version: 66.08
glider: 503
mission: 7
dive: 215
start: 12 15 110 8 55 41
data:
$ID,503
$MISSION,7
$DIVE,215
$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,-19758.082
$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,40
$R_STBD_OVSHOOT,37
$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
$GPS1,151210,085031,-7639.241,17624.850,17,1.3,28,123.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.6
$GPS2,151210,085513,-7639.240,17624.932,9,1.4,14,123.8
$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,306.5,94544,-18.2,-13.333
$D_GRID,446
$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,-219.0,0.0,0.0,0,106,0.00,0.00,-88.50,0.000,2,0.000,0.000,187,2793,3403,0,0,0,0,0,0
$GC,108,-0.84,-219.0,3.1,-6.0,15,136,8.82,1.58,-9.93,0.000,4,0.220,0.070,2517,3748,3856,0,0,0,0,0,0
$GC,324,-0.84,-219.0,51.6,-19.4,53,332,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2760,3859,0,0,0,0,0,0
$GC,468,-0.84,-219.0,79.6,-20.3,78,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2760,3859,0,0,0,0,0,0
$GC,608,-0.84,-219.0,107.2,-19.7,100,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2760,3859,0,0,0,0,0,0
$GC,735,-0.84,-219.0,131.5,-19.3,112,739,0.00,1.62,0.00,0.000,4,0.000,0.051,2509,3779,3859,0,0,0,0,0,0
$GC,773,-0.84,-219.0,139.7,-21.2,115,781,0.00,1.55,0.00,0.000,6,0.000,0.030,2509,2789,3859,0,0,0,0,0,0
$GC,908,-0.84,-219.0,165.7,-19.1,128,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2789,3859,0,0,0,0,0,0
$GC,1035,-0.84,-219.0,189.7,-18.8,140,1039,0.00,1.58,0.00,0.000,4,0.000,0.053,2501,3751,3859,0,0,0,0,0,0
$GC,1072,-0.84,-219.0,197.6,-19.9,143,1080,0.00,1.50,0.00,0.000,6,0.000,0.031,2501,2794,3859,0,0,0,0,0,0
$GC,1207,-0.84,-219.0,223.9,-19.7,156,1211,0.00,2.20,0.00,0.000,4,0.000,0.032,2501,1374,3859,0,0,0,0,0,0
$GC,1245,-0.84,-219.0,230.9,-17.0,159,1250,0.12,2.28,0.00,0.000,6,0.164,0.047,2530,2782,3859,0,0,0,0,0,0
$GC,1379,-0.84,-219.0,252.8,-16.5,171,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2782,3860,0,0,0,0,0,0
$GC,1570,-0.84,-219.0,284.8,-16.4,189,1573,0.00,1.58,0.00,0.000,4,0.000,0.052,2523,3765,3860,0,0,0,0,0,0
$GC,1649,-0.84,-219.0,298.2,-18.0,196,1652,0.00,1.52,0.00,0.000,6,0.000,0.030,2523,2784,3860,0,0,0,0,0,0
$STATE,1829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1830,begin apogee
$GC,1835,-0.16,0.0,328.6,16.5,213,2016,0.68,0.00,172.85,0.935,4,0.125,0.000,2747,2684,2958,0,0,0,0,0,0
$STATE,2016,end apogee,CONTROL_FINISHED_OK
$STATE,2016,begin climb
$GC,2018,0.84,219.0,337.5,0.0,229,2214,0.98,2.35,187.85,0.882,4,0.075,0.034,3074,1307,2067,0,0,0,0,0,0
$GC,2417,0.84,219.0,295.9,14.3,264,2422,0.00,2.40,0.00,0.000,6,0.000,0.041,3074,2704,2057,0,0,0,0,0,0
$GC,2617,0.84,219.0,265.5,15.8,282,2621,0.00,2.30,0.00,0.000,4,0.000,0.034,3084,1314,2054,0,0,0,0,0,0
$GC,2794,0.84,219.0,238.9,14.1,297,2803,0.00,2.33,0.00,0.000,6,0.000,0.041,3084,2700,2053,0,0,1,0,0,0
$GC,2930,0.84,219.0,218.2,16.0,310,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2700,2052,0,0,0,0,0,0
$GC,3057,0.84,219.0,197.7,15.8,322,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2700,2052,0,0,0,0,0,0
$GC,3184,0.84,219.0,177.1,16.8,334,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2699,2051,0,0,0,0,0,0
$GC,3312,0.84,219.0,157.1,15.6,346,3316,0.00,1.73,0.00,0.000,4,0.000,0.050,3084,3754,2051,0,0,0,0,0,0
$GC,3368,0.84,219.0,147.4,16.8,351,3371,0.00,1.62,0.00,0.000,6,0.000,0.031,3093,2690,2051,0,0,1,0,0,0
$GC,3507,0.84,219.0,125.3,15.8,364,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2689,2051,0,0,0,0,0,0
$GC,3635,0.84,219.0,105.3,15.5,376,3639,0.00,1.77,0.00,0.000,4,0.000,0.050,3093,3765,2051,0,0,0,0,0,0
$GC,3686,0.84,219.0,96.6,17.7,382,3694,0.08,1.65,0.00,0.000,6,0.161,0.032,3078,2726,2050,0,0,0,0,0,0
$GC,3828,0.84,219.0,75.5,14.7,407,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2726,2050,0,0,0,0,0,0
$GC,3970,0.84,219.0,55.7,13.9,432,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2726,2049,0,0,0,0,0,0
$GC,4110,0.84,219.0,36.1,14.6,457,4118,0.00,1.70,0.00,0.000,4,0.000,0.052,3077,3762,2049,0,0,0,0,0,0
$GC,4147,0.84,219.0,30.2,16.2,463,4154,0.00,1.62,0.00,0.000,6,0.000,0.031,3084,2720,2050,0,0,1,0,0,0
$GC,4287,0.84,222.8,9.5,13.2,488,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2719,2050,0,0,0,0,0,0
$FREEZE,7.26,-1.332,-1.897,2,1,0
$FREEZE,6.38,-1.335,-1.897,2,1,0
$FREEZE,5.48,-1.334,-1.896,2,1,0
$FREEZE,4.73,-1.333,-1.895,2,1,0
$FREEZE,4.15,-1.333,-1.895,2,1,0
$FREEZE,3.24,-1.334,-1.894,2,1,0
$FREEZE,2.34,-1.331,-1.894,2,1,0
$STATE,4331,end climb,SURFACE_DEPTH_REACHED
$STATE,4331,begin surface coast
$FREEZE,1.33,-1.335,-1.893,2,1,0
$FREEZE,0.55,-1.332,-1.892,2,1,0
$FREEZE,-0.07,-1.340,-1.892,2,1,0
$FINISH,-0.1,1.027734
$STATE,4349,end surface coast,CONTROL_FINISHED_OK
$STATE,4349,begin surface
$SM_CCo,4365,45.95,0.101,0,0,1654,320.11
$SM_GC,0.83,0.00,0.00,45.95,0.000,0.000,0.101,187,2797,1654,-8.17,0.48,320.11
$IRIDIUM_FIX,-7554.21,17616.12,151210,070715
$TT8_MAMPS,0.027713
$HUMID,51.89
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.9
$ALTIM_BOTTOM_PING,300.2,41.8
$24V_AH,22.5,17.303
$10V_AH,10.0,7.380
$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,18.325,36.625,360.700,45.950,0.000,30.591,41.708,105.935,1.000,0.000,17.015,1233.269,1781.450,467.035,1116.479,111.022,0.000,999.532,0.000,865.190,0.000,8.862,0.000
$DEVICE_MAMPS,219.555,98.685,934.830,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.024,669.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,30355,499
$CAP_FILE_SIZE,68799,0
$CFSIZE,260165632,240308224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.029,144.5,1
$GPS,151210,101019,-7639.200,17627.920,18,1.2,29,123.7