version: 66.08
glider: 503
mission: 7
dive: 213
start: 12 15 110 6 15 42
data:
$ID,503
$MISSION,7
$DIVE,213
$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,-19755.564
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,151210,061050,-7639.288,17619.072,16,1.1,16,123.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-69.8
$GPS2,151210,061514,-7639.293,17619.043,13,1.4,13,123.9
$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,293.9,97067,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-89.72,0.000,2,0.000,0.000,189,2803,3437,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.2,-5.8,15,137,8.75,1.55,-9.23,0.000,4,0.218,0.070,2517,3744,3856,0,0,0,0,0,0
$GC,371,-0.84,-219.0,60.3,-18.9,61,379,0.00,1.52,0.00,0.000,6,0.000,0.029,2518,2772,3859,0,0,0,0,0,0
$GC,515,-0.84,-219.0,87.4,-19.6,86,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3859,0,0,0,0,0,0
$GC,657,-0.84,-219.0,114.4,-19.2,105,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3859,0,0,0,0,0,0
$GC,785,-0.84,-219.0,138.1,-18.4,117,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3859,0,0,0,0,0,0
$GC,913,-0.84,-219.0,161.8,-18.7,129,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3858,0,0,0,0,0,0
$GC,1040,-0.84,-219.0,185.0,-18.0,141,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3858,0,0,0,0,0,0
$GC,1167,-0.84,-219.0,207.8,-17.8,153,1171,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3752,3859,0,0,0,0,0,0
$GC,1235,-0.84,-219.0,219.8,-18.0,159,1238,0.00,1.50,0.00,0.000,6,0.000,0.030,2510,2788,3859,0,0,0,0,0,0
$GC,1374,-0.84,-219.0,244.6,-18.0,172,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2787,3859,0,0,0,0,0,0
$GC,1501,-0.84,-219.0,268.0,-18.8,184,1505,0.00,2.20,0.00,0.000,4,0.000,0.033,2510,1372,3859,0,0,0,0,0,0
$GC,1540,-0.84,-219.0,274.9,-17.4,187,1544,0.00,2.25,0.00,0.000,6,0.000,0.046,2500,2770,3859,0,0,0,0,0,0
$GC,1738,-0.84,-219.0,313.1,-19.6,205,1740,0.10,0.00,0.00,0.000,6,0.190,0.000,2525,2770,3859,0,0,0,0,0,0
$STATE,1885,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1885,begin apogee
$GC,1890,-0.16,0.0,338.8,17.0,219,2067,0.65,0.00,172.85,0.942,4,0.123,0.000,2743,2698,2960,0,0,0,0,0,0
$STATE,2068,end apogee,CONTROL_FINISHED_OK
$STATE,2068,begin climb
$GC,2070,0.84,219.0,348.3,0.0,235,2267,1.00,2.38,188.12,0.890,4,0.080,0.034,3073,1303,2067,0,0,0,0,0,0
$GC,2280,0.88,249.2,334.4,12.1,253,2315,0.00,2.50,28.73,0.839,6,0.000,0.042,3073,2698,1944,0,0,1,0,0,0
$GC,2503,0.88,249.2,301.2,15.0,274,2507,0.00,1.80,0.00,0.000,4,0.000,0.048,3073,3765,1936,0,0,0,0,0,0
$GC,2552,0.88,249.2,292.8,16.9,278,2559,0.00,1.73,0.00,0.000,6,0.000,0.031,3082,2720,1934,0,0,1,0,0,0
$GC,2751,0.88,249.2,262.2,15.2,297,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2720,1933,0,0,0,0,0,0
$GC,2941,0.88,249.2,232.8,15.5,315,2945,0.00,2.33,0.00,0.000,4,0.000,0.036,3092,1291,1932,0,0,0,0,0,0
$GC,2962,0.88,249.2,229.4,15.7,316,2969,0.00,2.40,0.00,0.000,6,0.000,0.044,3092,2708,1931,0,0,0,0,0,0
$GC,3096,0.88,249.2,208.0,16.5,329,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2707,1931,0,0,0,0,0,0
$GC,3223,0.88,249.2,187.0,16.5,341,3227,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3768,1931,0,0,0,0,0,0
$GC,3280,0.88,249.2,176.9,19.1,346,3284,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2694,1931,0,0,1,0,0,0
$GC,3419,0.88,249.2,152.9,17.3,359,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2693,1930,0,0,0,0,0,0
$GC,3547,0.88,249.2,131.1,16.8,371,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2693,1930,0,0,0,0,0,0
$GC,3674,0.88,249.2,109.7,17.0,383,3678,0.00,1.73,0.00,0.000,4,0.000,0.049,3101,3768,1930,0,0,0,0,0,0
$GC,3719,0.88,249.2,101.2,19.4,387,3723,0.00,1.65,0.00,0.000,6,0.000,0.032,3109,2704,1929,0,0,0,0,0,0
$GC,3859,0.88,249.2,76.7,17.7,411,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2702,1929,0,0,0,0,0,0
$GC,4001,0.88,249.2,52.6,17.4,436,4007,0.00,1.75,0.00,0.000,4,0.000,0.051,3109,3786,1929,0,0,0,0,0,0
$GC,4057,0.88,249.2,41.7,19.7,446,4065,0.08,1.70,0.00,0.000,6,0.149,0.033,3082,2721,1929,0,0,0,0,0,0
$GC,4200,0.88,249.2,20.9,14.8,471,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2721,1929,0,0,0,0,0,0
$FREEZE,8.56,-1.238,-1.898,2,1,0
$FREEZE,7.95,-1.237,-1.898,2,1,0
$FREEZE,7.13,-1.227,-1.897,2,1,0
$FREEZE,6.25,-1.229,-1.896,2,1,0
$FREEZE,5.53,-1.228,-1.896,2,1,0
$FREEZE,4.69,-1.230,-1.895,2,1,0
$FREEZE,3.81,-1.238,-1.895,2,1,0
$FREEZE,2.96,-1.232,-1.894,2,1,0
$STATE,4317,end climb,SURFACE_DEPTH_REACHED
$STATE,4317,begin surface coast
$FREEZE,1.87,-1.240,-1.893,2,1,0
$FREEZE,0.96,-1.236,-1.892,2,1,0
$FREEZE,0.22,-1.232,-1.892,2,1,0
$FINISH,0.2,1.027729
$STATE,4334,end surface coast,CONTROL_FINISHED_OK
$STATE,4334,begin surface
$SM_CCo,4350,32.47,0.102,0,0,1655,320.11
$SM_GC,0.94,0.00,0.00,32.47,0.000,0.000,0.102,188,2797,1655,-8.16,0.48,320.11
$IRIDIUM_FIX,-7554.21,17616.12,151210,040449
$TT8_MAMPS,0.027713
$HUMID,52.28
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$ALTIM_BOTTOM_PING,300.7,51.3
$24V_AH,22.5,17.094
$10V_AH,10.0,7.298
$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,18.200,34.100,389.700,32.475,0.000,24.165,44.136,96.395,1.250,0.000,15.777,1212.276,1827.990,467.462,1046.001,109.257,0.000,979.268,0.000,814.366,0.000,11.829,0.000
$DEVICE_MAMPS,218.025,100.215,941.715,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.481,652.803,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30363,494
$CAP_FILE_SIZE,67109,0
$CFSIZE,260165632,240390144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.078,186.5,1
$GPS,151210,072955,-7639.201,17621.945,21,1.7,32,123.8