version: 66.08
glider: 503
mission: 7
dive: 316
start: 12 20 110 9 12 2
data:
$ID,503
$MISSION,7
$DIVE,316
$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,-19887.117
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,201210,090638,-7632.175,17934.436,12,1.8,12,118.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.0
$GPS2,201210,091134,-7632.222,17934.666,12,2.5,31,118.9
$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,265.5,11700,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-93.30,0.000,2,0.000,0.000,187,2750,3517,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.8,-9.8,16,136,8.77,1.67,-6.95,0.000,4,0.215,0.065,2515,3768,3856,0,0,0,0,0,0
$GC,170,-0.84,-219.0,22.1,-22.5,25,177,0.00,1.58,0.00,0.000,6,0.000,0.030,2514,2771,3859,0,0,0,0,0,0
$GC,312,-0.84,-219.0,49.3,-20.1,50,319,0.00,2.20,0.00,0.000,4,0.000,0.033,2515,1378,3859,0,0,0,0,0,0
$GC,354,-0.84,-219.0,56.6,-17.2,57,361,0.00,2.28,0.00,0.000,6,0.000,0.044,2504,2771,3859,0,0,0,0,0,0
$GC,496,-0.84,-219.0,84.5,-20.4,82,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2771,3860,0,0,0,0,0,0
$GC,641,-0.84,-219.0,114.1,-20.1,102,645,0.00,2.20,0.00,0.000,4,0.000,0.033,2504,1379,3860,0,0,0,0,0,0
$GC,695,-0.84,-219.0,125.0,-17.8,106,704,0.08,2.28,0.00,0.000,6,0.140,0.044,2521,2757,3860,0,0,0,0,0,0
$GC,830,-0.84,-219.0,149.2,-17.8,119,833,0.00,1.62,0.00,0.000,4,0.000,0.052,2514,3794,3860,0,0,0,0,0,0
$GC,878,-0.84,-219.0,157.9,-18.5,123,881,0.00,1.60,0.00,0.000,6,0.000,0.030,2514,2768,3860,0,0,0,0,0,0
$GC,1017,-0.84,-219.0,185.0,-19.2,136,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2768,3860,0,0,0,0,0,0
$GC,1144,-0.84,-219.0,209.3,-19.0,148,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2768,3860,0,0,0,0,0,0
$GC,1272,-0.84,-219.0,233.7,-19.6,160,1276,0.00,2.17,0.00,0.000,4,0.000,0.031,2514,1368,3860,0,0,0,0,0,0
$GC,1333,-0.84,-219.0,244.4,-15.1,165,1340,0.00,2.30,0.00,0.000,6,0.000,0.044,2504,2768,3860,0,0,0,0,0,0
$GC,1468,-0.84,-219.0,246.3,-0.1,178,1472,0.00,2.20,0.00,0.000,4,0.000,0.035,2504,1371,3861,0,0,0,0,0,0
$STATE,1510,end dive,NO_VERTICAL_VELOCITY
$STATE,1510,begin apogee
$GC,1517,-0.16,0.0,246.4,0.0,181,1693,0.68,0.00,171.52,0.884,4,0.083,0.000,2751,2704,2960,0,0,0,0,0,0
$STATE,1694,end apogee,CONTROL_FINISHED_OK
$STATE,1694,begin climb
$GC,1696,0.84,219.0,246.2,0.0,197,1890,0.90,0.00,185.52,0.825,6,0.062,0.000,3072,2703,2067,0,0,0,0,0,0
$GC,2017,0.87,242.7,216.4,12.4,226,2044,0.00,2.40,21.95,0.788,4,0.000,0.034,3083,1305,1969,0,0,1,0,0,0
$GC,2142,0.87,242.7,199.3,13.8,237,2146,0.00,2.40,0.00,0.000,6,0.000,0.044,3083,2704,1965,0,0,1,0,0,0
$GC,2276,0.87,242.7,179.5,14.6,249,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2705,1964,0,0,0,0,0,0
$GC,2403,0.87,242.7,160.9,14.8,261,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2705,1963,0,0,0,0,0,0
$GC,2530,0.87,242.7,142.5,14.4,273,2534,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3772,1962,0,0,0,0,0,0
$GC,2599,0.87,242.7,131.6,16.1,279,2603,0.00,1.65,0.00,0.000,6,0.000,0.030,3091,2703,1961,0,0,1,0,0,0
$GC,2738,0.87,242.7,110.3,14.7,292,2742,0.00,1.73,0.00,0.000,4,0.000,0.050,3091,3767,1961,0,0,0,0,0,0
$GC,2784,0.87,242.7,102.9,16.8,296,2787,0.00,1.62,0.00,0.000,6,0.000,0.031,3100,2710,1960,0,0,1,0,0,0
$GC,2923,0.87,242.7,81.6,15.6,319,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2708,1960,0,0,0,0,0,0
$GC,3064,0.87,242.7,60.1,15.4,344,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2708,1961,0,0,0,0,0,0
$GC,3202,0.87,242.7,39.0,15.0,369,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2708,1960,0,0,0,0,0,0
$GC,3343,0.87,242.7,17.7,14.9,394,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2708,1960,0,0,0,0,0,0
$FREEZE,8.61,-0.963,-1.900,2,1,0
$FREEZE,7.55,-0.916,-1.898,2,1,0
$FREEZE,6.74,-0.912,-1.898,2,1,0
$FREEZE,5.83,-0.900,-1.899,2,1,0
$FREEZE,5.08,-0.719,-1.897,2,1,0
$FREEZE,4.06,-0.482,-1.892,2,1,0
$FREEZE,3.23,-0.427,-1.892,2,1,0
$FREEZE,2.36,-0.369,-1.891,2,1,0
$STATE,3437,end climb,SURFACE_DEPTH_REACHED
$STATE,3437,begin surface coast
$FREEZE,1.41,-0.329,-1.891,2,1,0
$FREEZE,0.38,-0.332,-1.891,2,1,0
$FREEZE,-0.14,-0.333,-0.977,2,1,0
$FINISH,-0.1,1.014446
$STATE,3456,end surface coast,CONTROL_FINISHED_OK
$STATE,3456,begin surface
$SM_CCo,3472,35.95,0.103,0,0,1655,320.11
$SM_GC,0.63,0.00,0.00,35.95,0.000,0.000,0.103,173,2800,1655,-8.21,0.57,320.11
$IRIDIUM_FIX,-7545.40,17932.35,201210,080839
$TT8_MAMPS,0.027713
$HUMID,52.40
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,19.7
$24V_AH,22.7,27.819
$10V_AH,10.0,11.203
$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,18.175,35.950,379.000,35.950,0.000,24.008,52.775,98.212,0.500,0.000,35.052,1008.500,1271.382,462.744,965.482,113.441,0.000,928.839,0.000,714.942,0.000,2.613,0.000
$DEVICE_MAMPS,214.965,83.385,883.575,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.501,632.167,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267156
$DATA_FILE_SIZE,27014,414
$CAP_FILE_SIZE,60151,0
$CFSIZE,260165632,236449792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.333,129.9,1
$GPS,201210,101120,-7632.160,17937.721,10,1.2,10,118.8