version: 66.08
glider: 503
mission: 7
dive: 468
start: 12 29 110 0 0 18
data:
$ID,503
$MISSION,7
$DIVE,468
$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,-20081.098
$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,42
$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
$GPS1,281210,235000,-7605.914,17512.506,45,1.4,51,123.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-74.1
$GPS2,281210,235949,-7605.924,17512.324,13,1.4,30,123.3
$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,342.4,47992,-18.2,-13.333
$D_GRID,419
$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,-91.80,0.000,2,0.000,0.000,188,2800,3530,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.9,-9.4,15,133,9.02,0.00,-6.45,0.000,6,0.216,0.000,2522,2800,3856,0,0,0,0,0,0
$GC,269,-0.84,-219.0,42.0,-19.3,42,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2801,3860,0,0,0,0,0,0
$GC,410,-0.84,-219.0,67.9,-17.9,67,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2800,3860,0,0,0,0,0,0
$GC,550,-0.84,-219.0,93.5,-18.2,92,557,0.00,2.28,0.00,0.000,4,0.000,0.031,2522,1368,3860,0,0,0,0,0,0
$GC,588,-0.84,-219.0,100.0,-17.0,98,595,0.00,2.28,0.00,0.000,6,0.000,0.044,2511,2765,3860,0,0,0,0,0,0
$GC,722,-0.84,-219.0,125.2,-19.0,111,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3861,0,0,0,0,0,0
$GC,850,-0.84,-219.0,149.2,-18.7,123,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2765,3861,0,0,0,0,0,0
$GC,977,-0.84,-219.0,173.0,-18.6,135,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2765,3861,0,0,0,0,0,0
$GC,1105,-0.84,-219.0,196.2,-18.1,147,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2765,3861,0,0,0,0,0,0
$GC,1232,-0.84,-219.0,219.3,-18.1,159,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2765,3861,0,0,0,0,0,0
$GC,1359,-0.84,-219.0,242.2,-18.2,171,1363,0.00,1.60,0.00,0.000,4,0.000,0.051,2504,3753,3861,0,0,0,0,0,0
$GC,1394,-0.84,-219.0,248.7,-19.4,174,1398,0.00,1.52,0.00,0.000,6,0.000,0.030,2504,2772,3861,0,0,0,0,0,0
$GC,1534,-0.84,-219.0,274.3,-18.4,187,1538,0.00,2.17,0.00,0.000,4,0.000,0.032,2504,1378,3861,0,0,0,0,0,0
$GC,1575,-0.84,-219.0,281.6,-17.0,190,1580,0.12,2.25,0.00,0.000,6,0.160,0.044,2530,2772,3860,0,0,0,0,0,0
$GC,1774,-0.84,-219.0,313.7,-16.2,208,1778,0.00,1.60,0.00,0.000,4,0.000,0.050,2523,3766,3861,0,0,0,0,0,0
$GC,1812,-0.84,-219.0,320.7,-17.1,211,1819,0.00,1.55,0.00,0.000,6,0.000,0.029,2522,2767,3861,0,0,0,0,0,0
$GC,2012,-0.84,-219.0,352.7,-16.3,230,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2767,3861,0,0,0,0,0,0
$GC,2201,-0.84,-219.0,383.1,-16.2,248,2204,0.00,1.62,0.00,0.000,4,0.000,0.050,2515,3792,3861,0,0,0,0,0,0
$GC,2246,-0.84,-219.0,391.0,-17.7,252,2250,0.00,1.58,0.00,0.000,6,0.000,0.030,2515,2776,3861,0,0,0,0,0,0
$STATE,2417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2417,begin apogee
$GC,2423,-0.16,0.0,419.1,16.2,268,2605,0.70,0.00,175.15,0.998,4,0.123,0.000,2746,2698,2959,0,0,0,0,0,0
$STATE,2606,end apogee,CONTROL_FINISHED_OK
$STATE,2606,begin climb
$GC,2608,0.84,219.0,427.3,0.0,284,2808,0.98,2.42,191.45,0.944,4,0.072,0.031,3069,1303,2067,0,0,0,0,0,0
$GC,2921,0.84,219.0,398.5,13.5,312,2925,0.00,2.42,0.00,0.000,6,0.000,0.041,3070,2700,2060,0,0,0,0,0,0
$GC,3120,0.84,219.0,370.1,14.2,330,3124,0.00,2.33,0.00,0.000,4,0.000,0.034,3081,1306,2057,0,0,0,0,0,0
$GC,3293,0.84,219.0,346.7,13.8,345,3297,0.00,2.33,0.00,0.000,6,0.000,0.042,3081,2704,2055,0,0,0,0,0,0
$GC,3491,0.84,219.0,318.1,14.0,363,3495,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3768,2054,0,0,0,0,0,0
$GC,3529,0.84,219.0,311.7,15.9,366,3538,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2721,2054,0,0,0,0,0,0
$GC,3730,0.84,219.0,282.6,15.2,385,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2721,2054,0,0,0,0,0,0
$GC,3919,0.84,219.0,254.5,14.3,403,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2721,2053,0,0,0,0,0,0
$GC,4110,0.84,219.0,226.3,15.1,421,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2721,2053,0,0,0,0,0,0
$GC,4237,0.84,219.0,208.0,14.2,433,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2721,2053,0,0,0,0,0,0
$GC,4364,0.84,219.0,189.5,14.7,445,4368,0.00,1.70,0.00,0.000,4,0.000,0.047,3089,3757,2052,0,0,0,0,0,0
$GC,4403,0.84,219.0,183.1,16.9,448,4410,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2717,2052,0,0,0,0,0,0
$GC,4538,0.84,219.0,162.8,15.0,461,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2717,2052,0,0,0,0,0,0
$GC,4665,0.84,219.0,143.8,15.1,473,4668,0.00,1.67,0.00,0.000,4,0.000,0.049,3097,3769,2052,0,0,0,0,0,0
$GC,4703,0.84,219.0,137.1,17.1,476,4711,0.10,1.65,0.00,0.000,6,0.138,0.031,3072,2708,2052,0,0,1,0,0,0
$GC,4838,0.87,245.2,119.7,12.3,489,4867,0.00,0.00,21.70,0.823,6,0.000,0.000,3072,2708,1960,0,0,0,0,0,0
$GC,4994,0.87,245.2,99.0,13.6,504,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2708,1958,0,0,0,0,0,0
$GC,5136,0.88,249.5,80.6,13.2,529,5143,0.00,0.00,5.30,0.685,6,0.000,0.000,3071,2708,1942,0,0,0,0,0,0
$GC,5279,0.90,267.2,62.4,12.6,554,5305,0.00,1.75,16.98,0.778,4,0.000,0.050,3071,3763,1870,0,0,1,0,0,0
$GC,5336,0.90,267.2,54.8,14.9,563,5343,0.00,1.67,0.00,0.000,6,0.000,0.031,3079,2717,1870,0,0,0,0,0,0
$GC,5478,0.90,272.7,35.8,13.1,588,5490,0.00,0.00,6.40,0.692,6,0.000,0.000,3079,2717,1847,0,0,0,0,0,0
$GC,5625,0.90,272.7,15.7,13.9,614,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2717,1847,0,0,0,0,0,0
$FREEZE,8.53,-0.555,-1.893,2,1,0
$FREEZE,7.86,-0.514,-1.892,2,1,0
$FREEZE,7.07,-0.496,-1.891,2,1,0
$FREEZE,6.39,-0.488,-1.890,2,1,0
$FREEZE,5.67,-0.481,-1.890,2,1,0
$FREEZE,4.95,-0.443,-1.890,2,1,0
$FREEZE,4.28,-0.355,-1.888,2,1,0
$FREEZE,3.51,-0.330,-1.887,2,1,0
$FREEZE,2.82,-0.343,-1.887,2,1,0
$STATE,5718,end climb,SURFACE_DEPTH_REACHED
$STATE,5718,begin surface coast
$FREEZE,1.92,-0.298,-1.886,2,1,0
$FREEZE,0.96,-0.274,-1.886,2,1,0
$FREEZE,0.18,-0.272,-1.885,2,1,0
$FREEZE,-0.05,-0.328,-1.885,2,1,0
$FINISH,-0.0,1.027596
$STATE,5742,end surface coast,CONTROL_FINISHED_OK
$STATE,5743,begin surface
$SM_CCo,5760,22.75,0.103,0,0,1655,320.11
$SM_GC,1.13,0.00,0.00,22.75,0.000,0.000,0.103,172,2801,1655,-8.21,0.59,320.11
$IRIDIUM_FIX,-7519.49,17514.18,281210,232348
$TT8_MAMPS,0.027713
$HUMID,52.36
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.6
$24V_AH,22.4,44.788
$10V_AH,9.9,17.545
$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,18.600,41.600,416.975,22.750,0.000,63.224,72.460,221.841,1.250,0.000,33.513,1562.328,2612.254,499.326,1506.417,203.301,0.000,1135.396,0.000,1046.798,0.000,9.473,0.000
$DEVICE_MAMPS,216.495,98.685,998.325,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.592,790.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43739,635
$CAP_FILE_SIZE,87424,0
$CFSIZE,260165632,230268928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.088,303.2,1
$GPS,291210,013806,-7606.099,17515.080,40,0.8,45,123.2