version: 66.08
glider: 503
mission: 7
dive: 211
start: 12 15 110 3 31 35
data:
$ID,503
$MISSION,7
$DIVE,211
$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,-19753.053
$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,49
$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
$GPS1,151210,032650,-7639.239,17614.447,16,1.2,16,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.4
$GPS2,151210,033108,-7639.243,17614.404,11,1.2,11,124.0
$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,293.5,99025,-18.2,-13.333
$D_GRID,444
$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,-219.0,0.0,0.0,0,108,0.00,0.00,-89.80,0.000,2,0.000,0.000,186,2807,3443,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.3,-6.9,15,137,8.73,1.55,-8.93,0.000,4,0.217,0.068,2514,3742,3856,0,0,0,0,0,0
$GC,313,-0.84,-219.0,49.6,-19.7,51,320,0.00,1.52,0.00,0.000,6,0.000,0.030,2514,2772,3858,0,0,0,0,0,0
$GC,455,-0.84,-219.0,77.4,-19.7,76,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,595,-0.84,-219.0,105.1,-19.5,99,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,723,-0.84,-219.0,129.8,-20.0,111,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,851,-0.84,-219.0,154.7,-19.3,123,854,0.00,1.58,0.00,0.000,4,0.000,0.050,2506,3738,3859,0,0,0,0,0,0
$GC,888,-0.84,-219.0,162.7,-19.6,126,896,0.00,1.48,0.00,0.000,6,0.000,0.031,2506,2793,3859,0,0,0,0,0,0
$GC,1023,-0.84,-219.0,189.2,-20.4,139,1027,0.00,2.22,0.00,0.000,4,0.000,0.034,2507,1364,3859,0,0,0,0,0,0
$GC,1063,-0.84,-219.0,196.8,-19.0,142,1068,0.12,2.25,0.00,0.000,6,0.161,0.047,2531,2759,3859,0,0,0,0,0,0
$GC,1197,-0.84,-219.0,220.1,-17.0,154,1201,0.00,1.60,0.00,0.000,4,0.000,0.051,2524,3755,3859,0,0,0,0,0,0
$GC,1255,-0.84,-219.0,230.5,-19.3,159,1259,0.00,1.52,0.00,0.000,6,0.000,0.031,2524,2777,3859,0,0,0,0,0,0
$GC,1395,-0.84,-219.0,255.3,-17.2,172,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2777,3859,0,0,0,0,0,0
$GC,1586,-0.84,-219.0,288.3,-17.0,190,1589,0.00,1.60,0.00,0.000,4,0.000,0.051,2516,3761,3859,0,0,0,0,0,0
$GC,1623,-0.84,-219.0,295.5,-17.5,193,1632,0.00,1.50,0.00,0.000,6,0.000,0.031,2517,2798,3859,0,0,0,0,0,0
$GC,1822,-0.84,-219.0,330.4,-18.0,212,1826,0.00,2.22,0.00,0.000,4,0.000,0.034,2516,1365,3859,0,0,0,0,0,0
$GC,1850,-0.84,-219.0,335.4,-17.2,214,1855,0.00,2.30,0.00,0.000,6,0.000,0.047,2506,2794,3859,0,0,0,0,0,0
$STATE,1898,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1898,begin apogee
$GC,1903,-0.16,0.0,343.8,17.5,218,2081,0.70,0.00,172.95,0.946,4,0.128,0.000,2738,2700,2960,0,0,0,0,0,0
$STATE,2082,end apogee,CONTROL_FINISHED_OK
$STATE,2082,begin climb
$GC,2084,0.84,219.0,353.3,0.0,234,2281,1.00,2.40,188.50,0.892,4,0.080,0.034,3068,1297,2067,0,0,0,0,0,0
$GC,2495,0.84,223.2,312.4,13.2,270,2499,0.00,2.42,0.00,0.000,6,0.000,0.042,3068,2707,2057,0,0,0,0,0,0
$GC,2694,0.84,223.2,283.3,15.0,288,2698,0.00,2.33,0.00,0.000,4,0.000,0.034,3079,1295,2054,0,0,0,0,0,0
$GC,2850,0.84,223.2,260.1,14.8,301,2857,0.00,2.35,0.00,0.000,6,0.000,0.043,3079,2708,2053,0,0,0,0,0,0
$GC,3047,0.84,223.2,229.2,15.5,320,3051,0.00,1.70,0.00,0.000,4,0.000,0.048,3079,3772,2052,0,0,0,0,0,0
$GC,3119,0.84,223.2,216.6,17.4,326,3126,0.00,1.67,0.00,0.000,6,0.000,0.030,3088,2714,2051,0,0,1,0,0,0
$GC,3253,0.84,223.2,195.4,15.5,339,3257,0.00,1.70,0.00,0.000,4,0.000,0.049,3088,3766,2052,0,0,0,0,0,0
$GC,3286,0.84,223.2,189.8,16.8,342,3290,0.00,1.62,0.00,0.000,6,0.000,0.031,3096,2707,2051,0,0,1,0,0,0
$GC,3426,0.84,223.2,167.8,15.7,355,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2706,2051,0,0,0,0,0,0
$GC,3553,0.84,223.2,147.8,15.5,367,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2704,2051,0,0,0,0,0,0
$GC,3680,0.84,223.2,128.0,15.3,379,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2706,2050,0,0,0,0,0,0
$GC,3808,0.84,223.2,108.6,15.5,391,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2706,2050,0,0,0,0,0,0
$GC,3938,0.84,223.2,88.6,15.5,409,3945,0.00,1.73,0.00,0.000,4,0.000,0.050,3096,3755,2050,0,0,0,0,0,0
$GC,4001,0.84,223.2,77.8,16.8,420,4010,0.08,1.60,0.00,0.000,6,0.163,0.031,3080,2733,2050,0,0,1,0,0,0
$GC,4146,0.84,223.2,56.7,14.6,445,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2732,2050,0,0,0,0,0,0
$GC,4286,0.84,223.2,36.4,14.2,470,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2732,2050,0,0,0,0,0,0
$GC,4427,0.84,223.2,16.3,15.0,495,4433,0.00,1.67,0.00,0.000,4,0.000,0.050,3080,3761,2049,0,0,0,0,0,0
$FREEZE,8.89,-1.234,-1.897,2,1,0
$FREEZE,8.01,-1.223,-1.897,2,1,0
$FREEZE,7.22,-1.222,-1.897,2,1,0
$FREEZE,6.42,-1.155,-1.895,2,1,0
$FREEZE,5.65,-1.154,-1.895,2,1,0
$FREEZE,4.88,-1.153,-1.895,2,1,0
$FREEZE,4.17,-1.162,-1.894,2,1,0
$FREEZE,3.02,-1.163,-1.894,2,1,0
$GC,4509,0.84,223.2,3.0,15.9,510,4516,0.00,1.62,0.00,0.000,6,0.000,0.031,3087,2728,2049,0,0,0,0,0,0
$FREEZE,0.65,-1.160,-1.892,2,1,0
$STATE,4522,end climb,SURFACE_DEPTH_REACHED
$STATE,4522,begin surface coast
$FREEZE,0.12,-1.158,-1.891,2,1,0
$FREEZE,0.07,-1.181,-1.890,2,1,0
$FREEZE,0.02,-1.209,-1.092,2,1,0
$FINISH,0.0,1.016145
$STATE,4540,end surface coast,FINISH_DEPTH_REACHED
$STATE,4540,begin surface
$SM_CCo,4556,46.08,0.102,0,0,1654,320.11
$SM_GC,0.87,0.00,0.00,46.08,0.000,0.000,0.102,184,2795,1654,-8.18,0.42,320.11
$IRIDIUM_FIX,-7554.21,17616.72,151210,010124
$TT8_MAMPS,0.027713
$HUMID,51.45
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$ALTIM_BOTTOM_PING,300.2,58.1
$24V_AH,22.5,16.878
$10V_AH,10.0,7.217
$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,18.350,44.400,361.450,46.075,0.000,23.920,37.387,97.026,1.000,0.000,13.609,1282.607,1890.460,473.433,1115.695,112.995,0.000,1026.086,0.000,894.245,0.000,8.903,0.000
$DEVICE_MAMPS,217.260,97.920,946.305,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.308,679.771,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,33762,515
$CAP_FILE_SIZE,72742,0
$CFSIZE,260165632,240463872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.155,208.0,1
$GPS,151210,044926,-7639.318,17616.475,30,1.5,30,124.0