version: 66.08
glider: 503
mission: 7
dive: 217
start: 12 15 110 11 31 35
data:
$ID,503
$MISSION,7
$DIVE,217
$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,-19760.596
$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,24
$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
$GPS1,151210,112626,-7639.038,17631.406,30,1.5,30,123.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.5
$GPS2,151210,113107,-7638.996,17631.555,38,1.0,38,123.6
$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,317.3,91646,-18.2,-13.333
$D_GRID,442
$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,-89.78,0.000,2,0.000,0.000,187,2747,3441,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.4,-7.6,15,137,8.77,1.67,-8.98,0.000,4,0.219,0.070,2516,3768,3856,0,0,1,0,0,0
$GC,298,-0.84,-219.0,48.5,-20.3,48,305,0.00,1.58,0.00,0.000,6,0.000,0.031,2515,2769,3859,0,0,0,0,0,0
$GC,440,-0.84,-219.0,76.5,-20.7,73,446,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2769,3859,0,0,0,0,0,0
$GC,580,-0.84,-219.0,104.8,-20.3,96,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2769,3859,0,0,0,0,0,0
$GC,707,-0.84,-219.0,129.8,-19.3,108,711,0.00,1.62,0.00,0.000,4,0.000,0.052,2507,3758,3859,0,0,0,0,0,0
$GC,746,-0.84,-219.0,137.8,-19.9,111,753,0.00,1.55,0.00,0.000,6,0.000,0.031,2508,2772,3858,0,0,0,0,0,0
$GC,880,-0.84,-219.0,164.2,-20.1,124,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3859,0,0,0,0,0,0
$GC,1007,-0.84,-219.0,189.3,-19.4,136,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3859,0,0,0,0,0,0
$GC,1135,-0.84,-219.0,214.1,-19.2,148,1139,0.00,1.62,0.00,0.000,4,0.000,0.052,2500,3767,3859,0,0,0,0,0,0
$GC,1202,-0.84,-219.0,227.4,-19.7,154,1206,0.00,1.55,0.00,0.000,6,0.000,0.031,2500,2772,3859,0,0,0,0,0,0
$GC,1341,-0.84,-219.0,254.9,-19.5,167,1343,0.10,0.00,0.00,0.000,6,0.186,0.000,2525,2771,3859,0,0,0,0,0,0
$GC,1533,-0.84,-219.0,287.8,-17.2,185,1537,0.00,1.62,0.00,0.000,4,0.000,0.052,2518,3768,3859,0,0,0,0,0,0
$GC,1578,-0.84,-219.0,295.9,-17.9,189,1582,0.00,1.52,0.00,0.000,6,0.000,0.031,2518,2784,3859,0,0,0,0,0,0
$STATE,1717,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1717,begin apogee
$GC,1722,-0.16,0.0,320.6,17.9,202,1900,0.68,0.00,172.62,0.929,4,0.126,0.000,2742,2684,2960,0,0,0,0,0,0
$STATE,1901,end apogee,CONTROL_FINISHED_OK
$STATE,1901,begin climb
$GC,1903,0.84,219.0,329.8,0.0,218,2099,1.00,2.35,187.98,0.877,4,0.079,0.034,3072,1305,2067,0,0,0,0,0,0
$GC,2272,0.87,242.8,294.8,12.4,250,2301,0.00,2.42,21.35,0.834,6,0.000,0.041,3072,2702,1970,0,0,1,0,0,0
$GC,2494,0.87,242.8,262.1,14.9,271,2498,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1314,1965,0,0,0,0,0,0
$GC,2667,0.87,242.8,238.0,13.9,286,2671,0.00,2.33,0.00,0.000,6,0.000,0.041,3083,2705,1963,0,0,0,0,0,0
$GC,2801,0.87,242.8,217.9,15.0,298,2804,0.00,1.73,0.00,0.000,4,0.000,0.050,3083,3769,1963,0,0,0,0,0,0
$GC,2873,0.87,242.8,205.7,17.2,304,2880,0.00,1.65,0.00,0.000,6,0.000,0.030,3091,2728,1962,0,0,1,0,0,0
$GC,3007,0.87,242.8,184.7,15.5,317,3010,0.00,1.67,0.00,0.000,4,0.000,0.050,3091,3762,1962,0,0,0,0,0,0
$GC,3041,0.87,242.8,178.9,17.1,320,3044,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2711,1962,0,0,1,0,0,0
$GC,3180,0.87,242.8,155.5,16.7,333,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2710,1962,0,0,0,0,0,0
$GC,3307,0.87,242.8,133.6,16.8,345,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2709,1962,0,0,0,0,0,0
$GC,3435,0.87,242.8,112.0,16.6,357,3438,0.00,1.70,0.00,0.000,4,0.000,0.051,3099,3762,1961,0,0,0,0,0,0
$GC,3503,0.87,242.8,99.7,18.2,363,3510,0.00,1.62,0.00,0.000,6,0.000,0.031,3108,2728,1960,0,0,1,0,0,0
$GC,3645,0.87,242.8,75.6,15.6,388,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2727,1960,0,0,0,0,0,0
$GC,3787,0.87,242.8,51.5,16.7,413,3795,0.00,1.70,0.00,0.000,4,0.000,0.050,3108,3761,1960,0,0,0,0,0,0
$GC,3823,0.87,242.8,44.6,19.6,419,3830,0.10,1.65,0.00,0.000,6,0.151,0.032,3072,2722,1960,0,0,0,0,0,0
$GC,3965,0.87,242.8,22.4,15.6,444,3972,0.00,1.70,0.00,0.000,4,0.000,0.050,3071,3760,1960,0,0,0,0,0,0
$GC,3996,0.87,242.8,17.0,15.9,449,4004,0.00,1.60,0.00,0.000,6,0.000,0.032,3079,2746,1960,0,0,0,0,0,0
$FREEZE,8.59,-1.449,-1.898,2,1,0
$FREEZE,7.74,-1.449,-1.898,2,1,0
$FREEZE,6.78,-1.463,-1.897,2,1,0
$FREEZE,5.85,-1.450,-1.896,2,1,0
$FREEZE,4.89,-1.445,-1.896,2,1,0
$FREEZE,3.98,-1.444,-1.895,2,1,0
$FREEZE,3.07,-1.459,-1.894,2,1,0
$FREEZE,2.50,-1.460,-1.894,2,1,0
$STATE,4088,end climb,SURFACE_DEPTH_REACHED
$STATE,4088,begin surface coast
$FREEZE,1.83,-1.447,-1.893,2,1,0
$FREEZE,0.91,-1.455,-1.893,2,1,0
$FREEZE,0.05,-1.449,-1.892,2,1,0
$FINISH,0.1,1.027739
$STATE,4106,end surface coast,CONTROL_FINISHED_OK
$STATE,4106,begin surface
$SM_CCo,4121,35.95,0.102,0,0,1655,320.11
$SM_GC,0.85,0.00,0.00,35.95,0.000,0.000,0.102,189,2744,1655,-8.16,-1.02,320.11
$IRIDIUM_FIX,-7554.21,17626.00,151210,101039
$TT8_MAMPS,0.027713
$HUMID,51.73
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.6
$ALTIM_BOTTOM_PING,301.7,33.0
$24V_AH,22.5,17.512
$10V_AH,10.0,7.459
$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,18.350,38.925,381.950,35.950,0.000,31.412,35.327,91.500,1.000,0.000,40.791,1158.823,1644.643,470.791,1072.249,108.572,0.000,988.536,0.000,824.496,0.000,8.841,0.000
$DEVICE_MAMPS,218.790,81.855,929.475,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.731,626.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30392,468
$CAP_FILE_SIZE,67087,0
$CFSIZE,260165632,240226304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.052, 31.3,1
$GPS,151210,124138,-7638.851,17634.648,7,1.4,7,123.5