84,-219.0,222.6,-18.8,158,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2790,3860,0,0,0,0,0,0
$GC,1352,-0.84,-219.0,246.4,-18.3,170,1355,0.00,1.58,0.00,0.000,4,0.000,0.050,2503,3754,3861,0,0,0,0,0,0
$GC,1397,-0.84,-219.0,255.2,-19.5,174,1400,0.00,1.50,0.00,0.000,6,0.000,0.031,2503,2792,3861,0,0,0,0,0,0
$GC,1601,-0.84,-219.0,292.7,-18.7,193,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2792,3861,0,0,0,0,0,0
$GC,1792,-0.84,-219.0,327.6,-18.2,211,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2792,3860,0,0,0,0,0,0
$GC,1983,-0.84,-219.0,362.1,-17.9,229,1986,0.00,1.55,0.00,0.000,4,0.000,0.050,2496,3745,3861,0,0,0,0,0,0
$GC,2044,-0.84,-219.0,374.0,-18.8,234,2052,0.08,1.50,0.00,0.000,6,0.145,0.030,2522,2774,3860,0,0,0,0,0,0
$GC,2244,-0.84,-219.0,406.0,-16.0,253,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2774,3860,0,0,0,0,0,0
$STATE,2420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2420,begin apogee
$GC,2426,-0.16,0.0,434.6,15.7,270,2606,0.68,0.00,175.45,1.008,4,0.121,0.000,2746,2703,2960,0,0,0,0,0,0
$STATE,2607,end apogee,CONTROL_FINISHED_OK
$STATE,2607,begin climb
$GC,2609,0.84,219.0,443.2,0.0,286,2811,0.93,0.00,192.55,0.953,6,0.073,0.000,3064,2703,2065,0,0,0,0,0,0
$GC,3003,0.84,219.0,402.6,13.5,322,3007,0.00,1.77,0.00,0.000,4,0.000,0.047,3064,3751,2057,0,0,0,0,0,0
$GC,3049,0.84,219.0,395.3,16.2,326,3052,0.00,1.65,0.00,0.000,6,0.000,0.029,3072,2718,2056,0,0,1,0,0,0
$GC,3253,0.84,219.0,365.9,14.5,345,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2717,2055,0,0,0,0,0,0
$GC,3444,0.84,219.0,339.4,13.9,363,3448,0.00,1.70,0.00,0.000,4,0.000,0.047,3072,3758,2054,0,0,0,0,0,0
$GC,3526,0.84,219.0,326.8,15.8,370,3529,0.00,1.62,0.00,0.000,6,0.000,0.030,3080,2702,2053,0,0,1,0,0,0
$GC,3729,0.84,219.0,296.3,14.9,389,3733,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3756,2053,0,0,0,0,0,0
$GC,3778,0.84,219.0,288.2,16.1,393,3785,0.00,1.65,0.00,0.000,6,0.000,0.030,3088,2721,2052,0,0,0,0,0,0
$GC,3977,0.84,219.0,259.2,14.7,412,3981,0.00,1.65,0.00,0.000,4,0.000,0.048,3088,3752,2053,0,0,0,0,0,0
$GC,4022,0.84,219.0,251.4,17.1,416,4026,0.00,1.60,0.00,0.000,6,0.000,0.031,3096,2732,2052,0,0,1,0,0,0
$GC,4226,0.84,219.0,220.7,14.5,435,4229,0.00,1.62,0.00,0.000,4,0.000,0.050,3097,3753,2052,0,0,0,0,0,0
$GC,4283,0.84,219.0,211.2,17.0,440,4287,0.08,1.58,0.00,0.000,6,0.142,0.031,3070,2756,2051,0,0,0,0,0,0
$GC,4423,0.87,243.0,193.1,12.3,453,4445,0.00,0.00,20.08,0.857,6,0.000,0.000,3070,2756,1968,0,0,0,0,0,0
$GC,4570,0.87,247.9,174.3,13.1,467,4580,0.00,0.00,5.75,0.723,6,0.000,0.000,3070,2756,1949,0,0,0,0,0,0
$GC,4707,0.88,255.2,156.2,13.0,480,4718,0.00,0.00,8.23,0.779,6,0.000,0.000,3070,2756,1919,0,0,0,0,0,0
$GC,4845,0.88,255.2,138.1,13.4,493,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2756,1919,0,0,0,0,0,0
$GC,4972,0.88,255.2,121.1,13.4,505,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2756,1919,0,0,0,0,0,0
$GC,5099,0.88,255.2,103.9,13.7,517,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2756,1918,0,0,0,0,0,0
$GC,5230,0.89,264.9,86.3,12.9,538,5243,0.00,0.00,10.12,0.778,6,0.000,0.000,3070,2756,1879,0,0,0,0,0,0
$GC,5380,0.89,264.9,66.1,13.9,564,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2756,1879,0,0,0,0,0,0
$GC,5523,0.89,264.9,46.6,13.6,589,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2756,1878,0,0,0,0,0,0
$GC,5665,0.92,283.8,27.7,12.6,614,5685,0.00,0.00,18.08,0.771,6,0.000,0.000,3070,2756,1802,0,0,0,0,0,0
$FREEZE,8.32,-0.447,-1.893,2,1,0
$FREEZE,7.48,-0.446,-1.892,2,1,0
$FREEZE,6.78,-0.445,-1.892,2,1,0
$GC,5823,0.92,283.8,6.8,14.1,641,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2756,1802,0,0,0,0,0,0
$FREEZE,4.40,-0.449,-1.890,2,1,0
$FREEZE,3.65,-0.456,-1.889,2,1,0
$FREEZE,3.02,-0.452,-1.889,2,1,0
$FREEZE,2.19,-0.453,-1.888,2,1,0
$STATE,5851,end climb,SURFACE_DEPTH_REACHED
$STATE,5851,begin surface coast
$FREEZE,1.43,-0.453,-1.888,2,1,0
$FREEZE,0.70,-0.447,-1.887,2,1,0
$FREEZE,0.12,-0.490,-1.889,2,1,0
$FREEZE,-0.00,-0.579,-1.032,2,1,0
$FINISH,-0.0,1.015260
$STATE,5873,end surface coast,CONTROL_FINISHED_OK
$STATE,5873,begin surface
$SM_CCo,5889,17.88,0.105,0,0,1655,320.11
$SM_GC,0.88,0.00,0.00,17.88,0.000,0.000,0.105,187,2756,1655,-8.17,-0.68,320.11
$IRIDIUM_FIX,-7528.04,17512.69,281210,131312
$TT8_MAMPS,0.027713
$HUMID,52.87
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$24V_AH,22.4,44.176
$10V_AH,9.9,17.287
$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,18.375,28.975,430.250,17.875,0.000,31.189,36.927,142.346,1.250,0.000,35.588,1588.780,2674.449,483.631,1339.251,180.017,0.000,1112.552,0.000,1047.103,0.000,9.474,0.000
$DEVICE_MAMPS,214.965,133.875,1008.270,104.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.630,804.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258228
$DATA_FILE_SIZE,43615,650
$CAP_FILE_SIZE,81581,0
$CFSIZE,260165632,230522880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.022, 15.1,1
$GPS,281210,163444,-7607.837,17510.660,20,1.5,21,123.5