version: 66.08
glider: 503
mission: 7
dive: 284
start: 12 18 110 21 6 24
data:
$ID,503
$MISSION,7
$DIVE,284
$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,-19846.875
$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,45
$R_STBD_OVSHOOT,42
$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
$GPS1,181210,210136,-7631.502,17904.453,36,1.0,36,119.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-72.9
$GPS2,181210,210556,-7631.476,17904.369,12,1.1,12,119.5
$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,5.0,24206,-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,-219.0,0.0,0.0,0,109,0.00,0.00,-91.82,0.000,2,0.000,0.000,178,2795,3479,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.4,-7.9,15,139,8.82,2.35,-7.95,0.000,4,0.216,0.046,2523,1365,3857,0,0,0,0,0,0
$GC,384,-0.84,-219.0,58.3,-17.5,63,391,0.00,2.30,0.00,0.000,6,0.000,0.044,2512,2772,3859,0,0,0,0,0,0
$GC,524,-0.84,-219.0,85.2,-20.0,88,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,661,-0.84,-219.0,113.1,-20.9,107,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2772,3860,0,0,0,0,0,0
$GC,789,-0.84,-219.0,138.6,-19.6,119,792,0.00,1.60,0.00,0.000,4,0.000,0.050,2505,3764,3859,0,0,0,0,0,0
$GC,827,-0.84,-219.0,146.9,-20.7,122,834,0.00,1.52,0.00,0.000,6,0.000,0.031,2505,2785,3859,0,0,0,0,0,0
$GC,961,-0.84,-219.0,174.7,-21.0,135,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2785,3860,0,0,0,0,0,0
$GC,1088,-0.84,-219.0,200.6,-19.9,147,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2785,3860,0,0,0,0,0,0
$GC,1216,-0.84,-219.0,225.2,-18.6,159,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2785,3860,0,0,0,0,0,0
$GC,1343,-0.84,-219.0,249.8,-19.3,171,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2785,3860,0,0,0,0,0,0
$GC,1472,-0.84,-219.0,272.8,-18.1,183,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2785,3860,0,0,0,0,0,0
$GC,1663,-0.84,-219.0,293.2,-0.1,201,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2785,3860,0,0,0,0,0,0
$STATE,1745,end dive,NO_VERTICAL_VELOCITY
$STATE,1746,begin apogee
$GC,1750,-0.16,0.0,293.1,0.0,209,1929,0.65,0.00,171.70,0.909,4,0.078,0.000,2751,2685,2959,0,0,0,0,0,0
$STATE,1930,end apogee,CONTROL_FINISHED_OK
$STATE,1930,begin climb
$GC,1931,0.84,219.0,293.1,0.0,225,2128,0.90,0.00,186.50,0.852,6,0.068,0.000,3069,2685,2068,0,0,0,0,0,0
$GC,2318,0.84,219.0,249.4,13.6,261,2322,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1310,2059,0,0,0,0,0,0
$GC,2372,0.84,219.0,241.2,14.7,265,2380,0.00,2.40,0.00,0.000,6,0.000,0.042,3080,2704,2058,0,0,1,0,0,0
$GC,2507,0.84,219.0,222.8,14.1,278,2511,0.00,1.75,0.00,0.000,4,0.000,0.049,3080,3768,2057,0,0,0,0,0,0
$GC,2534,0.84,219.0,218.3,15.2,280,2542,0.00,1.73,0.00,0.000,6,0.000,0.030,3088,2705,2056,0,0,1,0,0,0
$GC,2668,0.84,219.0,199.7,13.8,293,2672,0.00,1.75,0.00,0.000,4,0.000,0.049,3088,3767,2056,0,0,0,0,0,0
$GC,2695,0.84,219.0,195.4,16.1,295,2702,0.00,1.70,0.00,0.000,6,0.000,0.031,3097,2705,2055,0,0,1,0,0,0
$GC,2829,0.84,219.0,175.7,14.9,308,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2705,2055,0,0,0,0,0,0
$GC,2956,0.84,219.0,156.2,14.8,320,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2705,2055,0,0,0,0,0,0
$GC,3084,0.84,219.0,137.0,15.4,332,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2705,2055,0,0,0,0,0,0
$GC,3211,0.84,219.0,117.6,14.9,344,3215,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3765,2054,0,0,0,0,0,0
$GC,3279,0.84,219.0,106.2,17.4,350,3283,0.12,1.65,0.00,0.000,6,0.175,0.032,3072,2685,2054,0,0,1,0,0,0
$GC,3418,0.87,241.8,87.8,12.4,371,3444,0.00,1.77,19.17,0.793,4,0.000,0.048,3072,3764,1973,0,0,0,0,0,0
$GC,3473,0.87,241.8,80.2,14.5,380,3479,0.00,1.70,0.00,0.000,6,0.000,0.031,3080,2705,1972,0,0,0,0,0,0
$GC,3613,0.87,241.8,61.0,13.8,405,3620,0.00,1.75,0.00,0.000,4,0.000,0.050,3081,3779,1970,0,0,0,0,0,0
$GC,3649,0.87,241.8,55.5,15.5,411,3656,0.00,1.67,0.00,0.000,6,0.000,0.031,3088,2718,1970,0,0,1,0,0,0
$GC,3793,0.87,241.8,35.3,14.2,436,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2718,1970,0,0,0,0,0,0
$GC,3933,0.87,241.8,14.2,15.1,461,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2718,1969,0,0,0,0,0,0
$FREEZE,8.20,-1.403,-1.901,2,1,0
$FREEZE,7.34,-1.425,-1.900,2,1,0
$FREEZE,6.57,-1.415,-1.899,2,1,0
$FREEZE,5.82,-1.415,-1.899,2,1,0
$FREEZE,5.11,-1.407,-1.898,2,1,0
$FREEZE,4.26,-1.390,-1.898,2,1,0
$FREEZE,3.53,-1.405,-1.897,2,1,0
$FREEZE,2.81,-1.424,-1.897,2,1,0
$STATE,4010,end climb,SURFACE_DEPTH_REACHED
$STATE,4010,begin surface coast
$FREEZE,2.00,-1.408,-1.896,2,1,0
$FREEZE,1.26,-1.400,-1.895,2,1,0
$FREEZE,0.52,-1.412,-1.895,2,1,0
$FREEZE,-0.00,-1.412,-1.894,2,1,0
$FINISH,-0.0,1.027774
$STATE,4033,end surface coast,CONTROL_FINISHED_OK
$STATE,4033,begin surface
$SM_CCo,4049,37.28,0.102,0,0,1655,320.11
$SM_GC,0.59,0.00,0.00,37.28,0.000,0.000,0.102,181,2805,1655,-8.18,0.71,320.11
$IRIDIUM_FIX,-7545.40,17913.92,181210,191940
$TT8_MAMPS,0.027713
$HUMID,52.00
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.6
$24V_AH,22.6,24.466
$10V_AH,10.0,10.033
$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,18.150,29.875,377.375,37.275,0.000,30.376,37.550,92.413,0.750,0.000,15.607,1154.787,1625.355,473.562,999.321,110.762,0.000,965.855,0.000,775.883,0.000,6.957,0.000
$DEVICE_MAMPS,216.495,94.095,908.820,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.267,662.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267192
$DATA_FILE_SIZE,30360,479
$CAP_FILE_SIZE,63654,0
$CFSIZE,260165632,237596672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.213,297.2,1
$GPS,181210,221536,-7631.568,17904.719,10,0.9,26,119.5