version: 66.08
glider: 503
mission: 7
dive: 216
start: 12 15 110 10 15 6
data:
$ID,503
$MISSION,7
$DIVE,216
$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,-19759.34
$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,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,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
$GPS1,151210,101019,-7639.200,17627.920,18,1.2,29,123.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.2
$GPS2,151210,101438,-7639.187,17628.012,12,1.2,12,123.7
$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,311.4,93217,-18.2,-13.333
$D_GRID,444
$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,-90.65,0.000,2,0.000,0.000,186,2798,3467,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.4,-6.3,15,132,8.82,1.60,-8.23,0.000,4,0.220,0.070,2516,3754,3856,0,0,0,0,0,0
$GC,298,-0.84,-219.0,46.5,-20.0,48,305,0.00,1.52,0.00,0.000,6,0.000,0.028,2516,2776,3860,0,0,0,0,0,0
$GC,440,-0.84,-219.0,73.9,-19.2,73,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2776,3859,0,0,0,0,0,0
$GC,587,-0.84,-219.0,102.6,-19.5,98,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2776,3859,0,0,0,0,0,0
$GC,714,-0.84,-219.0,126.8,-19.9,110,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2776,3859,0,0,0,0,0,0
$GC,842,-0.84,-219.0,151.0,-18.6,122,846,0.00,1.58,0.00,0.000,4,0.000,0.051,2509,3735,3859,0,0,0,0,0,0
$GC,897,-0.84,-219.0,162.1,-19.8,127,901,0.00,1.48,0.00,0.000,6,0.000,0.031,2509,2793,3860,0,0,0,0,0,0
$GC,1037,-0.84,-219.0,189.1,-19.7,140,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3859,0,0,0,0,0,0
$GC,1164,-0.84,-219.0,214.2,-19.8,152,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2793,3860,0,0,0,0,0,0
$GC,1291,-0.84,-219.0,238.5,-18.4,164,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3860,0,0,0,0,0,0
$GC,1419,-0.84,-219.0,262.8,-19.4,176,1423,0.00,1.55,0.00,0.000,4,0.000,0.051,2502,3742,3860,0,0,0,0,0,0
$GC,1464,-0.84,-219.0,271.8,-19.8,180,1468,0.00,1.50,0.00,0.000,6,0.000,0.031,2502,2774,3860,0,0,0,0,0,0
$GC,1670,-0.84,-219.0,311.4,-19.2,199,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2774,3860,0,0,0,0,0,0
$STATE,1730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1730,begin apogee
$GC,1735,-0.16,0.0,323.4,18.6,205,1914,0.73,0.00,172.68,0.931,4,0.129,0.000,2741,2697,2959,0,0,0,0,0,0
$STATE,1915,end apogee,CONTROL_FINISHED_OK
$STATE,1915,begin climb
$GC,1917,0.84,219.0,332.4,0.0,221,2113,1.00,2.38,187.90,0.879,4,0.080,0.033,3071,1297,2067,0,0,0,0,0,0
$GC,2138,0.85,229.2,316.4,12.9,240,2154,0.00,2.47,10.55,0.770,6,0.000,0.041,3071,2689,2024,0,0,1,0,0,0
$GC,2353,0.85,229.2,285.2,14.4,260,2357,0.00,1.80,0.00,0.000,4,0.000,0.048,3071,3764,2018,0,0,0,0,0,0
$GC,2432,0.85,229.2,271.9,17.1,267,2436,0.00,1.67,0.00,0.000,6,0.000,0.030,3079,2709,2016,0,0,1,0,0,0
$GC,2635,0.85,229.2,240.4,15.9,286,2639,0.00,1.80,0.00,0.000,4,0.000,0.050,3080,3766,2014,0,0,0,0,0,0
$GC,2673,0.85,229.2,233.1,18.6,289,2681,0.00,1.67,0.00,0.000,6,0.000,0.031,3087,2727,2014,0,0,1,0,0,0
$GC,2808,0.85,229.2,210.8,16.3,302,2812,0.00,1.75,0.00,0.000,4,0.000,0.051,3087,3765,2014,0,0,0,0,0,0
$GC,2843,0.85,229.2,204.8,18.4,305,2847,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2733,2014,0,0,1,0,0,0
$GC,2982,0.85,229.2,182.0,15.9,318,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2733,2013,0,0,0,0,0,0
$GC,3109,0.85,229.2,161.5,15.9,330,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2733,2013,0,0,0,0,0,0
$GC,3237,0.85,229.2,141.0,16.3,342,3241,0.00,1.67,0.00,0.000,4,0.000,0.051,3096,3771,2013,0,0,0,0,0,0
$GC,3283,0.85,229.2,133.3,17.6,346,3287,0.00,1.62,0.00,0.000,6,0.000,0.031,3104,2707,2013,0,0,1,0,0,0
$GC,3422,0.85,229.2,110.1,16.4,359,3426,0.00,1.75,0.00,0.000,4,0.000,0.052,3104,3764,2012,0,0,0,0,0,0
$GC,3460,0.85,229.2,103.0,17.9,362,3468,0.10,1.60,0.00,0.000,6,0.152,0.032,3080,2754,2012,0,0,0,0,0,0
$GC,3602,0.85,229.9,83.0,13.3,385,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2754,2012,0,0,0,0,0,0
$GC,3743,0.85,229.9,62.6,14.2,410,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2754,2012,0,0,0,0,0,0
$GC,3885,0.85,229.9,42.2,14.5,435,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2754,2012,0,0,0,0,0,0
$GC,4026,0.85,229.9,21.0,14.8,460,4034,0.00,1.65,0.00,0.000,4,0.000,0.051,3079,3761,2012,0,0,0,0,0,0
$GC,4068,0.85,229.9,13.9,16.8,467,4075,0.00,1.60,0.00,0.000,6,0.000,0.031,3086,2748,2012,0,0,0,0,0,0
$FREEZE,8.71,-1.461,-1.898,2,1,0
$FREEZE,7.93,-1.467,-1.898,2,1,0
$FREEZE,7.01,-1.452,-1.897,2,1,0
$FREEZE,6.21,-1.456,-1.896,2,1,0
$FREEZE,5.38,-1.459,-1.896,2,1,0
$FREEZE,4.56,-1.461,-1.895,2,1,0
$FREEZE,3.72,-1.460,-1.895,2,1,0
$FREEZE,2.88,-1.458,-1.894,2,1,0
$STATE,4136,end climb,SURFACE_DEPTH_REACHED
$STATE,4136,begin surface coast
$FREEZE,1.94,-1.455,-1.893,2,1,0
$FREEZE,1.16,-1.462,-1.893,2,1,0
$FREEZE,0.62,-1.461,-1.892,2,1,0
$FINISH,0.6,1.027739
$STATE,4154,end surface coast,CONTROL_FINISHED_OK
$STATE,4154,begin surface
$SM_CCo,4169,42.75,0.102,0,0,1655,320.11
$SM_GC,0.66,0.00,0.00,42.75,0.000,0.000,0.102,190,2747,1655,-8.16,-0.93,320.11
$IRIDIUM_FIX,-7554.21,17616.72,151210,080856
$TT8_MAMPS,0.027713
$HUMID,52.12
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,18.6
$ALTIM_BOTTOM_PING,301.2,37.2
$24V_AH,22.5,17.406
$10V_AH,10.0,7.420
$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,18.275,34.400,371.125,42.750,0.000,25.302,38.540,97.142,1.000,0.000,15.142,1190.986,1692.584,460.382,1033.761,109.367,0.000,970.055,0.000,803.580,0.000,8.847,0.000
$DEVICE_MAMPS,219.555,100.980,931.005,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.195,650.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,30277,482
$CAP_FILE_SIZE,67113,0
$CFSIZE,260165632,240267264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.028, 63.1,1
$GPS,151210,112626,-7639.038,17631.406,30,1.5,30,123.6