version: 66.08
glider: 503
mission: 7
dive: 169
start: 12 12 110 12 24 6
data:
$ID,503
$MISSION,7
$DIVE,169
$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,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,-19699.432
$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,26
$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
$GPS1,121210,121707,-7640.114,17428.098,37,1.0,37,126.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.2
$GPS2,121210,122338,-7640.086,17428.189,11,1.5,11,126.6
$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,319.3,144666,-18.2,-13.333
$D_GRID,375
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,104,0.00,0.00,-85.75,0.000,2,0.000,0.000,170,2757,3346,0,0,0,0,0,0
$GC,107,-0.84,-219.0,3.2,-6.4,14,134,8.93,1.65,-11.35,0.000,4,0.220,0.065,2513,3771,3854,0,0,0,0,0,0
$GC,273,-0.84,-219.0,40.0,-18.7,43,280,0.00,1.58,0.00,0.000,6,0.000,0.030,2513,2771,3857,0,0,0,0,0,0
$GC,412,-0.84,-219.0,66.5,-17.2,68,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2771,3858,0,0,0,0,0,0
$GC,555,-0.84,-219.0,94.2,-20.5,93,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2771,3858,0,0,0,0,0,0
$GC,696,-0.84,-219.0,121.0,-18.7,109,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2771,3858,0,0,0,0,0,0
$GC,824,-0.84,-219.0,144.1,-18.3,121,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2771,3857,0,0,0,0,0,0
$GC,951,-0.84,-219.0,167.4,-18.0,133,955,0.00,2.17,0.00,0.000,4,0.000,0.032,2513,1373,3857,0,0,0,0,0,0
$GC,994,-0.84,-219.0,175.1,-16.1,136,1003,0.00,2.33,0.00,0.000,6,0.000,0.044,2503,2785,3857,0,0,0,0,0,0
$GC,1129,-0.84,-219.0,199.6,-18.9,149,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3857,0,0,0,0,0,0
$GC,1256,-0.84,-219.0,224.5,-19.5,161,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3857,0,0,0,0,0,0
$GC,1384,-0.84,-219.0,249.5,-19.6,173,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2784,3858,0,0,0,0,0,0
$GC,1512,-0.84,-219.0,274.3,-19.6,185,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3857,0,0,0,0,0,0
$GC,1702,-0.84,-219.0,310.9,-19.4,203,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3858,0,0,0,0,0,0
$GC,1895,-0.84,-219.0,347.5,-18.7,221,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3858,0,0,0,0,0,0
$STATE,2051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2051,begin apogee
$GC,2056,-0.16,0.0,376.1,17.3,236,2236,0.73,0.00,174.12,0.959,4,0.129,0.000,2743,2699,2960,0,0,0,0,0,0
$STATE,2236,end apogee,CONTROL_FINISHED_OK
$STATE,2237,begin climb
$GC,2239,0.84,219.0,384.7,0.0,252,2441,1.00,2.38,189.27,0.903,4,0.078,0.033,3073,1303,2066,0,0,0,0,0,0
$GC,2614,0.84,219.7,347.6,13.3,285,2621,0.00,2.42,0.00,0.000,6,0.000,0.040,3073,2710,2056,0,0,0,0,0,0
$GC,2812,0.84,219.7,318.6,15.4,304,2817,0.00,2.35,0.00,0.000,4,0.000,0.034,3084,1299,2053,0,0,0,0,0,0
$GC,2986,0.84,219.7,293.8,14.3,319,2991,0.00,2.35,0.00,0.000,6,0.000,0.041,3084,2710,2051,0,0,0,0,0,0
$GC,3185,0.84,219.7,264.5,15.1,337,3188,0.00,1.75,0.00,0.000,4,0.000,0.048,3084,3762,2051,0,0,0,0,0,0
$GC,3255,0.84,219.7,252.0,17.1,343,3263,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2726,2049,0,0,1,0,0,0
$GC,3454,0.84,219.7,220.8,15.7,362,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2726,2049,0,0,0,0,0,0
$GC,3582,0.84,219.7,200.3,16.4,374,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2726,2049,0,0,0,0,0,0
$GC,3709,0.84,219.7,179.3,16.7,386,3712,0.00,1.67,0.00,0.000,4,0.000,0.050,3092,3764,2049,0,0,0,0,0,0
$GC,3755,0.84,219.7,170.8,19.2,390,3759,0.12,1.65,0.00,0.000,6,0.178,0.032,3068,2700,2049,0,0,0,0,0,0
$GC,3896,0.84,219.7,149.8,14.3,403,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2700,2049,0,0,0,0,0,0
$GC,4022,0.84,219.7,131.2,14.6,415,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2701,2049,0,0,0,0,0,0
$GC,4149,0.84,219.7,112.5,14.5,427,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2701,2049,0,0,0,0,0,0
$GC,4278,0.84,219.7,93.5,15.4,442,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2700,2049,0,0,0,0,0,0
$GC,4418,0.84,219.7,73.8,13.7,467,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2700,2048,0,0,0,0,0,0
$GC,4557,0.84,219.7,54.8,13.8,492,4564,0.00,1.73,0.00,0.000,4,0.000,0.050,3068,3755,2048,0,0,0,0,0,0
$GC,4604,0.84,219.7,47.1,16.5,500,4612,0.00,1.60,0.00,0.000,6,0.000,0.031,3075,2722,2048,0,0,1,0,0,0
$GC,4749,0.84,220.6,26.4,13.3,525,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2722,2048,0,0,0,0,0,0
$FREEZE,8.97,-1.693,-1.902,2,1,0
$FREEZE,8.24,-1.693,-1.901,2,1,0
$FREEZE,7.42,-1.692,-1.901,2,1,0
$FREEZE,6.51,-1.692,-1.900,2,1,0
$FREEZE,5.68,-1.692,-1.899,2,1,0
$FREEZE,4.82,-1.693,-1.899,2,1,0
$GC,4889,0.84,220.6,4.8,15.9,550,4895,0.00,1.70,0.00,0.000,4,0.000,0.049,3075,3767,2047,0,0,0,0,0,0
$FREEZE,2.68,-1.693,-1.897,2,1,0
$STATE,4901,end climb,SURFACE_DEPTH_REACHED
$STATE,4901,begin surface coast
$FREEZE,1.78,-1.694,-1.896,2,1,0
$FREEZE,0.66,-1.691,-1.896,2,1,0
$FREEZE,-0.04,-1.697,-1.895,2,1,0
$FREEZE,0.07,-1.696,-1.895,2,1,0
$FINISH,0.1,1.027791
$STATE,4925,end surface coast,CONTROL_FINISHED_OK
$STATE,4925,begin surface
$SM_CCo,4942,45.33,0.101,0,0,1655,320.11
$SM_GC,0.76,0.00,0.00,45.33,0.000,0.000,0.101,190,2771,1655,-8.16,-0.25,320.11
$IRIDIUM_FIX,-7554.21,17422.95,121210,121231
$TT8_MAMPS,0.027713
$HUMID,51.45
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.3
$24V_AH,22.4,12.340
$10V_AH,10.0,5.354
$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,18.450,30.650,363.400,45.325,0.000,59.678,62.027,108.125,1.500,0.000,14.437,1364.735,2213.591,473.920,1227.140,113.620,0.000,1028.946,0.000,923.161,0.000,7.756,0.000
$DEVICE_MAMPS,219.555,81.855,959.310,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.474,717.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33747,556
$CAP_FILE_SIZE,71368,0
$CFSIZE,260165632,242212864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.102, 37.3,1
$GPS,121210,134808,-7639.962,17432.234,16,1.8,17,126.5