version: 66.08
glider: 503
mission: 7
dive: 280
start: 12 18 110 16 18 54
data:
$ID,503
$MISSION,7
$DIVE,280
$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,-19841.848
$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,43
$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
$GPS1,181210,161406,-7632.666,17859.754,39,1.0,44,119.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.7
$GPS2,181210,161826,-7632.650,17859.764,12,1.1,12,119.7
$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,350.0,26501,-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,-219.0,0.0,0.0,0,111,0.00,0.00,-93.30,0.000,2,0.000,0.000,191,2807,3539,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.9,-9.4,15,135,8.73,2.35,-6.45,0.000,4,0.216,0.044,2520,1369,3857,0,0,0,0,0,0
$GC,386,-0.84,-219.0,60.6,-17.2,63,393,0.00,2.28,0.00,0.000,6,0.000,0.044,2510,2764,3860,0,0,0,0,0,0
$GC,527,-0.84,-219.0,88.5,-19.8,88,534,0.00,2.20,0.00,0.000,4,0.000,0.034,2510,1375,3860,0,0,0,0,0,0
$GC,557,-0.84,-219.0,94.3,-18.7,93,565,0.00,2.28,0.00,0.000,6,0.000,0.046,2500,2774,3860,0,0,0,0,0,0
$GC,695,-0.84,-219.0,122.1,-20.3,108,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3860,0,0,0,0,0,0
$GC,822,-0.84,-219.0,147.8,-20.4,120,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2774,3860,0,0,0,0,0,0
$GC,950,-0.84,-219.0,173.6,-20.6,132,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3860,0,0,0,0,0,0
$GC,1077,-0.84,-219.0,199.5,-20.6,144,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3860,0,0,0,0,0,0
$GC,1205,-0.84,-219.0,225.2,-19.7,156,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3860,0,0,0,0,0,0
$GC,1335,-0.84,-219.0,250.9,-20.4,168,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3860,0,0,0,0,0,0
$GC,1525,-0.84,-219.0,288.6,-20.7,186,1529,0.10,1.58,0.00,0.000,4,0.200,0.050,2517,3774,3860,0,0,0,0,0,0
$STATE,1680,end dive,NO_VERTICAL_VELOCITY
$STATE,1680,begin apogee
$GC,1686,-0.16,0.0,291.3,0.0,200,1864,0.62,0.00,171.55,0.908,4,0.079,0.000,2750,2685,2959,0,0,0,0,0,0
$STATE,1865,end apogee,CONTROL_FINISHED_OK
$STATE,1865,begin climb
$GC,1867,0.84,219.0,291.2,0.0,216,2062,0.90,1.90,187.38,0.855,4,0.070,0.051,3069,3756,2066,0,0,1,0,0,0
$GC,2204,0.84,219.0,262.1,16.5,246,2208,0.00,1.73,0.00,0.000,6,0.000,0.029,3078,2695,2057,0,0,1,0,0,0
$GC,2407,0.84,219.0,232.5,14.1,265,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2695,2054,0,0,0,0,0,0
$GC,2534,0.84,219.0,214.3,14.3,277,2538,0.00,1.77,0.00,0.000,4,0.000,0.047,3078,3767,2054,0,0,0,0,0,0
$GC,2593,0.84,219.0,204.5,16.6,282,2601,0.00,1.70,0.00,0.000,6,0.000,0.030,3086,2706,2053,0,0,1,0,0,0
$GC,2728,0.84,219.0,184.2,15.5,295,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,2053,0,0,0,0,0,0
$GC,2855,0.84,219.0,164.7,15.3,307,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,2052,0,0,0,0,0,0
$GC,2983,0.84,219.0,145.2,15.0,319,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2706,2052,0,0,0,0,0,0
$GC,3110,0.84,219.0,126.5,14.8,331,3114,0.00,1.70,0.00,0.000,4,0.000,0.049,3087,3762,2052,0,0,0,0,0,0
$GC,3160,0.84,219.0,118.1,16.7,335,3167,0.00,1.67,0.00,0.000,6,0.000,0.031,3095,2710,2052,0,0,0,0,0,0
$GC,3295,0.84,219.0,97.7,14.6,349,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2710,2051,0,0,0,0,0,0
$GC,3436,0.84,219.0,76.8,14.5,374,3443,0.00,1.73,0.00,0.000,4,0.000,0.049,3095,3759,2051,0,0,0,0,0,0
$GC,3483,0.84,219.0,69.2,17.1,382,3491,0.08,1.62,0.00,0.000,6,0.162,0.032,3079,2722,2051,0,0,1,0,0,0
$GC,3626,0.85,225.4,50.0,13.1,407,3633,0.00,0.00,3.97,0.600,6,0.000,0.000,3079,2722,2041,0,0,0,0,0,0
$GC,3769,0.87,244.4,31.4,12.6,432,3794,0.00,0.00,18.52,0.767,6,0.000,0.000,3079,2722,1964,0,0,0,0,0,0
$GC,3927,0.87,244.4,9.7,14.4,460,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2722,1961,0,0,0,0,0,0
$FREEZE,7.85,-1.289,-1.900,2,1,0
$FREEZE,7.15,-1.289,-1.899,2,1,0
$FREEZE,6.35,-1.287,-1.899,2,1,0
$FREEZE,5.67,-1.287,-1.898,2,1,0
$FREEZE,5.03,-1.287,-1.898,2,1,0
$FREEZE,4.29,-1.287,-1.897,2,1,0
$FREEZE,3.49,-1.286,-1.896,2,1,0
$FREEZE,2.78,-1.286,-1.896,2,1,0
$STATE,3975,end climb,SURFACE_DEPTH_REACHED
$STATE,3975,begin surface coast
$FREEZE,1.97,-1.287,-1.895,2,1,0
$FREEZE,1.15,-1.286,-1.895,2,1,0
$FREEZE,0.47,-1.286,-1.894,2,1,0
$FREEZE,-0.05,-1.285,-1.894,2,1,0
$FINISH,-0.0,1.027759
$STATE,3998,end surface coast,CONTROL_FINISHED_OK
$STATE,3998,begin surface
$SM_CCo,4014,37.22,0.101,0,0,1655,320.11
$SM_GC,0.78,0.00,0.00,37.22,0.000,0.000,0.101,181,2798,1655,-8.18,0.54,320.11
$IRIDIUM_FIX,-7545.40,17855.49,181210,151510
$TT8_MAMPS,0.027713
$HUMID,51.92
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.0
$24V_AH,22.6,24.030
$10V_AH,10.0,9.881
$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,18.075,26.300,381.425,37.225,0.000,28.361,38.196,93.770,0.750,0.000,14.774,1148.811,1593.391,462.955,1013.548,110.068,0.000,955.048,0.000,789.579,0.000,7.191,0.000
$DEVICE_MAMPS,215.730,94.095,908.055,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.342,655.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267244
$DATA_FILE_SIZE,30326,473
$CAP_FILE_SIZE,62249,0
$CFSIZE,260165632,237752320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.208,  0.1,1
$GPS,181210,172713,-7632.315,17902.197,9,1.3,9,119.6