version: 66.08
glider: 503
mission: 7
dive: 163
start: 12 12 110 3 14 13
data:
$ID,503
$MISSION,7
$DIVE,163
$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,616.91943
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,-19691.885
$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,35
$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,49
$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
$GPS1,121210,030537,-7640.360,17407.254,43,1.1,44,127.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-53.4
$GPS2,121210,031344,-7640.309,17407.201,13,1.2,13,127.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA3
$TGT_LATLONG,-7630.000,18000.000
$TGT_RADIUS,5000.000
$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,323.4,153719,-18.2,-13.333
$D_GRID,378
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.84,-219.0,0.0,0.0,0,172,0.00,0.00,-153.18,0.000,2,0.000,0.000,164,2800,3537,0,0,0,0,0,0
$GC,174,-0.84,-219.0,3.6,-8.1,25,196,8.88,1.60,-6.38,0.000,4,0.217,0.064,2515,3765,3856,0,0,0,0,0,0
$GC,433,-0.84,-219.0,61.8,-20.8,71,441,0.00,1.55,0.00,0.000,6,0.000,0.030,2515,2774,3859,0,0,0,0,0,0
$GC,575,-0.84,-219.0,89.0,-19.4,96,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2774,3859,0,0,0,0,0,0
$GC,718,-0.84,-219.0,116.1,-19.2,114,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2774,3860,0,0,0,0,0,0
$GC,845,-0.84,-219.0,140.3,-18.7,126,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2774,3860,0,0,0,0,0,0
$GC,972,-0.84,-219.0,163.8,-18.6,138,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2774,3860,0,0,0,0,0,0
$GC,1100,-0.84,-219.0,187.7,-18.6,150,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$GC,1228,-0.84,-219.0,211.1,-18.3,162,1231,0.00,1.60,0.00,0.000,4,0.000,0.051,2508,3751,3860,0,0,0,0,0,0
$GC,1273,-0.84,-219.0,219.7,-18.7,166,1277,0.00,1.50,0.00,0.000,6,0.000,0.031,2508,2790,3860,0,0,0,0,0,0
$GC,1412,-0.84,-219.0,245.4,-18.2,179,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2789,3860,0,0,0,0,0,0
$GC,1541,-0.84,-219.0,268.5,-17.8,191,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2789,3860,0,0,0,0,0,0
$GC,1731,-0.84,-219.0,303.3,-18.3,209,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3860,0,0,0,0,0,0
$GC,1922,-0.84,-219.0,338.8,-18.6,227,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3860,0,0,0,0,0,0
$GC,2113,-0.84,-219.0,373.5,-17.9,245,2117,0.00,1.58,0.00,0.000,4,0.000,0.052,2500,3752,3860,0,0,0,0,0,0
$STATE,2139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2140,begin apogee
$GC,2145,-0.16,0.0,378.8,19.5,247,2330,0.73,0.00,175.20,0.964,4,0.127,0.000,2740,2700,2958,0,0,0,0,0,0
$STATE,2331,end apogee,CONTROL_FINISHED_OK
$STATE,2331,begin climb
$GC,2333,0.84,219.0,387.9,0.0,264,2535,1.00,2.38,188.70,0.908,4,0.080,0.034,3070,1298,2066,0,0,0,0,0,0
$GC,2697,0.86,234.7,351.3,12.7,296,2717,0.00,2.40,13.85,0.840,6,0.000,0.042,3070,2690,2003,0,0,1,0,0,0
$GC,2909,0.86,234.7,321.4,14.3,316,2913,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1304,1996,0,0,0,0,0,0
$GC,3082,0.86,234.7,296.8,13.6,331,3087,0.00,2.35,0.00,0.000,6,0.000,0.043,3080,2717,1994,0,0,1,0,0,0
$GC,3280,0.86,234.7,266.3,15.8,349,3283,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3765,1993,0,0,0,0,0,0
$GC,3325,0.86,234.7,258.4,17.3,353,3329,0.00,1.67,0.00,0.000,6,0.000,0.031,3088,2715,1992,0,0,1,0,0,0
$GC,3528,0.86,234.7,226.5,15.4,372,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2714,1992,0,0,0,0,0,0
$GC,3655,0.86,234.7,206.0,16.3,384,3659,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3764,1991,0,0,0,0,0,0
$GC,3716,0.86,234.7,194.7,19.4,389,3723,0.00,1.67,0.00,0.000,6,0.000,0.031,3096,2714,1991,0,0,0,0,0,0
$GC,3850,0.86,234.7,171.4,16.8,402,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2714,1990,0,0,0,0,0,0
$GC,3977,0.86,234.7,150.1,16.7,414,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2714,1990,0,0,0,0,0,0
$GC,4105,0.86,234.7,129.0,16.2,426,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2714,1990,0,0,0,0,0,0
$GC,4232,0.86,234.7,107.3,17.3,438,4236,0.00,1.70,0.00,0.000,4,0.000,0.050,3096,3772,1989,0,0,0,0,0,0
$GC,4266,0.86,234.7,101.2,19.3,441,4270,0.00,1.62,0.00,0.000,6,0.000,0.032,3105,2703,1989,0,0,1,0,0,0
$GC,4406,0.86,234.7,76.6,17.3,465,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2703,1989,0,0,0,0,0,0
$GC,4548,0.86,234.7,52.4,17.8,490,4555,0.00,1.75,0.00,0.000,4,0.000,0.051,3105,3785,1989,0,0,0,0,0,0
$GC,4655,0.86,234.7,31.6,20.4,509,4663,0.10,1.62,0.00,0.000,6,0.145,0.032,3068,2744,1989,0,0,1,0,0,0
$GC,4795,0.86,234.7,10.8,14.8,534,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2744,1988,0,0,0,0,0,0
$FREEZE,8.89,-1.582,-1.900,2,1,0
$FREEZE,8.02,-1.581,-1.899,2,1,0
$FREEZE,7.21,-1.582,-1.899,2,1,0
$FREEZE,6.73,-1.583,-1.898,2,1,0
$FREEZE,6.15,-1.582,-1.898,2,1,0
$FREEZE,5.57,-1.583,-1.897,2,1,0
$FREEZE,4.69,-1.582,-1.897,2,1,0
$FREEZE,3.96,-1.582,-1.896,2,1,0
$FREEZE,3.12,-1.582,-1.895,2,1,0
$FREEZE,2.04,-1.581,-1.894,2,1,0
$STATE,4854,end climb,SURFACE_DEPTH_REACHED
$STATE,4854,begin surface coast
$FREEZE,1.23,-1.581,-1.894,2,1,0
$FREEZE,0.50,-1.582,-1.893,2,1,0
$FREEZE,-0.06,-1.582,-1.893,2,1,0
$FINISH,-0.1,1.027759
$STATE,4874,end surface coast,CONTROL_FINISHED_OK
$STATE,4874,begin surface
$SM_CCo,4889,194.52,0.101,0,0,445,616.92
$SM_GC,0.66,0.00,0.00,194.52,0.000,0.000,0.101,192,2742,445,-8.13,-1.07,616.92
$IRIDIUM_FIX,-7554.21,17404.35,121210,030300
$TT8_MAMPS,0.026964
$HUMID,49.80
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,21.3
$24V_AH,22.4,11.679
$10V_AH,10.0,5.083
$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,18.325,32.350,377.750,194.525,0.000,58.021,73.356,171.857,1.000,0.000,16.307,1330.108,2160.161,662.749,1307.987,125.722,0.000,1228.757,0.000,920.414,0.000,7.760,0.000
$DEVICE_MAMPS,217.260,64.260,963.900,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.836,700.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,33747,548
$CAP_FILE_SIZE,77056,0
$CFSIZE,260165632,242462720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.056,295.9,1
$GPS,121210,044001,-7640.373,17409.809,14,1.4,26,127.1