version: 66.08
glider: 503
mission: 7
dive: 199
start: 12 14 110 9 41 55
data:
$ID,503
$MISSION,7
$DIVE,199
$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,-19737.961
$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,38
$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
$GPS1,141210,093356,-7640.086,17547.172,17,1.8,17,124.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.5
$GPS2,141210,094126,-7640.104,17547.262,12,1.8,12,124.7
$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,306.1,110860,-18.2,-13.333
$D_GRID,379
$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,-92.62,0.000,2,0.000,0.000,188,2792,3494,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.6,-8.2,16,134,8.95,2.35,-7.57,0.000,4,0.224,0.055,2525,1365,3856,0,0,0,0,0,0
$GC,374,-0.84,-219.0,54.0,-16.0,62,382,0.00,2.30,0.00,0.000,6,0.000,0.044,2515,2770,3860,0,0,0,0,0,0
$GC,518,-0.84,-219.0,79.6,-18.2,87,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2770,3860,0,0,0,0,0,0
$GC,657,-0.84,-219.0,104.7,-18.4,110,660,0.00,1.60,0.00,0.000,4,0.000,0.051,2508,3754,3860,0,0,0,0,0,0
$GC,702,-0.84,-219.0,113.4,-19.1,114,706,0.00,1.52,0.00,0.000,6,0.000,0.031,2508,2779,3859,0,0,0,0,0,0
$GC,842,-0.84,-219.0,139.1,-18.5,127,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2779,3860,0,0,0,0,0,0
$GC,969,-0.84,-219.0,162.7,-18.7,139,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3860,0,0,0,0,0,0
$GC,1097,-0.84,-219.0,186.2,-18.5,151,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2779,3861,0,0,0,0,0,0
$GC,1224,-0.84,-219.0,210.0,-18.8,163,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2779,3860,0,0,0,0,0,0
$GC,1352,-0.84,-219.0,233.5,-18.2,175,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2779,3860,0,0,0,0,0,0
$GC,1480,-0.84,-219.0,256.6,-18.1,187,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2779,3860,0,0,0,0,0,0
$GC,1670,-0.84,-219.0,291.1,-18.3,205,1673,0.00,1.60,0.00,0.000,4,0.000,0.051,2500,3760,3860,0,0,0,0,0,0
$GC,1696,-0.84,-219.0,296.3,-19.2,207,1704,0.00,1.50,0.00,0.000,6,0.000,0.031,2500,2795,3860,0,0,0,0,0,0
$GC,1896,-0.84,-219.0,332.1,-18.4,226,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2795,3860,0,0,0,0,0,0
$GC,2086,-0.84,-219.0,366.7,-18.1,244,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2795,3860,0,0,0,0,0,0
$STATE,2148,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2148,begin apogee
$GC,2153,-0.16,0.0,378.2,18.5,250,2333,0.73,0.00,173.85,0.968,4,0.129,0.000,2741,2697,2959,0,0,0,0,0,0
$STATE,2334,end apogee,CONTROL_FINISHED_OK
$STATE,2334,begin climb
$GC,2336,0.84,219.0,386.7,0.0,266,2539,1.00,2.38,189.82,0.911,4,0.080,0.034,3070,1306,2067,0,0,0,0,0,0
$GC,2721,0.84,219.0,347.8,14.0,300,2725,0.00,2.40,0.00,0.000,6,0.000,0.041,3070,2702,2057,0,0,0,0,0,0
$GC,2918,0.84,219.0,317.7,14.8,318,2922,0.00,2.33,0.00,0.000,4,0.000,0.034,3081,1302,2054,0,0,0,0,0,0
$GC,3083,0.84,219.0,294.1,13.6,332,3091,0.00,2.38,0.00,0.000,6,0.000,0.042,3081,2697,2053,0,0,0,0,0,0
$GC,3284,0.84,219.0,264.7,14.7,351,3288,0.00,1.73,0.00,0.000,4,0.000,0.050,3081,3765,2052,0,0,0,0,0,0
$GC,3333,0.84,219.0,255.9,17.0,355,3341,0.00,1.67,0.00,0.000,6,0.000,0.031,3089,2714,2051,0,0,1,0,0,0
$GC,3532,0.84,219.0,224.5,16.0,374,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2714,2051,0,0,0,0,0,0
$GC,3659,0.84,219.0,203.8,16.3,386,3663,0.00,1.73,0.00,0.000,4,0.000,0.049,3090,3756,2050,0,0,0,0,0,0
$GC,3693,0.84,219.0,197.7,18.5,389,3697,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2723,2051,0,0,0,0,0,0
$GC,3832,0.84,219.0,173.7,17.0,402,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2723,2050,0,0,0,0,0,0
$GC,3959,0.84,219.0,152.7,16.2,414,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2722,2050,0,0,0,0,0,0
$GC,4086,0.84,219.0,131.6,17.0,426,4090,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3755,2050,0,0,0,0,0,0
$GC,4135,0.84,219.0,122.3,19.6,430,4144,0.10,1.65,0.00,0.000,6,0.148,0.031,3074,2715,2050,0,0,0,0,0,0
$GC,4270,0.84,219.0,103.1,13.9,443,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2715,2050,0,0,0,0,0,0
$GC,4402,0.84,219.0,84.7,13.8,464,4409,0.00,1.70,0.00,0.000,4,0.000,0.050,3073,3753,2049,0,0,0,0,0,0
$GC,4431,0.84,219.0,80.2,15.1,469,4438,0.00,1.62,0.00,0.000,6,0.000,0.031,3080,2724,2049,0,0,0,0,0,0
$GC,4573,0.84,219.0,59.7,14.6,494,4581,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3762,2049,0,0,0,0,0,0
$GC,4615,0.84,219.0,52.9,16.9,501,4621,0.00,1.62,0.00,0.000,6,0.000,0.032,3088,2735,2049,0,0,0,0,0,0
$GC,4758,0.84,219.0,31.5,14.5,526,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2735,2049,0,0,0,0,0,0
$GC,4899,0.84,219.0,10.1,15.0,551,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2735,2049,0,0,0,0,0,0
$FREEZE,8.15,-1.365,-1.898,2,1,0
$FREEZE,7.33,-1.363,-1.897,2,1,0
$FREEZE,6.63,-1.345,-1.897,2,1,0
$FREEZE,5.99,-1.330,-1.896,2,1,0
$FREEZE,5.20,-1.304,-1.895,2,1,0
$FREEZE,4.40,-1.301,-1.895,2,1,0
$FREEZE,3.61,-1.309,-1.894,2,1,0
$FREEZE,2.82,-1.317,-1.894,2,1,0
$STATE,4947,end climb,SURFACE_DEPTH_REACHED
$STATE,4948,begin surface coast
$FREEZE,2.01,-1.298,-1.893,2,1,0
$FREEZE,1.28,-1.298,-1.893,2,1,0
$FREEZE,0.60,-1.296,-1.892,2,1,0
$FINISH,0.6,1.027733
$STATE,4966,end surface coast,CONTROL_FINISHED_OK
$STATE,4966,begin surface
$SM_CCo,4981,46.15,0.101,0,0,1655,320.11
$SM_GC,1.02,0.00,0.00,46.15,0.000,0.000,0.101,193,2789,1655,-8.15,0.25,320.11
$IRIDIUM_FIX,-7554.21,17538.94,141210,090924
$TT8_MAMPS,0.027713
$HUMID,51.69
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,20.3
$ALTIM_BOTTOM_PING,351.4,41.6
$24V_AH,22.4,15.576
$10V_AH,9.9,6.688
$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,18.400,37.300,363.675,46.150,0.000,57.447,116.179,103.153,1.500,0.000,15.213,1386.755,2209.142,476.943,1303.183,118.134,0.000,1046.348,0.000,940.124,0.000,10.580,0.000
$DEVICE_MAMPS,224.145,111.690,968.490,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.272,724.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,37109,563
$CAP_FILE_SIZE,74539,0
$CFSIZE,260165632,240963584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.064,196.5,1
$GPS,141210,110707,-7640.046,17550.197,45,1.1,45,124.6