version: 66.08
glider: 503
mission: 7
dive: 218
start: 12 15 110 12 46 18
data:
$ID,503
$MISSION,7
$DIVE,218
$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,-19761.854
$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,48
$R_STBD_OVSHOOT,27
$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
$GPS1,151210,124138,-7638.851,17634.648,7,1.4,7,123.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.4
$GPS2,151210,124550,-7638.807,17634.719,10,1.8,10,123.5
$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,322.6,90238,-18.2,-13.333
$D_GRID,439
$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,-219.0,0.0,0.0,0,104,0.00,0.00,-86.50,0.000,2,0.000,0.000,180,2744,3371,0,0,0,0,0,0
$GC,106,-0.84,-219.0,3.0,-5.5,14,134,8.77,1.65,-10.88,0.000,4,0.217,0.067,2514,3764,3854,0,0,0,0,0,0
$GC,357,-0.84,-219.0,60.9,-19.9,58,364,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2775,3857,0,0,0,0,0,0
$GC,499,-0.84,-219.0,88.4,-19.3,83,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3858,0,0,0,0,0,0
$GC,638,-0.84,-219.0,115.4,-19.0,101,642,0.00,1.62,0.00,0.000,4,0.000,0.052,2506,3790,3857,0,0,0,0,0,0
$GC,664,-0.84,-219.0,121.0,-20.1,103,673,0.00,1.58,0.00,0.000,6,0.000,0.030,2506,2788,3857,0,0,0,0,0,0
$GC,800,-0.84,-219.0,147.1,-19.6,116,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2788,3857,0,0,0,0,0,0
$GC,927,-0.84,-219.0,171.6,-18.9,128,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2788,3857,0,0,0,0,0,0
$GC,1054,-0.84,-219.0,196.3,-19.3,140,1058,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3765,3857,0,0,0,0,0,0
$GC,1092,-0.84,-219.0,204.2,-20.9,143,1101,0.08,1.52,0.00,0.000,6,0.150,0.031,2524,2789,3857,0,0,0,0,0,0
$GC,1227,-0.84,-219.0,227.1,-17.0,156,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2789,3857,0,0,0,0,0,0
$GC,1355,-0.84,-219.0,249.1,-17.5,168,1360,0.00,1.58,0.00,0.000,4,0.000,0.052,2516,3753,3857,0,0,0,0,0,0
$GC,1392,-0.84,-219.0,256.2,-17.9,171,1400,0.00,1.48,0.00,0.000,6,0.000,0.030,2517,2798,3857,0,0,0,0,0,0
$GC,1590,-0.84,-219.0,291.6,-18.1,190,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2798,3857,0,0,0,0,0,0
$STATE,1748,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1748,begin apogee
$GC,1753,-0.16,0.0,319.8,17.7,205,1931,0.68,0.00,172.27,0.929,4,0.127,0.000,2741,2694,2959,0,0,0,0,0,0
$STATE,1932,end apogee,CONTROL_FINISHED_OK
$STATE,1932,begin climb
$GC,1934,0.84,219.0,329.4,0.0,221,2135,1.00,2.38,187.85,0.877,4,0.080,0.033,3070,1302,2066,0,0,0,0,0,0
$GC,2330,0.84,219.0,289.6,13.6,256,2339,0.00,2.45,0.00,0.000,6,0.000,0.041,3070,2699,2057,0,0,0,0,0,0
$GC,2528,0.84,219.0,259.6,15.1,275,2532,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1311,2053,0,0,0,0,0,0
$GC,2700,0.84,219.0,234.7,14.3,290,2708,0.00,2.38,0.00,0.000,6,0.000,0.042,3081,2708,2053,0,0,0,0,0,0
$GC,2834,0.84,219.0,214.3,15.5,303,2838,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3766,2052,0,0,0,0,0,0
$GC,2914,0.84,219.0,200.5,17.5,310,2917,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2713,2051,0,0,1,0,0,0
$GC,3053,0.84,219.0,177.6,16.3,323,3056,0.00,1.73,0.00,0.000,4,0.000,0.050,3089,3775,2051,0,0,0,0,0,0
$GC,3086,0.84,219.0,171.8,17.8,326,3090,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2717,2051,0,0,1,0,0,0
$GC,3226,0.84,219.0,147.8,17.0,339,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2717,2051,0,0,0,0,0,0
$GC,3353,0.84,219.0,126.7,16.2,351,3357,0.00,1.73,0.00,0.000,4,0.000,0.050,3098,3761,2051,0,0,0,0,0,0
$GC,3421,0.84,219.0,114.6,19.1,357,3425,0.12,1.62,0.00,0.000,6,0.172,0.031,3073,2741,2051,0,0,0,0,0,0
$GC,3556,0.84,219.0,94.8,14.1,372,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2741,2050,0,0,0,0,0,0
$GC,3698,0.84,219.0,74.9,13.4,397,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2741,2050,0,0,0,0,0,0
$GC,3839,0.84,219.0,54.1,14.7,422,3845,0.00,1.67,0.00,0.000,4,0.000,0.049,3071,3762,2050,0,0,0,0,0,0
$GC,3907,0.84,219.0,43.0,16.5,434,3913,0.00,1.60,0.00,0.000,6,0.000,0.031,3079,2749,2050,0,0,0,0,0,0
$GC,4048,0.84,219.0,21.1,17.1,459,4055,0.00,1.67,0.00,0.000,4,0.000,0.051,3079,3765,2050,0,0,0,0,0,0
$GC,4078,0.84,219.0,15.6,18.5,464,4086,0.00,1.55,0.00,0.000,6,0.000,0.032,3087,2773,2050,0,0,1,0,0,0
$FREEZE,8.15,-1.494,-1.898,2,1,0
$FREEZE,7.16,-1.483,-1.897,2,1,0
$FREEZE,6.43,-1.481,-1.897,2,1,0
$FREEZE,5.44,-1.479,-1.896,2,1,0
$FREEZE,4.47,-1.478,-1.895,2,1,0
$FREEZE,3.58,-1.481,-1.895,2,1,0
$FREEZE,2.61,-1.479,-1.894,2,1,0
$STATE,4151,end climb,SURFACE_DEPTH_REACHED
$STATE,4151,begin surface coast
$FREEZE,1.59,-1.478,-1.893,2,1,0
$FREEZE,0.83,-1.477,-1.893,2,1,0
$FREEZE,0.11,-1.476,-1.892,2,1,0
$FINISH,0.1,1.027737
$STATE,4170,end surface coast,CONTROL_FINISHED_OK
$STATE,4170,begin surface
$SM_CCo,4185,46.00,0.100,0,0,1654,320.11
$SM_GC,0.83,0.00,0.00,46.00,0.000,0.000,0.100,189,2771,1654,-8.16,-0.25,320.11
$IRIDIUM_FIX,-7554.21,17626.00,151210,111151
$TT8_MAMPS,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,18.4
$ALTIM_BOTTOM_PING,301.0,32.1
$24V_AH,22.5,17.613
$10V_AH,9.9,7.499
$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,18.350,38.700,360.125,46.000,0.000,30.323,36.397,91.627,1.000,0.000,12.655,1180.663,1678.026,476.669,1057.201,107.890,0.000,997.734,0.000,835.173,0.000,8.825,0.000
$DEVICE_MAMPS,217.260,80.325,929.475,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.295,646.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30413,480
$CAP_FILE_SIZE,66876,0
$CFSIZE,260165632,240185344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.112, 20.0,1
$GPS,151210,135755,-7638.629,17637.789,16,1.2,27,123.4