version: 66.08
glider: 503
mission: 7
dive: 221
start: 12 15 110 16 36 12
data:
$ID,503
$MISSION,7
$DIVE,221
$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,-19765.621
$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,30
$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
$GPS1,151210,163119,-7638.080,17644.107,20,2.0,31,123.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-67.2
$GPS2,151210,163544,-7638.020,17644.137,11,1.5,11,123.2
$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,347.3,85972,-18.2,-13.333
$D_GRID,400
$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,12,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,-86.70,0.000,2,0.000,0.000,187,2795,3373,0,0,0,0,0,0
$GC,106,-0.84,-219.0,3.2,-6.7,14,133,8.68,1.58,-10.60,0.000,4,0.213,0.067,2514,3769,3855,0,0,0,0,0,0
$GC,360,-0.84,-219.0,59.0,-19.8,59,367,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2779,3857,0,0,0,0,0,0
$GC,502,-0.84,-219.0,86.9,-19.8,84,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2779,3858,0,0,0,0,0,0
$GC,645,-0.84,-219.0,114.5,-19.1,103,648,0.00,1.60,0.00,0.000,4,0.000,0.051,2506,3754,3858,0,0,0,0,0,0
$GC,693,-0.84,-219.0,124.8,-20.0,107,702,0.00,1.50,0.00,0.000,6,0.000,0.029,2506,2792,3858,0,0,0,0,0,0
$GC,829,-0.84,-219.0,150.7,-19.5,120,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2792,3857,0,0,0,0,0,0
$GC,955,-0.84,-219.0,175.5,-19.6,132,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2792,3858,0,0,0,0,0,0
$GC,1083,-0.84,-219.0,199.8,-18.8,144,1087,0.00,2.20,0.00,0.000,4,0.000,0.032,2506,1374,3858,0,0,0,0,0,0
$GC,1126,-0.84,-219.0,207.7,-17.2,147,1134,0.08,2.30,0.00,0.000,6,0.138,0.044,2532,2777,3858,0,0,0,0,0,0
$GC,1260,-0.84,-219.0,229.2,-16.0,160,1264,0.00,1.58,0.00,0.000,4,0.000,0.051,2526,3758,3858,0,0,0,0,0,0
$GC,1297,-0.84,-219.0,236.0,-16.9,163,1306,0.00,1.50,0.00,0.000,6,0.000,0.030,2526,2797,3858,0,0,0,0,0,0
$GC,1432,-0.84,-219.0,258.5,-17.4,176,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2797,3857,0,0,0,0,0,0
$GC,1625,-0.84,-219.0,291.0,-17.1,194,1628,0.00,1.58,0.00,0.000,4,0.000,0.051,2519,3764,3857,0,0,0,0,0,0
$GC,1669,-0.84,-219.0,299.3,-18.0,198,1675,0.00,1.50,0.00,0.000,6,0.000,0.031,2519,2803,3858,0,0,0,0,0,0
$STATE,1745,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1745,begin apogee
$GC,1750,-0.16,0.0,313.0,18.1,205,1929,0.68,0.00,172.15,0.926,4,0.127,0.000,2742,2692,2959,0,0,0,0,0,0
$STATE,1930,end apogee,CONTROL_FINISHED_OK
$STATE,1930,begin climb
$GC,1932,0.84,219.0,323.0,0.0,221,2128,1.00,2.38,187.75,0.871,4,0.079,0.033,3074,1299,2067,0,0,0,0,0,0
$GC,2265,0.84,219.0,290.5,13.6,250,2273,0.00,2.45,0.00,0.000,6,0.000,0.041,3073,2695,2058,0,0,1,0,0,0
$GC,2464,0.84,219.0,261.7,14.7,269,2468,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1305,2055,0,0,0,0,0,0
$GC,2644,0.84,221.9,236.9,13.2,285,2648,0.00,2.35,0.00,0.000,6,0.000,0.042,3083,2713,2053,0,0,0,0,0,0
$GC,2778,0.84,221.9,216.9,14.9,297,2781,0.00,1.70,0.00,0.000,4,0.000,0.050,3083,3765,2052,0,0,0,0,0,0
$GC,2824,0.84,221.9,209.1,17.0,301,2828,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2702,2052,0,0,1,0,0,0
$GC,2963,0.84,221.9,187.1,16.0,314,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2701,2051,0,0,0,0,0,0
$GC,3090,0.84,221.9,167.4,15.4,326,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2701,2051,0,0,0,0,0,0
$GC,3218,0.84,221.9,148.1,15.2,338,3221,0.00,1.73,0.00,0.000,4,0.000,0.050,3092,3771,2051,0,0,0,0,0,0
$GC,3253,0.84,221.9,142.5,16.8,341,3256,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2700,2051,0,0,0,0,0,0
$GC,3392,0.84,221.9,120.0,16.6,354,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2700,2051,0,0,0,0,0,0
$GC,3519,0.84,221.9,99.6,16.0,366,3526,0.00,1.75,0.00,0.000,4,0.000,0.050,3101,3787,2050,0,0,0,0,0,0
$GC,3555,0.84,221.9,93.2,19.0,372,3563,0.08,1.70,0.00,0.000,6,0.138,0.031,3073,2704,2050,0,0,1,0,0,0
$GC,3700,0.84,221.9,71.9,14.8,397,3707,0.00,1.73,0.00,0.000,4,0.000,0.050,3073,3753,2050,0,0,0,0,0,0
$GC,3752,0.84,221.9,63.2,16.8,406,3759,0.00,1.60,0.00,0.000,6,0.000,0.032,3081,2726,2050,0,0,1,0,0,0
$GC,3893,0.84,221.9,41.4,14.9,431,3900,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3761,2050,0,0,0,0,0,0
$GC,3933,0.84,221.9,34.5,17.5,438,3940,0.00,1.62,0.00,0.000,6,0.000,0.033,3089,2733,2050,0,0,0,0,0,0
$GC,4074,0.84,221.9,11.9,16.3,463,4081,0.00,1.67,0.00,0.000,4,0.000,0.052,3088,3755,2050,0,0,0,0,0,0
$FREEZE,8.64,-1.642,-1.901,2,1,0
$FREEZE,7.94,-1.642,-1.900,2,1,0
$FREEZE,7.08,-1.640,-1.899,2,1,0
$FREEZE,6.00,-1.641,-1.899,2,1,0
$FREEZE,4.88,-1.641,-1.898,2,1,0
$GC,4121,0.84,221.9,4.9,18.0,471,4128,0.00,1.58,0.00,0.000,6,0.000,0.031,3097,2753,2049,0,0,0,0,0,0
$FREEZE,1.94,-1.640,-1.896,2,1,0
$STATE,4135,end climb,SURFACE_DEPTH_REACHED
$STATE,4136,begin surface coast
$FREEZE,0.60,-1.643,-1.895,2,1,0
$FREEZE,0.01,-1.652,-1.894,2,1,0
$FINISH,0.0,1.027779
$STATE,4147,end surface coast,CONTROL_FINISHED_OK
$STATE,4147,begin surface
$SM_CCo,4162,46.38,0.101,0,0,1655,320.11
$SM_GC,0.86,0.00,0.00,46.38,0.000,0.000,0.101,190,2752,1655,-8.16,-0.79,320.11
$IRIDIUM_FIX,-7554.21,17635.28,151210,151518
$TT8_MAMPS,0.027713
$HUMID,51.77
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.8
$ALTIM_BOTTOM_PING,300.2,27.8
$24V_AH,22.5,17.929
$10V_AH,9.9,7.618
$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,18.200,46.575,359.900,46.375,0.000,29.972,38.207,100.784,1.250,0.000,14.288,1176.436,1670.720,476.020,1055.927,111.680,0.000,996.352,0.000,818.826,0.000,11.735,0.000
$DEVICE_MAMPS,213.435,71.145,926.415,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.727,645.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,30415,475
$CAP_FILE_SIZE,69219,0
$CFSIZE,260165632,240062464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.207,355.1,1
$GPS,151210,174736,-7637.805,17646.320,33,1.0,37,123.2