version: 66.08
glider: 503
mission: 7
dive: 278
start: 12 18 110 13 53 4
data:
$ID,503
$MISSION,7
$DIVE,278
$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,-5
$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,-19839.336
$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,25
$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,48
$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
$GPS1,181210,134756,-7633.527,17853.387,8,1.2,8,119.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.4
$GPS2,181210,135236,-7633.497,17853.488,28,1.1,28,119.9
$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,320.2,29476,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.70,0.000,2,0.000,0.000,182,2814,3503,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.7,-8.8,16,134,8.80,2.35,-7.38,0.000,4,0.217,0.045,2522,1373,3855,0,0,0,0,0,0
$GC,385,-0.84,-219.0,59.7,-17.2,64,392,0.00,2.30,0.00,0.000,6,0.000,0.044,2511,2782,3859,0,0,0,0,0,0
$GC,526,-0.84,-219.0,87.7,-20.5,89,533,0.00,2.22,0.00,0.000,4,0.000,0.033,2512,1374,3858,0,0,0,0,0,0
$GC,579,-0.84,-219.0,98.1,-18.9,98,587,0.00,2.28,0.00,0.000,6,0.000,0.044,2501,2774,3858,0,0,0,0,0,0
$GC,721,-0.84,-219.0,127.1,-20.6,112,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2774,3859,0,0,0,0,0,0
$GC,849,-0.84,-219.0,152.8,-19.9,124,853,0.00,2.20,0.00,0.000,4,0.000,0.034,2501,1374,3859,0,0,0,0,0,0
$GC,883,-0.84,-219.0,159.1,-17.5,127,888,0.12,2.28,0.00,0.000,6,0.163,0.045,2529,2773,3859,0,0,0,0,0,0
$GC,1022,-0.84,-219.0,181.1,-15.5,140,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,1150,-0.84,-219.0,201.2,-15.9,152,1154,0.00,2.20,0.00,0.000,4,0.000,0.034,2530,1370,3859,0,0,0,0,0,0
$GC,1182,-0.84,-219.0,206.6,-15.6,154,1191,0.00,2.30,0.00,0.000,6,0.000,0.044,2520,2767,3859,0,0,0,0,0,0
$GC,1317,-0.84,-219.0,228.8,-17.0,167,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2767,3859,0,0,0,0,0,0
$GC,1449,-0.84,-219.0,250.7,-17.2,179,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2767,3859,0,0,0,0,0,0
$GC,1646,-0.84,-219.0,287.1,-18.0,198,1650,0.00,2.17,0.00,0.000,4,0.000,0.033,2520,1374,3860,0,0,0,0,0,0
$GC,1678,-0.84,-219.0,293.0,-17.9,200,1687,0.00,2.28,0.00,0.000,6,0.000,0.050,2510,2746,3860,0,0,0,0,0,0
$STATE,1843,end dive,NO_VERTICAL_VELOCITY
$STATE,1843,begin apogee
$GC,1848,-0.16,0.0,293.0,0.0,216,2025,0.65,0.00,171.52,0.910,4,0.096,0.000,2745,2745,2959,0,0,0,0,0,0
$STATE,2026,end apogee,CONTROL_FINISHED_OK
$STATE,2026,begin climb
$GC,2029,0.84,219.0,292.8,0.0,232,2224,0.98,2.47,187.00,0.855,4,0.076,0.035,3070,1297,2066,0,0,1,0,0,0
$GC,2398,0.88,249.3,260.2,12.1,264,2431,0.00,2.42,27.25,0.825,6,0.000,0.043,3070,2705,1942,0,0,0,0,0,0
$GC,2629,0.88,249.3,228.4,14.2,286,2633,0.00,2.35,0.00,0.000,4,0.000,0.036,3081,1299,1936,0,0,0,0,0,0
$GC,2804,0.89,259.6,205.5,12.9,301,2818,0.00,2.35,9.25,0.775,6,0.000,0.043,3081,2703,1901,0,0,0,0,0,0
$GC,2954,0.89,259.6,183.7,14.6,315,2958,0.00,1.73,0.00,0.000,4,0.000,0.049,3081,3767,1900,0,0,0,0,0,0
$GC,3000,0.89,259.6,176.3,16.7,319,3004,0.00,1.70,0.00,0.000,6,0.000,0.031,3089,2701,1899,0,0,1,0,0,0
$GC,3139,0.89,259.6,154.9,14.9,332,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2700,1899,0,0,0,0,0,0
$GC,3267,0.89,259.6,135.9,15.2,344,3270,0.00,1.73,0.00,0.000,4,0.000,0.049,3089,3770,1899,0,0,0,0,0,0
$GC,3301,0.89,259.6,130.2,16.3,347,3305,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2705,1898,0,0,1,0,0,0
$GC,3441,0.89,259.6,107.2,16.8,360,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,1898,0,0,0,0,0,0
$GC,3573,0.89,259.6,85.7,15.8,379,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,1898,0,0,0,0,0,0
$GC,3713,0.89,259.6,63.4,15.9,404,3720,0.00,1.73,0.00,0.000,4,0.000,0.049,3098,3753,1898,0,0,0,0,0,0
$GC,3777,0.89,259.6,52.2,18.8,415,3783,0.00,1.62,0.00,0.000,6,0.000,0.033,3106,2714,1897,0,0,1,0,0,0
$GC,3918,0.89,259.6,29.2,15.4,440,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2713,1898,0,0,0,0,0,0
$FREEZE,8.79,-1.329,-1.901,2,1,0
$FREEZE,8.04,-1.328,-1.901,2,1,0
$FREEZE,7.41,-1.328,-1.900,2,1,0
$GC,4060,0.89,259.6,7.4,15.4,465,4067,0.00,1.73,0.00,0.000,4,0.000,0.050,3106,3765,1898,0,0,0,0,0,0
$FREEZE,4.45,-1.323,-1.898,2,1,0
$FREEZE,3.37,-1.323,-1.897,2,1,0
$FREEZE,2.54,-1.323,-1.897,2,1,0
$STATE,4083,end climb,SURFACE_DEPTH_REACHED
$STATE,4083,begin surface coast
$FREEZE,1.46,-1.324,-1.896,2,1,0
$FREEZE,0.60,-1.324,-1.895,2,1,0
$FREEZE,-0.07,-1.415,-1.900,2,1,0
$FINISH,-0.1,1.027858
$STATE,4100,end surface coast,CONTROL_FINISHED_OK
$STATE,4100,begin surface
$SM_CCo,4117,29.08,0.103,0,0,1655,320.11
$SM_GC,1.29,0.00,0.00,29.08,0.000,0.000,0.103,179,2778,1655,-8.19,-0.03,320.11
$IRIDIUM_FIX,-7545.40,17855.32,181210,121217
$TT8_MAMPS,0.026964
$HUMID,52.28
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,20.2
$24V_AH,22.6,23.817
$10V_AH,9.9,9.805
$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,18.250,45.575,395.025,29.075,0.000,31.490,37.387,96.376,1.250,0.000,31.232,1152.264,1643.622,473.197,1061.147,112.871,0.000,989.044,0.000,816.006,0.000,7.195,0.000
$DEVICE_MAMPS,217.260,49.725,909.585,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.419,647.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267236
$DATA_FILE_SIZE,30449,472
$CAP_FILE_SIZE,65467,0
$CFSIZE,260165632,237830144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.189, 48.8,1
$GPS,181210,150302,-7633.056,17856.725,14,1.2,14,119.8