version: 66.08
glider: 503
mission: 7
dive: 464
start: 12 28 110 16 41 30
data:
$ID,503
$MISSION,7
$DIVE,464
$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,-20076.064
$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,45
$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
$GPS1,281210,163444,-7607.837,17510.660,20,1.5,21,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-73.5
$GPS2,281210,164100,-7607.843,17510.562,39,0.9,44,123.5
$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,191.6,7061,-18.2,-13.333
$D_GRID,447
$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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.22,0.000,2,0.000,0.000,186,2756,3468,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.5,-8.0,15,133,8.93,1.67,-7.93,0.000,4,0.214,0.066,2516,3764,3856,0,0,1,0,0,0
$GC,384,-0.84,-219.0,63.3,-19.5,63,391,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2772,3859,0,0,0,0,0,0
$GC,527,-0.84,-219.0,89.4,-17.8,88,533,0.00,1.60,0.00,0.000,4,0.000,0.050,2508,3744,3859,0,0,0,0,0,0
$GC,598,-0.84,-219.0,103.4,-18.6,99,606,0.00,1.48,0.00,0.000,6,0.000,0.029,2508,2789,3859,0,0,1,0,0,0
$GC,734,-0.84,-219.0,128.0,-18.9,112,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3860,0,0,0,0,0,0
$GC,860,-0.84,-219.0,152.2,-18.8,124,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3860,0,0,0,0,0,0
$GC,988,-0.84,-219.0,175.6,-18.4,136,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3861,0,0,0,0,0,0
$GC,1116,-0.84,-219.0,198.8,-17.9,148,1120,0.00,1.58,0.00,0.000,4,0.000,0.050,2501,3751,3860,0,0,0,0,0,0
$GC,1150,-0.84,-219.0,205.4,-20.2,151,1154,0.00,1.52,0.00,0.000,6,0.000,0.030,2501,2773,3860,0,0,0,0,0,0
$GC,1289,-0.84,-219.0,231.7,-19.3,164,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2772,3860,0,0,0,0,0,0
$GC,1417,-0.84,-219.0,255.7,-18.4,176,1420,0.00,1.60,0.00,0.000,4,0.000,0.050,2493,3752,3860,0,0,0,0,0,0
$GC,1451,-0.84,-219.0,262.6,-19.7,179,1455,0.10,1.50,0.00,0.000,6,0.142,0.030,2527,2792,3860,0,0,0,0,0,0
$GC,1655,-0.84,-219.0,296.4,-16.1,198,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2791,3861,0,0,0,0,0,0
$GC,1846,-0.84,-219.0,326.4,-15.2,216,1850,0.00,1.55,0.00,0.000,4,0.000,0.050,2520,3744,3861,0,0,0,0,0,0
$GC,1904,-0.84,-219.0,335.5,-16.0,221,1908,0.00,1.45,0.00,0.000,6,0.000,0.029,2520,2794,3860,0,0,1,0,0,0
$GC,2108,-0.84,-219.0,368.1,-16.0,240,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2794,3860,0,0,0,0,0,0
$GC,2300,-0.84,-219.0,398.1,-15.7,258,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2794,3861,0,0,0,0,0,0
$GC,2489,-0.84,-219.0,428.4,-16.1,276,2492,0.00,1.55,0.00,0.000,4,0.000,0.050,2513,3747,3860,0,0,0,0,0,0
$GC,2538,-0.84,-219.0,437.0,-17.0,280,2545,0.00,1.48,0.00,0.000,6,0.000,0.030,2513,2798,3860,0,0,0,0,0,0
$STATE,2608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2608,begin apogee
$GC,2614,-0.16,0.0,448.6,16.8,287,2796,0.70,0.00,175.45,1.019,4,0.121,0.000,2744,2698,2960,0,0,0,0,0,0
$STATE,2797,end apogee,CONTROL_FINISHED_OK
$STATE,2797,begin climb
$GC,2799,0.84,219.0,458.9,0.0,303,3000,1.00,2.40,192.82,0.965,4,0.073,0.031,3075,1305,2067,0,0,0,0,0,0
$GC,3140,0.84,219.0,426.8,13.5,333,3148,0.00,2.40,0.00,0.000,6,0.000,0.041,3075,2696,2059,0,0,0,0,0,0
$GC,3338,0.84,219.0,398.5,14.7,352,3342,0.00,2.30,0.00,0.000,4,0.000,0.034,3085,1307,2057,0,0,0,0,0,0
$GC,3539,0.84,219.0,370.5,13.9,369,3548,0.00,2.35,0.00,0.000,6,0.000,0.041,3085,2701,2055,0,0,0,0,0,0
$GC,3740,0.84,219.0,340.1,15.7,388,3743,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3767,2054,0,0,0,0,0,0
$GC,3818,0.84,219.0,326.2,17.1,395,3822,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2702,2054,0,0,0,0,0,0
$GC,4023,0.84,219.0,293.4,15.9,414,4026,0.00,1.70,0.00,0.000,4,0.000,0.049,3094,3763,2054,0,0,0,0,0,0
$GC,4090,0.84,219.0,281.0,19.4,420,4094,0.12,1.65,0.00,0.000,6,0.168,0.031,3069,2697,2053,0,0,0,0,0,0
$GC,4295,0.85,231.0,253.2,12.8,439,4310,0.00,1.77,9.35,0.848,4,0.000,0.049,3068,3765,2019,0,0,0,0,0,0
$GC,4362,0.85,231.0,242.8,15.4,445,4366,0.00,1.65,0.00,0.000,6,0.000,0.031,3076,2702,2018,0,0,0,0,0,0
$GC,4502,0.85,231.0,222.6,14.4,458,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2702,2018,0,0,0,0,0,0
$GC,4630,0.85,231.0,204.7,13.8,470,4634,0.00,1.70,0.00,0.000,4,0.000,0.049,3076,3769,2017,0,0,0,0,0,0
$GC,4678,0.85,231.0,197.6,15.7,474,4682,0.00,1.62,0.00,0.000,6,0.000,0.030,3083,2741,2017,0,0,0,0,0,0
$GC,4819,0.85,231.0,176.8,14.3,487,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2740,2017,0,0,0,0,0,0
$GC,4946,0.85,231.0,158.3,14.8,499,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2740,2017,0,0,0,0,0,0
$GC,5073,0.85,231.0,139.2,14.9,511,5076,0.00,1.62,0.00,0.000,4,0.000,0.048,3083,3766,2017,0,0,0,0,0,0
$GC,5110,0.85,231.0,132.9,16.7,514,5118,0.00,1.60,0.00,0.000,6,0.000,0.030,3091,2749,2017,0,0,0,0,0,0
$GC,5245,0.85,231.0,112.6,15.0,527,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2749,2017,0,0,0,0,0,0
$GC,5373,0.85,231.0,93.1,15.2,543,5380,0.00,1.65,0.00,0.000,4,0.000,0.050,3092,3760,2017,0,0,0,0,0,0
$GC,5409,0.85,231.0,87.3,17.2,549,5416,0.00,1.60,0.00,0.000,6,0.000,0.031,3100,2748,2017,0,0,0,0,0,0
$GC,5553,0.85,231.0,65.1,15.3,574,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2747,2017,0,0,0,0,0,0
$GC,5693,0.85,231.0,43.5,14.5,599,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2748,2016,0,0,0,0,0,0
$GC,5835,0.85,231.0,22.7,15.5,624,5842,0.00,1.65,0.00,0.000,4,0.000,0.050,3100,3763,2016,0,0,0,0,0,0
$GC,5899,0.85,231.0,12.2,16.4,635,5906,0.10,1.58,0.00,0.000,6,0.142,0.031,3074,2763,2016,0,0,0,0,0,0
$FREEZE,8.98,-0.425,-1.894,2,1,0
$FREEZE,8.37,-0.424,-1.893,2,1,0
$FREEZE,7.58,-0.424,-1.893,2,1,0
$FREEZE,6.94,-0.424,-1.892,2,1,0
$FREEZE,6.26,-0.424,-1.892,2,1,0
$FREEZE,5.58,-0.426,-1.891,2,1,0
$FREEZE,4.82,-0.428,-1.891,2,1,0
$FREEZE,4.15,-0.431,-1.890,2,1,0
$FREEZE,3.54,-0.432,-1.889,2,1,0
$FREEZE,2.76,-0.433,-1.889,2,1,0
$STATE,5966,end climb,SURFACE_DEPTH_REACHED
$STATE,5966,begin surface coast
$FREEZE,1.88,-0.433,-1.888,2,1,0
$FREEZE,1.09,-0.433,-1.888,2,1,0
$FREEZE,0.54,-0.432,-1.887,2,1,0
$FREEZE,-0.00,-0.438,-1.887,2,1,0
$FINISH,-0.0,1.027631
$STATE,5990,end surface coast,CONTROL_FINISHED_OK
$STATE,5990,begin surface
$SM_CCo,6006,44.12,0.103,0,0,1655,320.11
$SM_GC,1.00,0.00,0.00,44.12,0.000,0.000,0.103,176,2763,1655,-8.20,-0.48,320.11
$IRIDIUM_FIX,-7528.04,17512.69,281210,141444
$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,22.4,44.294
$10V_AH,10.0,17.339
$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,18.500,51.225,377.625,44.125,0.000,30.625,39.572,153.864,1.250,0.000,46.537,1635.479,2695.080,485.555,1424.466,197.773,0.000,1147.975,0.000,1105.926,0.000,9.473,0.000
$DEVICE_MAMPS,214.200,80.325,1018.980,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.780,789.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43796,651
$CAP_FILE_SIZE,88588,0
$CFSIZE,260165632,230465536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.066, 11.1,1
$GPS,281210,182336,-7606.871,17508.396,30,1.1,36,123.4