version: 66.08
glider: 503
mission: 7
dive: 212
start: 12 15 110 4 54 34
data:
$ID,503
$MISSION,7
$DIVE,212
$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,-19754.307
$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,42
$R_STBD_OVSHOOT,36
$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
$GPS1,151210,044926,-7639.318,17616.475,30,1.5,30,124.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.4
$GPS2,151210,045406,-7639.325,17616.416,30,1.0,30,124.0
$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,295.0,98195,-18.2,-13.333
$D_GRID,443
$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,-92.65,0.000,2,0.000,0.000,183,2796,3519,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.8,-8.8,15,135,8.85,1.60,-6.93,0.000,4,0.221,0.067,2517,3762,3856,0,0,0,0,0,0
$GC,369,-0.84,-219.0,61.8,-19.7,60,375,0.00,1.55,0.00,0.000,6,0.000,0.031,2517,2772,3860,0,0,0,0,0,0
$GC,512,-0.84,-219.0,89.2,-19.1,85,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3859,0,0,0,0,0,0
$GC,655,-0.84,-219.0,116.9,-19.6,103,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,782,-0.84,-219.0,141.4,-18.9,115,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3860,0,0,0,0,0,0
$GC,910,-0.84,-219.0,165.0,-18.3,127,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,1037,-0.84,-219.0,188.6,-18.6,139,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3860,0,0,0,0,0,0
$GC,1165,-0.84,-219.0,212.2,-18.5,151,1169,0.00,1.60,0.00,0.000,4,0.000,0.050,2509,3749,3860,0,0,0,0,0,0
$GC,1215,-0.84,-219.0,222.1,-18.6,155,1222,0.00,1.50,0.00,0.000,6,0.000,0.029,2509,2778,3860,0,0,0,0,0,0
$GC,1349,-0.84,-219.0,246.8,-18.6,168,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3860,0,0,0,0,0,0
$GC,1476,-0.84,-219.0,270.7,-18.8,180,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3860,0,0,0,0,0,0
$GC,1668,-0.84,-219.0,306.7,-18.7,198,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3860,0,0,0,0,0,0
$GC,1859,-0.84,-219.0,342.1,-18.6,216,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3861,0,0,0,0,0,0
$STATE,1879,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1879,begin apogee
$GC,1884,-0.16,0.0,346.1,18.6,218,2062,0.70,0.00,173.18,0.946,4,0.128,0.000,2742,2699,2960,0,0,0,0,0,0
$STATE,2063,end apogee,CONTROL_FINISHED_OK
$STATE,2063,begin climb
$GC,2065,0.84,219.0,355.0,0.0,234,2262,0.98,2.40,188.52,0.891,4,0.070,0.035,3072,1306,2067,0,0,0,0,0,0
$GC,2274,0.86,238.0,340.5,12.6,252,2299,0.00,2.47,19.00,0.826,6,0.000,0.041,3072,2688,1988,0,0,1,0,0,0
$GC,2491,0.86,238.0,309.5,14.8,272,2495,0.00,1.83,0.00,0.000,4,0.000,0.047,3072,3772,1980,0,0,0,0,0,0
$GC,2528,0.86,238.0,302.6,18.0,275,2536,0.00,1.75,0.00,0.000,6,0.000,0.029,3080,2711,1979,0,0,1,0,0,0
$GC,2727,0.86,238.0,271.5,15.9,294,2731,0.00,2.33,0.00,0.000,4,0.000,0.036,3091,1298,1978,0,0,0,0,0,0
$GC,2754,0.86,238.0,267.0,15.8,296,2759,0.00,2.38,0.00,0.000,6,0.000,0.044,3090,2708,1977,0,0,0,0,0,0
$GC,2952,0.86,238.0,234.5,16.2,314,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2708,1976,0,0,0,0,0,0
$GC,3080,0.86,238.0,213.6,16.0,326,3083,0.00,1.70,0.00,0.000,4,0.000,0.050,3091,3763,1976,0,0,0,0,0,0
$GC,3161,0.86,238.0,198.9,18.6,333,3169,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2725,1976,0,0,0,0,0,0
$GC,3296,0.86,238.0,177.4,15.7,346,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2725,1975,0,0,0,0,0,0
$GC,3424,0.86,238.0,156.5,16.7,358,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2724,1974,0,0,0,0,0,0
$GC,3551,0.86,238.0,136.0,15.9,370,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2725,1974,0,0,0,0,0,0
$GC,3678,0.86,238.0,115.8,15.5,382,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2725,1974,0,0,0,0,0,0
$GC,3807,0.86,238.0,95.7,16.2,396,3815,0.00,1.70,0.00,0.000,4,0.000,0.050,3099,3755,1974,0,0,0,0,0,0
$GC,3849,0.86,238.0,88.4,17.8,403,3856,0.08,1.65,0.00,0.000,6,0.151,0.031,3072,2705,1974,0,0,1,0,0,0
$GC,3992,0.86,238.0,68.2,13.7,428,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2705,1974,0,0,0,0,0,0
$GC,4133,0.87,243.0,49.0,13.1,453,4140,0.00,1.73,0.00,0.000,4,0.000,0.050,3071,3758,1973,0,0,0,0,0,0
$GC,4168,0.87,243.0,43.6,15.1,459,4175,0.00,1.67,0.00,0.000,6,0.000,0.031,3079,2700,1973,0,0,0,0,0,0
$GC,4311,0.87,243.0,22.0,15.9,484,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2700,1973,0,0,0,0,0,0
$FREEZE,8.24,-1.149,-1.898,2,1,0
$FREEZE,7.56,-1.158,-1.897,2,1,0
$FREEZE,6.71,-1.158,-1.897,2,1,0
$FREEZE,5.98,-1.156,-1.896,2,1,0
$FREEZE,5.19,-1.153,-1.896,2,1,0
$FREEZE,4.51,-1.155,-1.895,2,1,0
$FREEZE,3.81,-1.145,-1.894,2,1,0
$FREEZE,3.20,-1.140,-1.894,2,1,0
$FREEZE,2.44,-1.150,-1.894,2,1,0
$STATE,4445,end climb,SURFACE_DEPTH_REACHED
$STATE,4445,begin surface coast
$FREEZE,1.57,-1.160,-1.893,2,1,0
$FREEZE,0.77,-1.164,-1.892,2,1,0
$FREEZE,-0.01,-1.169,-1.892,2,1,0
$FREEZE,0.03,-1.182,-1.893,2,1,0
$FINISH,0.0,1.027744
$STATE,4467,end surface coast,CONTROL_FINISHED_OK
$STATE,4468,begin surface
$SM_CCo,4483,37.67,0.102,0,0,1654,320.11
$SM_GC,0.61,0.00,0.00,37.67,0.000,0.000,0.102,190,2801,1654,-8.16,0.62,320.11
$IRIDIUM_FIX,-7554.21,17625.42,151210,030309
$TT8_MAMPS,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$ALTIM_BOTTOM_PING,300.8,58.9
$24V_AH,22.5,16.985
$10V_AH,10.0,7.258
$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,18.250,29.750,380.700,37.675,0.000,27.473,37.499,99.092,1.000,0.000,33.046,1249.399,1913.190,471.756,1069.580,113.303,0.000,985.346,0.000,823.760,0.000,8.911,0.000
$DEVICE_MAMPS,221.085,99.450,945.540,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.173,676.748,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,33754,512
$CAP_FILE_SIZE,67498,0
$CFSIZE,260165632,240427008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.146,197.9,1
$GPS,151210,061050,-7639.288,17619.072,16,1.1,16,123.9