version: 66.08
glider: 503
mission: 7
dive: 203
start: 12 14 110 15 47 42
data:
$ID,503
$MISSION,7
$DIVE,203
$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,-19742.996
$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,29
$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
$GPS1,141210,154250,-7639.483,17558.822,15,1.7,16,124.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.5
$GPS2,141210,154714,-7639.465,17558.820,14,1.8,14,124.4
$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,318.7,105735,-18.2,-13.333
$D_GRID,416
$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,-92.65,0.000,2,0.000,0.000,185,2772,3504,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.6,-8.5,16,134,8.82,2.30,-7.30,0.000,4,0.219,0.046,2524,1365,3856,0,0,0,0,0,0
$GC,384,-0.84,-219.0,56.9,-17.1,64,391,0.00,2.30,0.00,0.000,6,0.000,0.044,2514,2777,3859,0,0,0,0,0,0
$GC,524,-0.84,-219.0,83.2,-19.0,89,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3859,0,0,0,0,0,0
$GC,668,-0.84,-219.0,110.8,-19.3,110,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2777,3859,0,0,0,0,0,0
$GC,796,-0.84,-219.0,134.7,-18.5,122,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2778,3859,0,0,0,0,0,0
$GC,923,-0.84,-219.0,157.9,-18.0,134,927,0.00,1.60,0.00,0.000,4,0.000,0.051,2506,3767,3860,0,0,0,0,0,0
$GC,960,-0.84,-219.0,165.5,-19.1,137,968,0.00,1.55,0.00,0.000,6,0.000,0.031,2506,2776,3860,0,0,0,0,0,0
$GC,1095,-0.84,-219.0,190.3,-18.9,150,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$GC,1223,-0.84,-219.0,214.2,-18.8,162,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$GC,1350,-0.84,-219.0,238.9,-19.2,174,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$GC,1477,-0.84,-219.0,263.8,-19.3,186,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2776,3860,0,0,0,0,0,0
$GC,1673,-0.84,-219.0,301.0,-19.5,204,1677,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3757,3860,0,0,0,0,0,0
$GC,1721,-0.84,-219.0,312.4,-20.6,208,1730,0.08,1.52,0.00,0.000,6,0.145,0.031,2524,2778,3860,0,0,0,0,0,0
$GC,1922,-0.84,-219.0,346.7,-17.3,227,1926,0.00,1.60,0.00,0.000,4,0.000,0.052,2517,3762,3860,0,0,0,0,0,0
$GC,1949,-0.84,-219.0,352.3,-18.0,229,1957,0.00,1.52,0.00,0.000,6,0.000,0.031,2518,2784,3860,0,0,0,0,0,0
$STATE,2072,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2072,begin apogee
$GC,2076,-0.16,0.0,373.8,17.7,241,2257,0.68,0.00,173.75,0.964,4,0.125,0.000,2742,2687,2960,0,0,0,0,0,0
$STATE,2258,end apogee,CONTROL_FINISHED_OK
$STATE,2258,begin climb
$GC,2260,0.84,219.0,383.1,0.0,257,2463,1.00,2.35,189.57,0.910,4,0.080,0.034,3072,1311,2066,0,0,0,0,0,0
$GC,2670,0.84,221.6,342.6,13.2,293,2677,0.00,2.38,0.00,0.000,6,0.000,0.041,3072,2700,2057,0,0,0,0,0,0
$GC,2869,0.84,221.6,315.2,13.9,312,2873,0.00,2.30,0.00,0.000,4,0.000,0.035,3083,1313,2054,0,0,1,0,0,0
$GC,3056,0.86,237.2,291.0,12.7,328,3077,0.00,2.35,15.43,0.863,6,0.000,0.041,3083,2700,1993,0,0,0,0,0,0
$GC,3269,0.86,240.2,262.6,13.2,348,3283,0.00,1.77,4.20,0.643,4,0.000,0.049,3083,3753,1980,0,0,0,0,0,0
$GC,3333,0.86,240.2,252.6,15.5,353,3340,0.00,1.65,0.00,0.000,6,0.000,0.030,3091,2721,1980,0,0,1,0,0,0
$GC,3530,0.86,240.2,225.9,13.6,372,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2720,1979,0,0,0,0,0,0
$GC,3658,0.86,240.2,208.9,13.3,384,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2720,1979,0,0,0,0,0,0
$GC,3786,0.87,245.4,191.8,13.1,396,3797,0.00,0.00,6.18,0.753,6,0.000,0.000,3091,2720,1959,0,0,0,0,0,0
$GC,3923,0.87,245.4,172.8,14.0,409,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2720,1959,0,0,0,0,0,0
$GC,4051,0.87,245.4,154.4,14.4,421,4055,0.00,1.73,0.00,0.000,4,0.000,0.049,3091,3762,1959,0,0,0,0,0,0
$GC,4097,0.87,245.4,147.2,15.9,425,4101,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2697,1959,0,0,0,0,0,0
$GC,4236,0.87,245.4,126.3,14.5,438,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2697,1959,0,0,0,0,0,0
$GC,4364,0.87,245.4,107.3,15.3,450,4367,0.00,1.73,0.00,0.000,4,0.000,0.050,3099,3771,1958,0,0,0,0,0,0
$GC,4415,0.87,245.4,98.8,16.9,455,4422,0.00,1.67,0.00,0.000,6,0.000,0.031,3108,2699,1958,0,0,1,0,0,0
$GC,4557,0.87,245.4,76.5,15.2,480,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2699,1958,0,0,0,0,0,0
$GC,4697,0.87,245.4,54.2,15.5,505,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2699,1958,0,0,0,0,0,0
$GC,4837,0.87,245.4,31.2,17.0,530,4844,0.00,1.73,0.00,0.000,4,0.000,0.049,3108,3754,1957,0,0,0,0,0,0
$GC,4872,0.87,245.4,25.0,18.3,536,4881,0.10,1.65,0.00,0.000,6,0.146,0.032,3072,2710,1956,0,0,0,0,0,0
$FREEZE,8.56,-1.370,-1.897,2,1,0
$FREEZE,7.74,-1.367,-1.897,2,1,0
$FREEZE,7.10,-1.364,-1.896,2,1,0
$FREEZE,6.32,-1.363,-1.896,2,1,0
$FREEZE,5.73,-1.363,-1.895,2,1,0
$FREEZE,4.93,-1.360,-1.895,2,1,0
$GC,5016,0.87,245.4,4.9,13.8,561,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2711,1955,0,0,0,0,0,0
$FREEZE,3.15,-1.354,-1.893,2,1,0
$FREEZE,2.46,-1.353,-1.893,2,1,0
$STATE,5032,end climb,SURFACE_DEPTH_REACHED
$STATE,5032,begin surface coast
$FREEZE,1.91,-1.353,-1.892,2,1,0
$FREEZE,1.14,-1.357,-1.892,2,1,0
$FREEZE,0.36,-1.357,-1.891,2,1,0
$FREEZE,-0.02,-1.393,-1.893,2,1,0
$FINISH,-0.0,1.027760
$STATE,5056,end surface coast,CONTROL_FINISHED_OK
$STATE,5056,begin surface
$SM_CCo,5072,35.42,0.103,0,0,1655,320.11
$SM_GC,0.85,0.00,0.00,35.42,0.000,0.000,0.103,193,2807,1655,-8.15,0.76,320.11
$IRIDIUM_FIX,-7554.21,17548.90,141210,141411
$TT8_MAMPS,0.026964
$HUMID,52.24
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$ALTIM_BOTTOM_PING,350.1,38.0
$24V_AH,22.4,16.014
$10V_AH,9.9,6.870
$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,18.250,37.175,389.125,35.425,0.000,27.297,35.336,99.157,1.500,0.000,16.847,1397.478,2174.289,495.066,1201.987,116.532,0.000,1079.928,0.000,961.787,0.000,13.495,0.000
$DEVICE_MAMPS,218.790,81.855,963.900,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.293,731.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,37159,568
$CAP_FILE_SIZE,75562,0
$CFSIZE,260165632,240791552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.100,316.9,1
$GPS,141210,171407,-7639.172,17601.082,40,1.2,40,124.3