version: 66.08
glider: 503
mission: 7
dive: 219
start: 12 15 110 14 3 4
data:
$ID,503
$MISSION,7
$DIVE,219
$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,-19763.115
$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,46
$R_STBD_OVSHOOT,22
$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
$GPS1,151210,135755,-7638.629,17637.789,16,1.2,27,123.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.4
$GPS2,151210,140236,-7638.570,17637.842,26,1.6,26,123.4
$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,332.7,88831,-18.2,-13.333
$D_GRID,433
$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,-219.0,0.0,0.0,0,101,0.00,0.00,-83.30,0.000,2,0.000,0.000,187,2772,3306,0,0,0,0,0,0
$GC,103,-0.84,-219.0,3.0,-5.5,14,131,8.75,1.67,-12.88,0.000,4,0.217,0.073,2514,3771,3857,0,0,1,0,0,0
$GC,291,-0.84,-219.0,44.8,-22.0,47,298,0.00,1.58,0.00,0.000,6,0.000,0.030,2513,2768,3859,0,0,0,0,0,0
$GC,433,-0.84,-219.0,72.1,-19.5,72,441,0.00,1.65,0.00,0.000,4,0.000,0.051,2506,3770,3859,0,0,0,0,0,0
$GC,475,-0.84,-219.0,81.1,-21.7,79,482,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2795,3859,0,0,0,0,0,0
$GC,615,-0.84,-219.0,109.4,-20.5,100,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2795,3859,0,0,0,0,0,0
$GC,742,-0.84,-219.0,135.3,-20.0,112,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2795,3859,0,0,0,0,0,0
$GC,869,-0.84,-219.0,160.4,-19.9,124,873,0.00,1.58,0.00,0.000,4,0.000,0.052,2498,3757,3859,0,0,0,0,0,0
$GC,907,-0.84,-219.0,168.6,-21.2,127,915,0.08,1.50,0.00,0.000,6,0.149,0.031,2524,2798,3859,0,0,0,0,0,0
$GC,1042,-0.84,-219.0,192.5,-17.5,140,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2799,3860,0,0,0,0,0,0
$GC,1169,-0.84,-219.0,214.8,-17.8,152,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2798,3860,0,0,0,0,0,0
$GC,1296,-0.84,-219.0,236.9,-17.2,164,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2798,3860,0,0,0,0,0,0
$GC,1424,-0.84,-219.0,259.0,-16.9,176,1427,0.00,1.58,0.00,0.000,4,0.000,0.052,2516,3767,3860,0,0,0,0,0,0
$GC,1469,-0.84,-219.0,267.4,-18.5,180,1473,0.00,1.52,0.00,0.000,6,0.000,0.031,2516,2788,3860,0,0,0,0,0,0
$GC,1673,-0.84,-219.0,303.6,-18.0,199,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2787,3860,0,0,0,0,0,0
$STATE,1735,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1735,begin apogee
$GC,1740,-0.16,0.0,315.1,17.9,205,1918,0.68,0.00,172.52,0.926,4,0.128,0.000,2741,2687,2959,0,0,0,0,0,0
$STATE,1919,end apogee,CONTROL_FINISHED_OK
$STATE,1919,begin climb
$GC,1921,0.84,219.0,324.4,0.0,221,2118,1.00,2.35,187.85,0.873,4,0.081,0.033,3069,1313,2067,0,0,0,0,0,0
$GC,2331,0.85,226.2,283.8,13.0,257,2343,0.00,2.35,6.35,0.718,6,0.000,0.041,3070,2703,2036,0,0,1,0,0,0
$GC,2536,0.85,226.2,254.8,14.5,276,2540,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1316,2033,0,0,0,0,0,0
$GC,2713,0.85,230.6,230.2,13.2,291,2723,0.00,2.33,5.00,0.684,6,0.000,0.041,3080,2699,2019,0,0,1,0,0,0
$GC,2849,0.85,230.6,211.2,14.4,304,2852,0.00,1.73,0.00,0.000,4,0.000,0.050,3080,3762,2017,0,0,0,0,0,0
$GC,2886,0.85,230.6,204.7,16.5,307,2895,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2728,2018,0,0,1,0,0,0
$GC,3022,0.85,230.6,184.3,15.5,320,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2728,2017,0,0,0,0,0,0
$GC,3149,0.85,230.6,165.5,14.6,332,3153,0.00,1.73,0.00,0.000,4,0.000,0.050,3089,3765,2017,0,0,0,0,0,0
$GC,3198,0.85,230.6,157.0,16.7,336,3206,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2727,2017,0,0,0,0,0,0
$GC,3333,0.85,230.6,135.9,16.1,349,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2727,2017,0,0,0,0,0,0
$GC,3461,0.85,230.6,115.9,15.2,361,3464,0.00,1.67,0.00,0.000,4,0.000,0.051,3097,3768,2016,0,0,0,0,0,0
$GC,3543,0.85,230.6,101.1,18.1,368,3551,0.08,1.65,0.00,0.000,6,0.158,0.031,3080,2728,2016,0,0,0,0,0,0
$GC,3685,0.85,230.6,80.9,14.2,392,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2728,2016,0,0,0,0,0,0
$GC,3826,0.85,230.6,59.5,15.1,417,3832,0.00,1.70,0.00,0.000,4,0.000,0.050,3080,3761,2016,0,0,0,0,0,0
$GC,3867,0.85,230.6,52.8,16.9,424,3874,0.00,1.62,0.00,0.000,6,0.000,0.032,3087,2735,2015,0,0,0,0,0,0
$GC,4011,0.85,230.6,31.3,15.2,449,4018,0.00,1.67,0.00,0.000,4,0.000,0.050,3088,3755,2016,0,0,0,0,0,0
$GC,4068,0.85,230.6,21.1,17.7,459,4076,0.00,1.58,0.00,0.000,6,0.000,0.031,3095,2742,2015,0,0,1,0,0,0
$FREEZE,8.21,-1.419,-1.899,2,1,0
$FREEZE,7.27,-1.419,-1.898,2,1,0
$FREEZE,6.34,-1.419,-1.897,2,1,0
$FREEZE,5.49,-1.419,-1.897,2,1,0
$FREEZE,4.62,-1.429,-1.896,2,1,0
$FREEZE,3.56,-1.426,-1.895,2,1,0
$FREEZE,2.84,-1.433,-1.894,2,1,0
$STATE,4179,end climb,SURFACE_DEPTH_REACHED
$STATE,4179,begin surface coast
$FREEZE,2.04,-1.423,-1.894,2,1,0
$FREEZE,1.11,-1.426,-1.893,2,1,0
$FREEZE,0.38,-1.426,-1.893,2,1,0
$FINISH,0.4,1.027748
$STATE,4196,end surface coast,CONTROL_FINISHED_OK
$STATE,4196,begin surface
$SM_CCo,4212,42.75,0.102,0,0,1655,320.11
$SM_GC,0.58,0.00,0.00,42.75,0.000,0.000,0.102,185,2792,1655,-8.17,0.34,320.11
$IRIDIUM_FIX,-7554.21,17626.00,151210,121202
$TT8_MAMPS,0.026964
$HUMID,51.26
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.5,18.5
$ALTIM_BOTTOM_PING,301.8,28.0
$24V_AH,22.5,17.716
$10V_AH,10.0,7.539
$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,18.275,38.750,371.725,42.750,0.000,29.928,37.280,100.192,1.000,0.000,29.034,1194.615,1684.351,474.028,1084.157,114.776,0.000,993.375,0.000,836.327,0.000,8.821,0.000
$DEVICE_MAMPS,217.260,114.750,926.415,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.734,653.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30304,482
$CAP_FILE_SIZE,68633,0
$CFSIZE,260165632,240144384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.145, 10.7,1
$GPS,151210,151507,-7638.361,17640.904,30,1.0,30,123.3