version: 66.08
glider: 503
mission: 7
dive: 227
start: 12 16 110 0 5 24
data:
$ID,503
$MISSION,7
$DIVE,227
$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,-19773.164
$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,47
$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
$GPS1,161210,000040,-7637.490,17654.361,9,2.2,28,123.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.6
$GPS2,161210,000456,-7637.468,17654.293,12,1.7,12,123.0
$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,330.7,81471,-18.2,-13.333
$D_GRID,375
$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,-89.12,0.000,2,0.000,0.000,146,2736,3415,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.2,-6.2,15,136,8.90,1.65,-9.80,0.000,4,0.216,0.069,2518,3748,3857,0,0,1,0,0,0
$GC,378,-0.84,-219.0,61.6,-19.7,62,384,0.00,1.52,0.00,0.000,6,0.000,0.029,2518,2774,3860,0,0,0,0,0,0
$GC,519,-0.84,-219.0,89.2,-19.1,87,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,661,-0.84,-219.0,118.0,-20.0,105,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3859,0,0,0,0,0,0
$GC,789,-0.84,-219.0,142.3,-18.7,117,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,917,-0.84,-219.0,167.6,-20.2,129,920,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3749,3859,0,0,0,0,0,0
$GC,962,-0.84,-219.0,176.9,-20.4,133,966,0.00,1.50,0.00,0.000,6,0.000,0.031,2510,2792,3859,0,0,0,0,0,0
$GC,1102,-0.84,-219.0,204.4,-19.7,146,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3859,0,0,0,0,0,0
$GC,1230,-0.84,-219.0,228.9,-19.4,158,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3860,0,0,0,0,0,0
$GC,1356,-0.84,-219.0,254.0,-20.0,170,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3860,0,0,0,0,0,0
$GC,1548,-0.84,-219.0,290.7,-19.2,188,1552,0.00,1.55,0.00,0.000,4,0.000,0.051,2503,3745,3860,0,0,0,0,0,0
$GC,1583,-0.84,-219.0,297.7,-19.7,191,1587,0.00,1.48,0.00,0.000,6,0.000,0.031,2503,2796,3859,0,0,0,0,0,0
$STATE,1625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1625,begin apogee
$GC,1630,-0.16,0.0,306.3,19.5,195,1809,0.73,0.00,172.40,0.922,4,0.129,0.000,2741,2694,2959,0,0,0,0,0,0
$STATE,1809,end apogee,CONTROL_FINISHED_OK
$STATE,1810,begin climb
$GC,1811,0.84,219.0,316.4,0.0,211,2008,1.00,2.38,187.88,0.871,4,0.080,0.033,3071,1304,2067,0,0,0,0,0,0
$GC,2013,0.85,230.7,304.0,12.9,228,2033,0.00,2.50,12.30,0.768,6,0.000,0.041,3071,2688,2019,0,0,1,0,0,0
$GC,2224,0.85,230.7,272.8,15.6,248,2227,0.00,1.80,0.00,0.000,4,0.000,0.047,3071,3766,2010,0,0,0,0,0,0
$GC,2272,0.85,230.7,263.8,17.1,252,2280,0.00,1.73,0.00,0.000,6,0.000,0.029,3079,2711,2009,0,0,1,0,0,0
$GC,2471,0.85,230.7,231.4,16.2,271,2474,0.00,1.75,0.00,0.000,4,0.000,0.048,3079,3768,2007,0,0,0,0,0,0
$GC,2506,0.85,230.7,225.2,17.9,274,2509,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2712,2006,0,0,1,0,0,0
$GC,2645,0.85,230.7,201.2,16.7,287,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2710,2006,0,0,0,0,0,0
$GC,2772,0.85,230.7,179.6,17.1,299,2776,0.00,1.73,0.00,0.000,4,0.000,0.049,3088,3768,2006,0,0,0,0,0,0
$GC,2807,0.85,230.7,173.3,19.4,302,2811,0.00,1.62,0.00,0.000,6,0.000,0.031,3096,2717,2005,0,0,1,0,0,0
$GC,2946,0.85,230.7,148.3,17.7,315,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2715,2004,0,0,0,0,0,0
$GC,3074,0.85,230.7,126.0,17.2,327,3077,0.00,1.70,0.00,0.000,4,0.000,0.049,3096,3768,2004,0,0,0,0,0,0
$GC,3109,0.85,230.7,119.7,19.0,330,3112,0.00,1.62,0.00,0.000,6,0.000,0.031,3105,2709,2004,0,0,1,0,0,0
$GC,3243,0.85,230.7,96.8,16.6,344,3251,0.12,1.73,0.00,0.000,4,0.171,0.050,3073,3767,2004,0,0,0,0,0,0
$GC,3279,0.85,230.7,91.1,15.5,350,3285,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2747,2004,0,0,0,0,0,0
$GC,3421,0.85,230.7,69.9,15.0,375,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2747,2004,0,0,0,0,0,0
$GC,3561,0.85,230.7,49.7,13.9,400,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2747,2004,0,0,0,0,0,0
$GC,3701,0.85,230.7,28.8,14.6,425,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2747,2004,0,0,0,0,0,0
$FREEZE,8.27,-1.569,-1.903,2,1,0
$FREEZE,7.53,-1.570,-1.903,2,1,0
$FREEZE,6.79,-1.567,-1.902,2,1,0
$GC,3843,0.85,230.7,6.8,15.7,450,3849,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3772,2004,0,0,0,0,0,0
$FREEZE,4.98,-1.576,-1.901,2,1,0
$FREEZE,4.11,-1.571,-1.900,2,1,0
$FREEZE,3.24,-1.571,-1.900,2,1,0
$FREEZE,2.38,-1.571,-1.899,2,1,0
$STATE,3871,end climb,SURFACE_DEPTH_REACHED
$STATE,3871,begin surface coast
$FREEZE,1.45,-1.571,-1.898,2,1,0
$FREEZE,0.61,-1.570,-1.898,2,1,0
$FREEZE,0.09,-1.571,-1.510,2,1,0
$FINISH,0.1,1.022263
$STATE,3888,end surface coast,FINISH_DEPTH_REACHED
$STATE,3889,begin surface
$SM_CCo,3905,41.20,0.102,0,0,1654,320.11
$SM_GC,0.72,0.00,0.00,41.20,0.000,0.000,0.102,189,2772,1654,-8.16,-0.23,320.11
$IRIDIUM_FIX,-7554.21,17703.62,151210,222204
$TT8_MAMPS,0.027713
$HUMID,51.69
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.0
$ALTIM_BOTTOM_PING,300.1,21.0
$24V_AH,22.5,18.554
$10V_AH,9.9,7.849
$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,18.425,34.475,372.575,41.200,0.000,32.807,35.517,91.209,1.000,0.000,14.573,1119.312,1558.618,462.031,974.458,105.414,0.000,945.868,0.000,753.035,0.000,8.802,0.000
$DEVICE_MAMPS,215.730,83.385,921.825,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.875,627.593,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30428,458
$CAP_FILE_SIZE,63775,0
$CFSIZE,260165632,239820800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.184,278.5,1
$GPS,161210,011224,-7637.524,17655.615,30,2.0,35,122.9