version: 66.08
glider: 503
mission: 7
dive: 214
start: 12 15 110 7 35 5
data:
$ID,503
$MISSION,7
$DIVE,214
$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,-19756.824
$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,41
$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
$GPS1,151210,072955,-7639.201,17621.945,21,1.7,32,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-70.9
$GPS2,151210,073437,-7639.219,17621.955,33,1.0,33,123.8
$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,303.3,95803,-18.2,-13.333
$D_GRID,439
$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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.78,0.000,2,0.000,0.000,187,2797,3455,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.1,-6.5,15,138,8.82,1.60,-8.70,0.000,4,0.220,0.068,2519,3756,3856,0,0,0,0,0,0
$GC,312,-0.84,-219.0,49.4,-19.2,50,318,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2770,3859,0,0,0,0,0,0
$GC,454,-0.84,-219.0,77.2,-20.4,75,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2770,3859,0,0,0,0,0,0
$GC,593,-0.84,-219.0,104.6,-19.2,98,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2770,3859,0,0,0,0,0,0
$GC,721,-0.84,-219.0,129.2,-19.5,110,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2771,3859,0,0,0,0,0,0
$GC,849,-0.84,-219.0,153.7,-19.4,122,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2770,3859,0,0,0,0,0,0
$GC,976,-0.84,-219.0,177.7,-18.6,134,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2770,3859,0,0,0,0,0,0
$GC,1103,-0.84,-219.0,200.5,-17.8,146,1107,0.00,1.60,0.00,0.000,4,0.000,0.050,2511,3749,3859,0,0,0,0,0,0
$GC,1151,-0.84,-219.0,209.7,-17.7,150,1159,0.00,1.48,0.00,0.000,6,0.000,0.031,2511,2787,3859,0,0,1,0,0,0
$GC,1286,-0.84,-219.0,233.7,-18.1,163,1290,0.00,2.20,0.00,0.000,4,0.000,0.034,2511,1375,3860,0,0,0,0,0,0
$GC,1329,-0.84,-219.0,241.7,-16.5,166,1337,0.00,2.28,0.00,0.000,6,0.000,0.046,2500,2762,3859,0,0,0,0,0,0
$GC,1464,-0.84,-219.0,266.9,-19.7,179,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2762,3860,0,0,0,0,0,0
$GC,1655,-0.84,-219.0,303.8,-19.3,197,1658,0.00,1.60,0.00,0.000,4,0.000,0.051,2493,3762,3860,0,0,0,0,0,0
$GC,1692,-0.84,-219.0,311.9,-21.1,200,1701,0.10,1.52,0.00,0.000,6,0.144,0.031,2525,2780,3860,0,0,0,0,0,0
$STATE,1825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1826,begin apogee
$GC,1831,-0.16,0.0,334.5,16.6,213,2011,0.65,0.00,172.70,0.939,4,0.124,0.000,2744,2698,2959,0,0,0,0,0,0
$STATE,2011,end apogee,CONTROL_FINISHED_OK
$STATE,2011,begin climb
$GC,2014,0.84,219.0,344.1,0.0,229,2210,1.00,2.40,188.02,0.886,4,0.083,0.034,3072,1295,2067,0,0,0,0,0,0
$GC,2417,0.86,237.4,305.4,12.6,264,2439,0.00,2.45,16.48,0.835,6,0.000,0.042,3072,2693,1992,0,0,0,0,0,0
$GC,2638,0.86,237.4,273.7,14.8,285,2642,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1300,1988,0,0,0,0,0,0
$GC,2810,0.86,237.4,249.1,14.0,300,2814,0.00,2.35,0.00,0.000,6,0.000,0.042,3083,2708,1986,0,0,0,0,0,0
$GC,2944,0.86,237.4,229.1,15.3,312,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2708,1986,0,0,0,0,0,0
$GC,3071,0.86,237.4,209.4,15.5,324,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2708,1985,0,0,0,0,0,0
$GC,3198,0.86,237.4,189.1,16.0,336,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2708,1985,0,0,0,0,0,0
$GC,3326,0.86,237.4,168.9,15.9,348,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2708,1985,0,0,0,0,0,0
$GC,3453,0.86,237.4,149.8,14.8,360,3457,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3764,1984,0,0,0,0,0,0
$GC,3498,0.86,237.4,142.5,16.3,364,3502,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2702,1984,0,0,0,0,0,0
$GC,3638,0.86,237.4,120.8,15.5,377,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2701,1984,0,0,0,0,0,0
$GC,3765,0.86,237.4,101.0,15.4,389,3768,0.00,1.70,0.00,0.000,4,0.000,0.050,3091,3765,1984,0,0,0,0,0,0
$GC,3799,0.86,237.4,95.3,17.2,394,3806,0.00,1.70,0.00,0.000,6,0.000,0.032,3099,2697,1983,0,0,0,0,0,0
$GC,3940,0.86,237.4,72.9,15.4,419,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2697,1983,0,0,0,0,0,0
$GC,4080,0.86,237.4,50.5,16.3,444,4087,0.00,1.75,0.00,0.000,4,0.000,0.050,3100,3784,1983,0,0,0,0,0,0
$GC,4144,0.86,237.4,39.2,18.4,455,4151,0.05,1.73,0.00,0.000,6,0.137,0.032,3080,2701,1983,0,0,0,0,0,0
$GC,4287,0.86,237.4,17.3,15.0,480,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2701,1983,0,0,0,0,0,0
$FREEZE,8.66,-1.297,-1.898,2,1,0
$FREEZE,7.97,-1.301,-1.898,2,1,0
$FREEZE,7.32,-1.282,-1.897,2,1,0
$FREEZE,6.59,-1.282,-1.897,2,1,0
$FREEZE,5.89,-1.289,-1.896,2,1,0
$FREEZE,5.01,-1.284,-1.895,2,1,0
$FREEZE,4.09,-1.283,-1.895,2,1,0
$FREEZE,3.40,-1.285,-1.894,2,1,0
$FREEZE,2.48,-1.284,-1.894,2,1,0
$STATE,4386,end climb,SURFACE_DEPTH_REACHED
$STATE,4386,begin surface coast
$FREEZE,1.44,-1.289,-1.893,2,1,0
$FREEZE,0.51,-1.292,-1.892,2,1,0
$FREEZE,0.09,-1.293,-1.892,2,1,0
$FINISH,0.1,1.027734
$STATE,4405,end surface coast,CONTROL_FINISHED_OK
$STATE,4405,begin surface
$SM_CCo,4421,38.25,0.102,0,0,1655,320.11
$SM_GC,0.74,0.00,0.00,38.25,0.000,0.000,0.102,188,2792,1655,-8.16,0.34,320.11
$IRIDIUM_FIX,-7554.21,17626.00,151210,060615
$TT8_MAMPS,0.027713
$HUMID,52.08
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.3
$ALTIM_BOTTOM_PING,301.7,47.3
$24V_AH,22.5,17.200
$10V_AH,10.0,7.339
$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,18.200,33.800,377.200,38.250,0.000,25.454,37.229,98.062,1.000,0.000,36.430,1230.622,1837.142,470.631,1108.722,110.379,0.000,998.571,0.000,856.595,0.000,9.688,0.000
$DEVICE_MAMPS,220.320,100.215,939.420,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.342,663.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,33749,501
$CAP_FILE_SIZE,68439,0
$CFSIZE,260165632,240345088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.057,154.1,1
$GPS,151210,085031,-7639.241,17624.850,17,1.3,28,123.8