version: 66.08
glider: 503
mission: 7
dive: 291
start: 12 19 110 5 25 59
data:
$ID,503
$MISSION,7
$DIVE,291
$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,-19855.684
$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,44
$R_STBD_OVSHOOT,40
$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
$GPS1,191210,052126,-7632.249,17909.209,11,1.3,11,119.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.0
$GPS2,191210,052531,-7632.278,17909.219,9,1.1,14,119.5
$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,274.6,22357,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-95.20,0.000,2,0.000,0.000,170,2802,3508,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.7,-8.9,16,136,8.82,2.35,-7.22,0.000,4,0.215,0.045,2522,1371,3855,0,0,0,0,0,0
$GC,248,-0.84,-219.0,34.7,-18.0,39,255,0.00,2.28,0.00,0.000,6,0.000,0.044,2512,2767,3859,0,0,0,0,0,0
$GC,389,-0.84,-219.0,62.9,-19.7,64,396,0.00,1.62,0.00,0.000,4,0.000,0.051,2504,3766,3858,0,0,0,0,0,0
$GC,425,-0.84,-219.0,70.4,-21.3,70,433,0.00,1.55,0.00,0.000,6,0.000,0.031,2504,2779,3859,0,0,0,0,0,0
$GC,569,-0.84,-219.0,98.8,-18.8,95,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$GC,703,-0.84,-219.0,126.0,-19.9,108,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$GC,829,-0.84,-219.0,152.3,-20.7,120,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$GC,957,-0.84,-219.0,178.4,-20.3,132,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2779,3859,0,0,0,0,0,0
$GC,1084,-0.84,-219.0,204.2,-20.3,144,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$GC,1212,-0.84,-219.0,229.7,-19.8,156,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3860,0,0,0,0,0,0
$GC,1339,-0.84,-219.0,255.4,-19.4,168,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$STATE,1444,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1444,begin apogee
$GC,1449,-0.16,0.0,274.6,18.7,178,1627,0.73,0.00,171.70,0.899,4,0.129,0.000,2742,2692,2960,0,0,0,0,0,0
$STATE,1628,end apogee,CONTROL_FINISHED_OK
$STATE,1628,begin climb
$GC,1630,0.84,219.0,283.0,0.0,194,1823,0.98,0.00,187.05,0.845,6,0.087,0.000,3068,2692,2066,0,0,0,0,0,0
$GC,2011,0.84,219.0,240.8,14.1,229,2016,0.00,2.33,0.00,0.000,4,0.000,0.034,3079,1310,2057,0,0,0,0,0,0
$GC,2041,0.84,219.0,236.8,13.6,231,2045,0.00,2.35,0.00,0.000,6,0.000,0.042,3079,2692,2056,0,0,1,0,0,0
$GC,2175,0.84,219.0,218.1,13.7,243,2179,0.00,1.77,0.00,0.000,4,0.000,0.049,3079,3769,2055,0,0,0,0,0,0
$GC,2213,0.84,219.0,212.0,16.0,246,2222,0.00,1.73,0.00,0.000,6,0.000,0.029,3087,2703,2054,0,0,1,0,0,0
$GC,2348,0.84,219.0,190.8,15.8,259,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2703,2053,0,0,0,0,0,0
$GC,2475,0.84,219.0,171.0,15.2,271,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2703,2053,0,0,0,0,0,0
$GC,2603,0.84,219.0,152.0,14.7,283,2606,0.00,1.73,0.00,0.000,4,0.000,0.048,3088,3768,2052,0,0,0,0,0,0
$GC,2641,0.84,219.0,145.6,16.5,286,2649,0.00,1.67,0.00,0.000,6,0.000,0.031,3096,2705,2051,0,0,1,0,0,0
$GC,2775,0.84,219.0,125.2,15.3,299,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2704,2052,0,0,0,0,0,0
$GC,2903,0.84,219.0,105.4,15.9,311,2906,0.00,1.70,0.00,0.000,4,0.000,0.049,3095,3765,2052,0,0,0,0,0,0
$GC,2960,0.84,219.0,95.4,18.0,318,2968,0.08,1.67,0.00,0.000,6,0.158,0.031,3070,2714,2051,0,0,0,0,0,0
$GC,3104,0.84,219.0,75.1,13.8,343,3110,0.00,1.73,0.00,0.000,4,0.000,0.050,3070,3764,2051,0,0,0,0,0,0
$GC,3145,0.84,219.0,68.8,15.8,350,3152,0.00,1.67,0.00,0.000,6,0.000,0.031,3079,2705,2050,0,0,0,0,0,0
$GC,3289,0.86,237.8,49.0,12.6,375,3307,0.00,0.00,15.23,0.769,6,0.000,0.000,3079,2705,1990,0,0,0,0,0,0
$GC,3443,0.89,257.7,27.3,12.5,402,3464,0.00,0.00,18.67,0.750,6,0.000,0.000,3078,2705,1908,0,0,0,0,0,0
$FREEZE,8.75,-0.969,-1.901,2,1,0
$FREEZE,8.01,-0.962,-1.900,2,1,0
$FREEZE,7.12,-0.961,-1.900,2,1,0
$FREEZE,6.42,-0.961,-1.899,2,1,0
$FREEZE,5.65,-0.961,-1.899,2,1,0
$FREEZE,4.90,-0.961,-1.898,2,1,0
$GC,3599,0.89,257.7,4.9,14.8,429,3606,0.00,1.75,0.00,0.000,4,0.000,0.049,3079,3784,1906,0,0,0,0,0,0
$FREEZE,2.58,-0.962,-1.897,2,1,0
$STATE,3613,end climb,SURFACE_DEPTH_REACHED
$STATE,3613,begin surface coast
$FREEZE,1.59,-0.963,-1.896,2,1,0
$FREEZE,0.79,-0.962,-1.895,2,1,0
$FREEZE,0.01,-1.019,-1.899,2,1,0
$FINISH,0.0,1.027818
$STATE,3629,end surface coast,CONTROL_FINISHED_OK
$STATE,3629,begin surface
$SM_CCo,3646,29.73,0.101,0,0,1655,320.11
$SM_GC,0.98,0.00,0.00,29.73,0.000,0.000,0.101,179,2772,1655,-8.19,-0.23,320.11
$IRIDIUM_FIX,-7545.40,17913.92,191210,040435
$TT8_MAMPS,0.027713
$HUMID,52.12
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,19.6
$ALTIM_BOTTOM_PING,251.4,36.8
$24V_AH,22.6,25.209
$10V_AH,9.9,10.295
$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,18.275,29.600,392.650,29.725,0.000,28.443,36.602,83.693,1.000,0.000,16.697,1039.383,1419.874,469.019,909.148,102.458,0.000,926.219,0.000,700.125,0.000,7.132,0.000
$DEVICE_MAMPS,214.965,100.980,898.875,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.274,618.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267220
$DATA_FILE_SIZE,27038,434
$CAP_FILE_SIZE,59961,0
$CFSIZE,260165632,237334528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.310,176.9,1
$GPS,191210,062831,-7632.337,17910.805,37,1.0,37,119.4