version: 66.08
glider: 503
mission: 7
dive: 466
start: 12 28 110 20 20 0
data:
$ID,503
$MISSION,7
$DIVE,466
$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,-20078.582
$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,28
$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
$GPS1,281210,201314,-7605.979,17505.623,26,1.4,27,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.5
$GPS2,281210,201930,-7605.987,17505.555,38,0.9,43,123.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,CORNER_NE
$TGT_LATLONG,-7605.000,17700.000
$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,339.0,51010,-18.2,-13.333
$D_GRID,459
$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,-219.0,0.0,0.0,0,107,0.00,0.00,-89.05,0.000,2,0.000,0.000,171,2786,3429,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.2,-6.3,15,138,8.98,1.60,-9.05,0.000,4,0.213,0.066,2518,3757,3856,0,0,0,0,0,0
$GC,183,-0.84,-219.0,24.0,-20.2,27,190,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2776,3859,0,0,0,0,0,0
$GC,325,-0.84,-219.0,51.2,-19.0,52,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3859,0,0,0,0,0,0
$GC,467,-0.84,-219.0,78.2,-19.3,77,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3860,0,0,0,0,0,0
$GC,608,-0.84,-219.0,104.5,-18.8,100,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3859,0,0,0,0,0,0
$GC,736,-0.84,-219.0,128.7,-19.3,112,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3859,0,0,0,0,0,0
$GC,863,-0.84,-219.0,152.5,-18.5,124,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3860,0,0,0,0,0,0
$GC,990,-0.84,-219.0,176.5,-19.0,136,994,0.00,2.20,0.00,0.000,4,0.000,0.032,2518,1377,3860,0,0,0,0,0,0
$GC,1025,-0.84,-219.0,182.9,-17.9,139,1029,0.00,2.28,0.00,0.000,6,0.000,0.044,2508,2782,3860,0,0,0,0,0,0
$GC,1165,-0.84,-219.0,209.3,-19.1,152,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2782,3860,0,0,0,0,0,0
$GC,1292,-0.84,-219.0,233.3,-18.1,164,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2783,3860,0,0,0,0,0,0
$GC,1420,-0.84,-219.0,256.7,-17.9,176,1424,0.00,2.22,0.00,0.000,4,0.000,0.031,2507,1368,3860,0,0,0,0,0,0
$GC,1469,-0.84,-219.0,265.4,-16.0,180,1477,0.08,2.30,0.00,0.000,6,0.129,0.044,2525,2765,3860,0,0,0,0,0,0
$GC,1667,-0.84,-219.0,297.6,-16.5,199,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2765,3860,0,0,0,0,0,0
$GC,1859,-0.84,-219.0,329.1,-16.9,217,1862,0.00,1.60,0.00,0.000,4,0.000,0.051,2517,3753,3860,0,0,0,0,0,0
$GC,1908,-0.84,-219.0,338.0,-17.7,221,1916,0.00,1.52,0.00,0.000,6,0.000,0.029,2518,2770,3861,0,0,0,0,0,0
$GC,2107,-0.84,-219.0,371.0,-16.7,240,2111,0.00,2.17,0.00,0.000,4,0.000,0.032,2518,1374,3860,0,0,0,0,0,0
$GC,2136,-0.84,-219.0,375.8,-16.3,242,2140,0.00,2.25,0.00,0.000,6,0.000,0.044,2508,2770,3860,0,0,0,0,0,0
$GC,2333,-0.84,-219.0,410.5,-18.0,260,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3860,0,0,0,0,0,0
$GC,2527,-0.84,-219.0,443.8,-17.1,278,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3860,0,0,0,0,0,0
$STATE,2619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2619,begin apogee
$GC,2624,-0.16,0.0,460.6,17.7,287,2805,0.70,0.00,175.62,1.026,4,0.122,0.000,2740,2697,2960,0,0,0,0,0,0
$STATE,2806,end apogee,CONTROL_FINISHED_OK
$STATE,2806,begin climb
$GC,2808,0.84,219.0,470.9,0.0,303,3013,1.00,2.42,193.43,0.972,4,0.073,0.031,3070,1300,2067,0,0,0,0,0,0
$GC,3160,0.85,225.4,439.0,13.1,334,3173,0.00,2.42,6.03,0.763,6,0.000,0.041,3069,2704,2041,0,0,0,0,0,0
$GC,3366,0.85,225.4,409.7,14.1,353,3371,0.00,2.33,0.00,0.000,4,0.000,0.033,3081,1303,2038,0,0,0,0,0,0
$GC,3533,0.85,225.4,386.7,13.9,367,3537,0.00,2.33,0.00,0.000,6,0.000,0.041,3081,2708,2037,0,0,0,0,0,0
$GC,3732,0.85,225.4,356.1,15.2,385,3735,0.00,1.67,0.00,0.000,4,0.000,0.048,3081,3762,2036,0,0,0,0,0,0
$GC,3770,0.85,225.4,349.4,17.2,388,3778,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2720,2036,0,0,0,0,0,0
$GC,3970,0.85,225.4,318.7,15.6,407,3974,0.00,1.67,0.00,0.000,4,0.000,0.048,3089,3766,2035,0,0,0,0,0,0
$GC,4004,0.85,225.4,312.6,17.7,410,4008,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2704,2035,0,0,0,0,0,0
$GC,4208,0.85,225.4,279.9,16.3,429,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,2035,0,0,0,0,0,0
$GC,4400,0.85,225.4,249.8,15.6,447,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2704,2035,0,0,0,0,0,0
$GC,4525,0.85,225.4,230.1,15.4,459,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2704,2034,0,0,0,0,0,0
$GC,4653,0.85,225.4,210.2,15.3,471,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2704,2034,0,0,0,0,0,0
$GC,4780,0.85,225.4,191.1,14.9,483,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,2034,0,0,0,0,0,0
$GC,4908,0.85,225.4,171.8,15.2,495,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2705,2034,0,0,0,0,0,0
$GC,5035,0.85,225.4,152.4,15.3,507,5039,0.00,1.70,0.00,0.000,4,0.000,0.049,3097,3768,2034,0,0,0,0,0,0
$GC,5069,0.85,225.4,146.8,17.2,510,5074,0.12,1.65,0.00,0.000,6,0.165,0.031,3072,2693,2034,0,0,0,0,0,0
$GC,5209,0.86,240.4,127.9,12.7,523,5230,0.00,0.00,13.75,0.821,6,0.000,0.000,3072,2693,1979,0,0,0,0,0,0
$GC,5357,0.87,241.3,108.6,13.3,537,5361,0.00,1.73,0.00,0.000,4,0.000,0.049,3072,3771,1978,0,0,0,0,0,0
$GC,5384,0.87,241.3,104.2,15.2,539,5391,0.00,1.62,0.00,0.000,6,0.000,0.030,3079,2735,1978,0,0,0,0,0,0
$GC,5523,0.87,241.3,84.3,13.8,561,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2735,1978,0,0,0,0,0,0
$GC,5664,0.87,241.3,64.4,14.3,586,5671,0.00,1.67,0.00,0.000,4,0.000,0.050,3079,3759,1977,0,0,0,0,0,0
$GC,5694,0.87,241.3,60.0,14.6,591,5701,0.00,1.60,0.00,0.000,6,0.000,0.031,3086,2746,1977,0,0,0,0,0,0
$GC,5836,0.87,241.3,39.2,15.0,616,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2746,1977,0,0,0,0,0,0
$GC,5979,0.87,241.3,18.3,14.9,641,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2745,1977,0,0,0,0,0,0
$FREEZE,8.38,-0.329,-1.892,2,1,0
$FREEZE,7.61,-0.320,-1.892,2,1,0
$FREEZE,6.89,-0.310,-1.891,2,1,0
$FREEZE,6.13,-0.300,-1.891,2,1,0
$FREEZE,5.56,-0.301,-1.890,2,1,0
$FREEZE,4.76,-0.291,-1.890,2,1,0
$FREEZE,3.93,-0.286,-1.889,2,1,0
$FREEZE,3.30,-0.284,-1.889,2,1,0
$FREEZE,2.52,-0.285,-1.889,2,1,0
$STATE,6090,end climb,SURFACE_DEPTH_REACHED
$STATE,6090,begin surface coast
$FREEZE,1.37,-0.285,-1.888,2,1,0
$FREEZE,0.56,-0.286,-1.887,2,1,0
$FREEZE,0.03,-0.282,-1.887,2,1,0
$FREEZE,0.01,-0.284,-1.887,2,1,0
$FINISH,0.0,1.027621
$STATE,6113,end surface coast,CONTROL_FINISHED_OK
$STATE,6113,begin surface
$SM_CCo,6129,38.50,0.102,0,0,1655,320.11
$SM_GC,0.69,0.00,0.00,38.50,0.000,0.000,0.102,184,2745,1655,-8.18,-0.96,320.11
$IRIDIUM_FIX,-7528.04,17521.63,281210,181823
$TT8_MAMPS,0.027713
$HUMID,52.71
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$24V_AH,22.4,44.537
$10V_AH,9.9,17.443
$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,18.525,45.925,388.825,38.500,0.000,31.487,37.744,154.282,1.750,0.000,46.381,1654.107,2792.464,500.007,1416.497,192.407,0.000,1157.104,0.000,1094.935,0.000,14.007,0.000
$DEVICE_MAMPS,212.670,98.685,1025.865,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.511,803.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258148
$DATA_FILE_SIZE,43798,665
$CAP_FILE_SIZE,87761,0
$CFSIZE,260165632,230367232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,352.2,1
$GPS,281210,220355,-7605.850,17509.455,15,1.2,27,123.4