version: 66.08
glider: 503
mission: 7
dive: 202
start: 12 14 110 14 12 5
data:
$ID,503
$MISSION,7
$DIVE,202
$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,-19741.736
$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,43
$R_STBD_OVSHOOT,48
$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
$GPS1,141210,140650,-7639.833,17555.871,33,1.2,33,124.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.6
$GPS2,141210,141137,-7639.821,17555.840,37,1.2,37,124.5
$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,310.8,107116,-18.2,-13.333
$D_GRID,405
$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,-219.0,0.0,0.0,0,111,0.00,0.00,-93.00,0.000,2,0.000,0.000,194,2806,3514,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.8,-9.4,16,135,8.80,2.35,-7.05,0.000,4,0.220,0.045,2521,1369,3856,0,0,0,0,0,0
$GC,385,-0.84,-219.0,55.8,-14.8,64,392,0.00,2.28,0.00,0.000,6,0.000,0.045,2512,2761,3860,0,0,0,0,0,0
$GC,526,-0.84,-219.0,81.0,-18.7,89,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2761,3860,0,0,0,0,0,0
$GC,664,-0.84,-219.0,106.7,-18.4,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2761,3860,0,0,0,0,0,0
$GC,792,-0.84,-219.0,130.0,-18.2,123,795,0.00,1.62,0.00,0.000,4,0.000,0.050,2503,3794,3860,0,0,0,0,0,0
$GC,830,-0.84,-219.0,137.8,-19.8,126,838,0.00,1.58,0.00,0.000,6,0.000,0.030,2503,2786,3860,0,0,0,0,0,0
$GC,965,-0.84,-219.0,162.9,-18.7,139,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2786,3860,0,0,0,0,0,0
$GC,1092,-0.84,-219.0,186.9,-18.8,151,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2786,3860,0,0,0,0,0,0
$GC,1220,-0.84,-219.0,210.9,-19.4,163,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2786,3861,0,0,0,0,0,0
$GC,1347,-0.84,-219.0,235.5,-19.0,175,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2786,3861,0,0,0,0,0,0
$GC,1474,-0.84,-219.0,259.6,-18.6,187,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2786,3860,0,0,0,0,0,0
$GC,1665,-0.84,-219.0,293.9,-17.7,205,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2786,3860,0,0,0,0,0,0
$GC,1858,-0.84,-219.0,328.1,-18.0,223,1862,0.00,1.60,0.00,0.000,4,0.000,0.050,2496,3767,3861,0,0,0,0,0,0
$GC,1915,-0.84,-219.0,339.4,-20.1,228,1919,0.08,1.50,0.00,0.000,6,0.147,0.031,2522,2798,3860,0,0,0,0,0,0
$GC,2119,-0.84,-219.0,373.1,-15.9,247,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2798,3861,0,0,0,0,0,0
$GC,2309,-0.84,-219.0,386.0,0.1,265,2313,0.00,2.20,0.00,0.000,4,0.000,0.034,2522,1379,3861,0,0,0,0,0,0
$STATE,2362,end dive,NO_VERTICAL_VELOCITY
$STATE,2362,begin apogee
$GC,2369,-0.16,0.0,386.0,0.0,269,2551,0.60,0.00,173.93,0.969,4,0.080,0.000,2750,2702,2959,0,0,0,0,0,0
$STATE,2551,end apogee,CONTROL_FINISHED_OK
$STATE,2552,begin climb
$GC,2554,0.84,219.0,385.9,0.0,286,2748,0.90,0.00,189.32,0.913,6,0.063,0.000,3070,2702,2067,0,0,0,0,0,0
$GC,2943,0.85,228.3,346.9,13.0,321,2956,0.00,1.88,8.12,0.788,4,0.000,0.048,3070,3759,2028,0,0,0,0,0,0
$GC,2994,0.85,228.3,338.9,15.6,325,3002,0.00,1.73,0.00,0.000,6,0.000,0.030,3078,2718,2028,0,0,1,0,0,0
$GC,3192,0.85,228.3,310.9,14.5,344,3196,0.00,1.75,0.00,0.000,4,0.000,0.049,3078,3767,2026,0,0,0,0,0,0
$GC,3238,0.85,228.3,303.6,17.0,348,3241,0.00,1.65,0.00,0.000,6,0.000,0.030,3086,2721,2025,0,0,1,0,0,0
$GC,3441,0.85,228.3,273.1,14.7,367,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2721,2025,0,0,0,0,0,0
$GC,3632,0.85,229.4,246.5,13.3,385,3635,0.00,1.70,0.00,0.000,4,0.000,0.049,3086,3766,2024,0,0,0,0,0,0
$GC,3680,0.85,229.4,238.8,15.6,389,3688,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2726,2023,0,0,1,0,0,0
$GC,3815,0.85,229.4,219.8,14.2,402,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2726,2023,0,0,0,0,0,0
$GC,3942,0.85,229.4,201.2,14.5,414,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2726,2023,0,0,0,0,0,0
$GC,4070,0.85,229.4,182.2,14.9,426,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2726,2022,0,0,0,0,0,0
$GC,4198,0.85,229.4,163.4,14.9,438,4201,0.00,1.65,0.00,0.000,4,0.000,0.050,3094,3761,2023,0,0,0,0,0,0
$GC,4255,0.85,229.4,154.2,16.2,443,4258,0.00,1.62,0.00,0.000,6,0.000,0.032,3103,2739,2022,0,0,0,0,0,0
$GC,4394,0.85,229.4,132.9,14.8,456,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2738,2022,0,0,0,0,0,0
$GC,4522,0.85,229.4,113.8,14.7,468,4525,0.00,1.62,0.00,0.000,4,0.000,0.050,3103,3761,2022,0,0,0,0,0,0
$GC,4570,0.85,229.4,105.3,17.3,472,4579,0.10,1.60,0.00,0.000,6,0.151,0.031,3078,2748,2022,0,0,0,0,0,0
$GC,4710,0.87,247.4,86.9,12.6,494,4730,0.00,0.00,17.23,0.802,6,0.000,0.000,3078,2748,1950,0,0,0,0,0,0
$GC,4865,0.87,247.4,65.9,14.0,521,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2748,1948,0,0,0,0,0,0
$GC,5006,0.87,247.5,46.4,13.3,546,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2748,1947,0,0,0,0,0,0
$GC,5150,0.87,247.5,26.8,13.5,571,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2748,1946,0,0,0,0,0,0
$FREEZE,8.34,-1.421,-1.898,2,1,0
$FREEZE,7.66,-1.420,-1.897,2,1,0
$FREEZE,6.63,-1.419,-1.897,2,1,0
$GC,5291,0.88,253.6,7.7,13.1,596,5306,0.00,1.67,6.15,0.695,4,0.000,0.050,3078,3761,1925,0,0,1,0,0,0
$FREEZE,4.30,-1.419,-1.895,2,1,0
$FREEZE,3.57,-1.419,-1.894,2,1,0
$FREEZE,2.67,-1.418,-1.894,2,1,0
$STATE,5323,end climb,SURFACE_DEPTH_REACHED
$STATE,5323,begin surface coast
$FREEZE,1.81,-1.417,-1.893,2,1,0
$FREEZE,0.97,-1.419,-1.892,2,1,0
$FREEZE,0.07,-1.416,-1.892,2,1,0
$FINISH,0.1,1.027733
$STATE,5342,end surface coast,CONTROL_FINISHED_OK
$STATE,5342,begin surface
$SM_CCo,5359,32.15,0.103,0,0,1655,320.11
$SM_GC,1.18,0.00,0.00,32.15,0.000,0.000,0.103,185,2771,1655,-8.17,-0.23,320.11
$IRIDIUM_FIX,-7554.21,17548.90,141210,121256
$TT8_MAMPS,0.026964
$HUMID,51.92
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.9
$24V_AH,22.4,15.903
$10V_AH,10.0,6.825
$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,18.125,35.400,394.750,32.150,0.000,26.084,37.650,99.477,1.500,0.000,39.733,1475.475,2373.444,479.623,1242.368,122.591,0.000,1071.739,0.000,979.550,0.000,10.421,0.000
$DEVICE_MAMPS,220.320,50.490,969.255,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.138,768.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40388,604
$CAP_FILE_SIZE,77306,0
$CFSIZE,260165632,240836608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.039,284.1,1
$GPS,141210,154250,-7639.483,17558.822,15,1.7,16,124.4