version: 66.08
glider: 503
mission: 7
dive: 270
start: 12 18 110 4 25 44
data:
$ID,503
$MISSION,7
$DIVE,270
$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,-5
$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,-19829.283
$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,38
$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,48
$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
$GPS1,181210,042031,-7634.154,17827.354,15,2.0,15,120.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.4
$GPS2,181210,042516,-7634.191,17827.391,13,2.7,32,120.6
$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,275.2,40784,-18.2,-13.333
$D_GRID,375
$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,-219.0,0.0,0.0,0,112,0.00,0.00,-94.20,0.000,2,0.000,0.000,177,2794,3561,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.9,-9.2,16,136,8.85,2.35,-5.95,0.000,4,0.217,0.045,2522,1363,3856,0,0,0,0,0,0
$GC,309,-0.84,-219.0,46.3,-16.7,50,316,0.00,2.30,0.00,0.000,6,0.000,0.044,2512,2772,3860,0,0,0,0,0,0
$GC,452,-0.84,-219.0,74.7,-21.2,75,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2772,3859,0,0,0,0,0,0
$GC,593,-0.84,-219.0,103.1,-20.1,99,596,0.00,1.60,0.00,0.000,4,0.000,0.051,2504,3759,3859,0,0,0,0,0,0
$GC,630,-0.84,-219.0,111.9,-21.9,102,639,0.00,1.58,0.00,0.000,6,0.000,0.030,2504,2754,3859,0,0,0,0,0,0
$GC,766,-0.84,-219.0,140.2,-21.4,115,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2755,3860,0,0,0,0,0,0
$GC,893,-0.84,-219.0,166.8,-20.4,127,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2754,3860,0,0,0,0,0,0
$GC,1020,-0.84,-219.0,192.6,-20.3,139,1024,0.00,1.62,0.00,0.000,4,0.000,0.051,2496,3773,3860,0,0,0,0,0,0
$GC,1055,-0.84,-219.0,200.0,-22.1,142,1059,0.08,1.55,0.00,0.000,6,0.150,0.031,2536,2781,3861,0,0,0,0,0,0
$GC,1194,-0.84,-219.0,224.5,-16.8,155,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2780,3860,0,0,0,0,0,0
$GC,1321,-0.84,-219.0,245.9,-16.8,167,1325,0.00,1.60,0.00,0.000,4,0.000,0.050,2529,3762,3860,0,0,0,0,0,0
$GC,1360,-0.84,-219.0,253.1,-18.3,170,1368,0.00,1.50,0.00,0.000,6,0.000,0.031,2529,2797,3860,0,0,0,0,0,0
$STATE,1536,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1536,begin apogee
$GC,1540,-0.16,0.0,283.3,16.8,187,1719,0.65,0.00,171.98,0.910,4,0.124,0.000,2745,2698,2959,0,0,0,0,0,0
$STATE,1720,end apogee,CONTROL_FINISHED_OK
$STATE,1720,begin climb
$GC,1722,0.84,219.0,293.1,0.0,203,1915,0.95,0.00,187.38,0.855,6,0.080,0.000,3068,2697,2066,0,0,0,0,0,0
$GC,2114,0.84,223.7,254.2,13.1,239,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2697,2056,0,0,0,0,0,0
$GC,2305,0.85,225.2,229.2,13.3,257,2315,0.00,0.00,4.40,0.625,6,0.000,0.000,3068,2697,2042,0,0,0,0,0,0
$GC,2442,0.85,225.2,210.8,13.5,270,2445,0.00,1.75,0.00,0.000,4,0.000,0.047,3068,3763,2041,0,0,0,0,0,0
$GC,2491,0.85,225.2,203.1,15.6,274,2500,0.00,1.67,0.00,0.000,6,0.000,0.030,3077,2714,2040,0,0,1,0,0,0
$GC,2626,0.85,225.2,184.2,14.0,287,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2714,2040,0,0,0,0,0,0
$GC,2753,0.85,225.2,165.9,14.5,299,2757,0.00,1.70,0.00,0.000,4,0.000,0.048,3076,3765,2039,0,0,0,0,0,0
$GC,2787,0.85,225.2,160.9,15.2,302,2790,0.00,1.65,0.00,0.000,6,0.000,0.031,3084,2706,2039,0,0,0,0,0,0
$GC,2926,0.85,225.2,139.7,15.2,315,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2705,2039,0,0,0,0,0,0
$GC,3054,0.85,225.2,120.8,14.5,327,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2705,2039,0,0,0,0,0,0
$GC,3181,0.85,225.2,103.3,13.4,339,3185,0.00,1.70,0.00,0.000,4,0.000,0.049,3084,3766,2039,0,0,0,0,0,0
$GC,3226,0.85,225.2,96.3,16.0,345,3233,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2715,2038,0,0,1,0,0,0
$GC,3368,0.85,225.2,74.8,15.0,370,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2715,2038,0,0,0,0,0,0
$GC,3512,0.85,225.2,53.7,14.5,395,3518,0.00,1.70,0.00,0.000,4,0.000,0.050,3093,3754,2038,0,0,0,0,0,0
$GC,3558,0.85,225.2,46.0,16.5,403,3565,0.00,1.60,0.00,0.000,6,0.000,0.032,3101,2726,2038,0,0,1,0,0,0
$GC,3699,0.85,225.2,23.8,15.2,428,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2726,2037,0,0,0,0,0,0
$FREEZE,8.49,-1.093,-1.901,2,1,0
$FREEZE,7.72,-1.078,-1.901,2,1,0
$FREEZE,6.89,-1.075,-1.901,2,1,0
$FREEZE,6.09,-1.052,-1.899,2,1,0
$FREEZE,5.13,-1.054,-1.899,2,1,0
$FREEZE,4.47,-1.065,-1.899,2,1,0
$FREEZE,3.45,-1.051,-1.898,2,1,0
$FREEZE,2.47,-1.050,-1.897,2,1,0
$STATE,3832,end climb,SURFACE_DEPTH_REACHED
$STATE,3832,begin surface coast
$FREEZE,1.62,-1.045,-1.896,2,1,0
$FREEZE,0.73,-1.040,-1.896,2,1,0
$FREEZE,-0.00,-1.039,-1.895,2,1,0
$FINISH,-0.0,1.027772
$STATE,3850,end surface coast,CONTROL_FINISHED_OK
$STATE,3850,begin surface
$SM_CCo,3865,44.78,0.102,0,0,1654,320.11
$SM_GC,0.85,0.00,0.00,44.78,0.000,0.000,0.102,178,2807,1654,-8.20,0.76,320.11
$IRIDIUM_FIX,-7545.40,17818.10,181210,030332
$TT8_MAMPS,0.026964
$HUMID,52.04
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,20.2
$ALTIM_BOTTOM_PING,251.1,45.4
$24V_AH,22.6,22.990
$10V_AH,10.0,9.502
$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,18.225,27.725,363.750,44.775,0.000,24.482,36.293,95.620,1.000,0.000,36.532,1105.827,1550.138,462.562,988.836,105.506,0.000,936.844,0.000,743.061,0.000,7.156,0.000
$DEVICE_MAMPS,217.260,94.860,909.585,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.763,638.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267244
$DATA_FILE_SIZE,30215,455
$CAP_FILE_SIZE,61606,0
$CFSIZE,260165632,238141440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.321,177.1,1
$GPS,181210,053207,-7634.288,17829.111,34,1.0,34,120.5