version: 66.08
glider: 503
mission: 7
dive: 207
start: 12 14 110 21 45 12
data:
$ID,503
$MISSION,7
$DIVE,207
$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,-19748.025
$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,44
$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
$GPS1,141210,214014,-7638.907,17607.582,16,1.1,16,124.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.6
$GPS2,141210,214444,-7638.904,17607.564,14,1.5,14,124.2
$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,324.6,101835,-18.2,-13.333
$D_GRID,434
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-94.40,0.000,2,0.000,0.000,190,2781,3564,0,0,0,0,0,0
$GC,114,-0.84,-219.0,4.2,-10.4,16,136,8.88,2.30,-5.80,0.000,4,0.223,0.046,2524,1371,3856,0,0,0,0,0,0
$GC,387,-0.84,-219.0,59.9,-16.3,64,394,0.00,2.30,0.00,0.000,6,0.000,0.045,2514,2777,3860,0,0,0,0,0,0
$GC,529,-0.84,-219.0,87.3,-19.8,89,535,0.00,2.25,0.00,0.000,4,0.000,0.034,2514,1364,3860,0,0,0,0,0,0
$GC,569,-0.84,-219.0,95.2,-18.5,96,576,0.00,2.33,0.00,0.000,6,0.000,0.046,2503,2785,3860,0,0,0,0,0,0
$GC,706,-0.84,-219.0,122.1,-19.0,111,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3860,0,0,0,0,0,0
$GC,833,-0.84,-219.0,146.5,-19.0,123,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3860,0,0,0,0,0,0
$GC,961,-0.84,-219.0,170.6,-18.8,135,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3860,0,0,0,0,0,0
$GC,1088,-0.84,-219.0,195.4,-19.9,147,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3861,0,0,0,0,0,0
$GC,1216,-0.84,-219.0,220.2,-19.3,159,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3861,0,0,0,0,0,0
$GC,1343,-0.84,-219.0,245.3,-19.8,171,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3860,0,0,0,0,0,0
$GC,1470,-0.84,-219.0,270.7,-20.2,183,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3861,0,0,0,0,0,0
$GC,1663,-0.84,-219.0,308.4,-19.1,201,1667,0.00,1.58,0.00,0.000,4,0.000,0.053,2495,3763,3860,0,0,0,0,0,0
$GC,1700,-0.84,-219.0,316.7,-20.4,204,1709,0.10,1.52,0.00,0.000,6,0.144,0.031,2528,2783,3860,0,0,0,0,0,0
$GC,1899,-0.84,-219.0,349.6,-16.3,223,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2783,3861,0,0,0,0,0,0
$STATE,2003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2003,begin apogee
$GC,2009,-0.16,0.0,366.6,16.1,233,2188,0.65,0.00,173.75,0.959,4,0.125,0.000,2746,2684,2960,0,0,0,0,0,0
$STATE,2189,end apogee,CONTROL_FINISHED_OK
$STATE,2189,begin climb
$GC,2191,0.84,219.0,375.5,0.0,249,2393,0.98,2.35,189.05,0.905,4,0.081,0.034,3066,1309,2066,0,0,0,0,0,0
$GC,2566,0.84,219.0,339.1,13.8,282,2574,0.00,2.45,0.00,0.000,6,0.000,0.041,3067,2701,2057,0,0,0,0,0,0
$GC,2765,0.84,219.0,311.1,14.3,301,2769,0.00,2.33,0.00,0.000,4,0.000,0.035,3077,1305,2054,0,0,0,0,0,0
$GC,2963,0.84,219.0,283.9,14.2,318,2967,0.00,2.30,0.00,0.000,6,0.000,0.043,3077,2704,2053,0,0,1,0,0,0
$GC,3160,0.84,219.0,254.0,15.3,336,3164,0.00,1.70,0.00,0.000,4,0.000,0.049,3077,3762,2051,0,0,0,0,0,0
$GC,3208,0.84,219.0,245.5,17.3,340,3216,0.00,1.67,0.00,0.000,6,0.000,0.030,3085,2718,2051,0,0,0,0,0,0
$GC,3343,0.84,219.0,225.0,14.9,353,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2718,2051,0,0,0,0,0,0
$GC,3471,0.84,219.0,205.8,15.3,365,3474,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3764,2051,0,0,0,0,0,0
$GC,3509,0.84,219.0,199.4,16.9,368,3516,0.00,1.67,0.00,0.000,6,0.000,0.031,3094,2720,2051,0,0,0,0,0,0
$GC,3643,0.84,219.0,179.1,15.1,381,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2720,2051,0,0,0,0,0,0
$GC,3771,0.84,219.0,160.1,14.7,393,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2720,2050,0,0,0,0,0,0
$GC,3898,0.84,219.0,141.2,15.0,405,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2720,2050,0,0,0,0,0,0
$GC,4025,0.84,219.0,122.2,15.4,417,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2719,2050,0,0,0,0,0,0
$GC,4153,0.84,219.0,102.0,16.0,429,4157,0.00,1.67,0.00,0.000,4,0.000,0.050,3094,3768,2050,0,0,0,0,0,0
$GC,4209,0.84,219.0,92.1,17.6,437,4218,0.10,1.65,0.00,0.000,6,0.152,0.031,3058,2726,2049,0,0,0,0,0,0
$GC,4353,0.85,229.8,72.6,12.9,462,4365,0.00,0.00,7.30,0.750,6,0.000,0.000,3058,2726,2025,0,0,0,0,0,0
$GC,4500,0.87,242.2,53.7,12.8,488,4520,0.00,0.00,13.35,0.772,6,0.000,0.000,3057,2726,1971,0,0,0,0,0,0
$GC,4654,0.88,254.2,33.7,12.8,515,4675,0.00,1.70,11.95,0.747,4,0.000,0.050,3058,3769,1922,0,0,1,0,0,0
$GC,4699,0.88,254.2,27.3,14.8,522,4706,0.00,1.65,0.00,0.000,6,0.000,0.031,3064,2726,1922,0,0,1,0,0,0
$FREEZE,8.60,-1.164,-1.896,2,1,0
$FREEZE,7.86,-1.151,-1.896,2,1,0
$FREEZE,6.94,-1.149,-1.896,2,1,0
$FREEZE,5.87,-1.159,-1.895,2,1,0
$GC,4841,0.91,275.9,7.9,12.4,547,4865,0.00,1.75,19.92,0.744,4,0.000,0.050,3064,3762,1835,0,0,1,0,0,0
$FREEZE,3.16,-1.172,-1.893,2,1,0
$FREEZE,2.38,-1.162,-1.893,2,1,0
$STATE,4876,end climb,SURFACE_DEPTH_REACHED
$STATE,4876,begin surface coast
$FREEZE,1.50,-1.171,-1.892,2,1,0
$FREEZE,0.65,-1.163,-1.891,2,1,0
$FINISH,0.7,1.027710
$STATE,4890,end surface coast,CONTROL_FINISHED_OK
$STATE,4890,begin surface
$SM_CCo,4906,21.70,0.103,0,0,1655,320.11
$SM_GC,1.18,0.00,0.00,21.70,0.000,0.000,0.103,184,2778,1655,-8.18,-0.08,320.11
$IRIDIUM_FIX,-7554.21,17606.82,141210,202022
$TT8_MAMPS,0.027713
$HUMID,52.20
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,351.2,29.0
$24V_AH,22.4,16.455
$10V_AH,9.9,7.045
$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,18.450,38.575,415.325,21.700,0.000,31.627,36.689,99.279,1.500,0.000,17.109,1342.749,2097.047,490.524,1163.866,119.485,0.000,1055.396,0.000,919.253,0.000,10.545,0.000
$DEVICE_MAMPS,222.615,81.090,958.545,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.042,719.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33791,554
$CAP_FILE_SIZE,73525,0
$CFSIZE,260165632,240627712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.143,258.4,1
$GPS,141210,230837,-7638.960,17609.064,38,1.0,38,124.1