version: 66.08
glider: 503
mission: 7
dive: 220
start: 12 15 110 15 23 13
data:
$ID,503
$MISSION,7
$DIVE,220
$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,-19764.367
$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,47
$R_STBD_OVSHOOT,34
$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
$GPS1,151210,151507,-7638.361,17640.904,30,1.0,30,123.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-68.5
$GPS2,151210,152244,-7638.272,17640.953,8,1.5,8,123.3
$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,340.0,87409,-18.2,-13.333
$D_GRID,416
$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,-219.0,0.0,0.0,0,113,0.00,0.00,-94.78,0.000,2,0.000,0.000,171,2794,3613,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.5,-11.6,15,136,8.80,1.60,-4.70,0.000,4,0.215,0.065,2515,3761,3855,0,0,0,0,0,0
$GC,315,-0.84,-219.0,56.9,-19.4,50,322,0.00,1.55,0.00,0.000,6,0.000,0.030,2515,2774,3858,0,0,0,0,0,0
$GC,455,-0.84,-219.0,84.5,-19.9,75,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2774,3859,0,0,0,0,0,0
$GC,599,-0.84,-219.0,113.0,-19.4,95,603,0.00,1.60,0.00,0.000,4,0.000,0.051,2507,3746,3858,0,0,0,0,0,0
$GC,637,-0.84,-219.0,121.3,-21.1,98,646,0.00,1.48,0.00,0.000,6,0.000,0.030,2507,2793,3858,0,0,1,0,0,0
$GC,772,-0.84,-219.0,147.7,-19.5,111,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2793,3858,0,0,0,0,0,0
$GC,899,-0.84,-219.0,172.7,-19.8,123,903,0.00,1.58,0.00,0.000,4,0.000,0.050,2499,3755,3858,0,0,0,0,0,0
$GC,934,-0.84,-219.0,179.8,-20.6,126,937,0.00,1.52,0.00,0.000,6,0.000,0.031,2500,2782,3858,0,0,0,0,0,0
$GC,1073,-0.84,-219.0,208.1,-20.1,139,1075,0.10,0.00,0.00,0.000,6,0.183,0.000,2525,2782,3858,0,0,0,0,0,0
$GC,1200,-0.84,-219.0,231.3,-17.6,151,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2782,3858,0,0,0,0,0,0
$GC,1328,-0.84,-219.0,253.4,-17.2,163,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2782,3858,0,0,0,0,0,0
$GC,1519,-0.84,-219.0,287.6,-18.2,181,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2782,3859,0,0,0,0,0,0
$STATE,1677,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1677,begin apogee
$GC,1682,-0.16,0.0,315.4,17.1,196,1860,0.65,0.00,172.35,0.926,4,0.124,0.000,2742,2696,2959,0,0,0,0,0,0
$STATE,1861,end apogee,CONTROL_FINISHED_OK
$STATE,1861,begin climb
$GC,1863,0.84,219.0,324.2,0.0,212,2060,1.00,2.38,187.90,0.873,4,0.081,0.032,3071,1302,2067,0,0,0,0,0,0
$GC,2065,0.87,241.9,312.3,12.4,229,2096,0.00,2.50,22.48,0.812,6,0.000,0.041,3071,2697,1972,0,0,1,0,0,0
$GC,2285,0.87,241.9,278.4,15.1,250,2289,0.00,1.80,0.00,0.000,4,0.000,0.049,3071,3768,1964,0,0,0,0,0,0
$GC,2334,0.87,241.9,269.7,18.3,254,2343,0.00,1.73,0.00,0.000,6,0.000,0.030,3079,2721,1963,0,0,1,0,0,0
$GC,2532,0.87,241.9,237.9,16.2,273,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2721,1962,0,0,0,0,0,0
$GC,2659,0.87,241.9,216.7,16.0,285,2663,0.00,1.73,0.00,0.000,4,0.000,0.049,3079,3771,1962,0,0,0,0,0,0
$GC,2697,0.87,241.9,209.7,19.1,288,2705,0.00,1.70,0.00,0.000,6,0.000,0.030,3087,2708,1961,0,0,1,0,0,0
$GC,2832,0.87,241.9,187.6,16.2,301,2836,0.00,2.28,0.00,0.000,4,0.000,0.035,3098,1297,1961,0,0,0,0,0,0
$GC,2863,0.87,241.9,182.2,15.6,303,2871,0.00,2.38,0.00,0.000,6,0.000,0.043,3098,2709,1961,0,0,0,0,0,0
$GC,2998,0.87,241.9,159.9,17.1,316,3002,0.00,1.70,0.00,0.000,4,0.000,0.050,3098,3765,1960,0,0,0,0,0,0
$GC,3056,0.87,241.9,149.1,20.2,321,3060,0.00,1.62,0.00,0.000,6,0.000,0.031,3106,2706,1960,0,0,1,0,0,0
$GC,3195,0.87,241.9,123.8,18.0,334,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2705,1960,0,0,0,0,0,0
$GC,3323,0.87,241.9,101.7,17.3,346,3326,0.00,1.70,0.00,0.000,4,0.000,0.050,3106,3766,1960,0,0,0,0,0,0
$GC,3402,0.87,241.9,86.3,20.1,359,3409,0.10,1.62,0.00,0.000,6,0.153,0.031,3072,2728,1959,0,0,1,0,0,0
$GC,3544,0.87,241.9,64.0,15.1,384,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2728,1959,0,0,0,0,0,0
$GC,3684,0.87,241.9,43.3,14.0,409,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2728,1959,0,0,0,0,0,0
$GC,3825,0.87,241.9,22.2,14.9,434,3833,0.00,1.70,0.00,0.000,4,0.000,0.050,3072,3762,1959,0,0,0,0,0,0
$GC,3894,0.87,241.9,10.0,19.9,446,3903,0.00,1.62,0.00,0.000,6,0.000,0.032,3079,2732,1959,0,0,0,0,0,0
$FREEZE,7.49,-1.549,-1.899,2,1,0
$FREEZE,6.66,-1.553,-1.898,2,1,0
$FREEZE,5.77,-1.553,-1.897,2,1,0
$FREEZE,4.93,-1.552,-1.897,2,1,0
$FREEZE,4.17,-1.558,-1.896,2,1,0
$FREEZE,3.48,-1.558,-1.896,2,1,0
$FREEZE,2.70,-1.557,-1.895,2,1,0
$STATE,3939,end climb,SURFACE_DEPTH_REACHED
$STATE,3939,begin surface coast
$FREEZE,1.97,-1.558,-1.894,2,1,0
$FREEZE,1.14,-1.557,-1.894,2,1,0
$FREEZE,0.18,-1.556,-1.893,2,1,0
$FREEZE,-0.09,-1.574,-0.395,2,1,0
$FINISH,-0.1,1.005648
$STATE,3964,end surface coast,FINISH_DEPTH_REACHED
$STATE,3965,begin surface
$SM_CCo,3980,35.88,0.101,0,0,1655,320.11
$SM_GC,0.81,0.00,0.00,35.88,0.000,0.000,0.101,190,2793,1655,-8.16,0.37,320.11
$IRIDIUM_FIX,-7554.21,17653.85,151210,151532
$TT8_MAMPS,0.027713
$HUMID,51.92
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.6
$ALTIM_BOTTOM_PING,300.5,29.8
$24V_AH,22.5,17.828
$10V_AH,9.9,7.578
$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,18.350,35.950,382.725,35.875,0.000,59.629,78.550,146.245,1.000,0.000,11.492,1119.674,1671.582,475.932,1111.591,112.135,0.000,963.322,0.000,757.322,0.000,9.959,0.000
$DEVICE_MAMPS,214.965,101.745,925.650,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.632,619.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30262,458
$CAP_FILE_SIZE,67631,0
$CFSIZE,260165632,240103424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.186, 10.9,1
$GPS,151210,163119,-7638.080,17644.107,20,2.0,31,123.2