version: 66.08
glider: 503
mission: 7
dive: 222
start: 12 15 110 17 52 24
data:
$ID,503
$MISSION,7
$DIVE,222
$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,-19766.879
$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,27
$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
$GPS1,151210,174736,-7637.805,17646.320,33,1.0,37,123.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.5
$GPS2,151210,175156,-7637.758,17646.361,12,1.1,12,123.2
$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,354.0,84942,-18.2,-13.333
$D_GRID,386
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-89.97,0.000,2,0.000,0.000,184,2752,3449,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.6,-8.1,15,137,8.77,1.67,-8.73,0.000,4,0.217,0.067,2517,3767,3857,0,0,1,0,0,0
$GC,304,-0.84,-219.0,49.9,-20.4,49,312,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2778,3860,0,0,0,0,0,0
$GC,448,-0.84,-219.0,77.9,-18.8,74,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2778,3860,0,0,0,0,0,0
$GC,587,-0.84,-219.0,104.8,-19.0,97,591,0.00,1.60,0.00,0.000,4,0.000,0.051,2510,3755,3859,0,0,0,0,0,0
$GC,625,-0.84,-219.0,112.6,-19.8,100,633,0.00,1.52,0.00,0.000,6,0.000,0.030,2510,2784,3859,0,0,0,0,0,0
$GC,759,-0.84,-219.0,138.2,-19.8,113,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2785,3859,0,0,0,0,0,0
$GC,886,-0.84,-219.0,162.8,-18.6,125,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2784,3859,0,0,0,0,0,0
$GC,1014,-0.84,-219.0,187.3,-19.1,137,1018,0.00,1.60,0.00,0.000,4,0.000,0.051,2502,3765,3860,0,0,0,0,0,0
$GC,1048,-0.84,-219.0,194.1,-20.9,140,1052,0.00,1.52,0.00,0.000,6,0.000,0.031,2502,2791,3859,0,0,0,0,0,0
$GC,1187,-0.84,-219.0,221.6,-19.6,153,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2791,3860,0,0,0,0,0,0
$GC,1314,-0.84,-219.0,247.2,-19.6,165,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2791,3860,0,0,0,0,0,0
$GC,1442,-0.84,-219.0,272.8,-20.0,177,1446,0.00,1.58,0.00,0.000,4,0.000,0.052,2495,3761,3860,0,0,0,0,0,0
$GC,1487,-0.84,-219.0,282.2,-21.7,181,1491,0.08,1.52,0.00,0.000,6,0.150,0.032,2521,2783,3860,0,0,0,0,0,0
$STATE,1668,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1668,begin apogee
$GC,1673,-0.16,0.0,314.9,17.2,198,1852,0.68,0.00,172.62,0.926,4,0.125,0.000,2745,2683,2959,0,0,0,0,0,0
$STATE,1853,end apogee,CONTROL_FINISHED_OK
$STATE,1853,begin climb
$GC,1855,0.84,219.0,324.0,0.0,214,2051,0.98,2.35,187.90,0.873,4,0.079,0.034,3067,1299,2067,0,0,0,0,0,0
$GC,2157,0.84,223.2,297.7,13.2,240,2168,0.00,2.45,3.97,0.570,6,0.000,0.042,3068,2700,2050,0,0,0,0,0,0
$GC,2367,0.84,223.2,268.8,13.6,260,2371,0.00,2.33,0.00,0.000,4,0.000,0.034,3079,1308,2046,0,0,0,0,0,0
$GC,2522,0.87,248.0,249.0,12.3,273,2556,0.00,2.33,23.08,0.840,6,0.000,0.042,3079,2713,1949,0,0,1,0,0,0
$GC,2683,0.87,248.0,225.5,15.0,288,2687,0.00,1.73,0.00,0.000,4,0.000,0.050,3079,3766,1945,0,0,0,0,0,0
$GC,2729,0.87,248.0,217.9,16.3,292,2733,0.00,1.62,0.00,0.000,6,0.000,0.031,3087,2727,1945,0,0,1,0,0,0
$GC,2868,0.87,248.0,196.0,15.4,305,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2726,1943,0,0,0,0,0,0
$GC,2996,0.87,248.0,176.4,15.8,317,2999,0.00,1.67,0.00,0.000,4,0.000,0.050,3087,3762,1943,0,0,0,0,0,0
$GC,3024,0.87,248.0,171.6,17.0,319,3031,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2723,1943,0,0,1,0,0,0
$GC,3158,0.87,248.0,149.6,16.2,332,3162,0.00,1.73,0.00,0.000,4,0.000,0.050,3095,3764,1942,0,0,0,0,0,0
$GC,3192,0.87,248.0,143.5,17.6,335,3196,0.00,1.62,0.00,0.000,6,0.000,0.032,3103,2748,1942,0,0,0,0,0,0
$GC,3332,0.87,248.0,120.0,16.5,348,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2748,1942,0,0,0,0,0,0
$GC,3460,0.87,248.0,97.7,17.7,361,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2748,1942,0,0,0,0,0,0
$GC,3601,0.87,248.0,72.2,17.2,386,3608,0.00,1.67,0.00,0.000,4,0.000,0.050,3104,3763,1941,0,0,0,0,0,0
$GC,3660,0.87,248.0,61.1,20.7,396,3667,0.08,1.60,0.00,0.000,6,0.159,0.033,3087,2745,1941,0,0,1,0,0,0
$GC,3801,0.87,248.0,36.2,17.4,421,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2745,1941,0,0,0,0,0,0
$GC,3942,0.87,248.0,12.2,15.9,446,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2745,1940,0,0,0,0,0,0
$FREEZE,8.09,-1.413,-1.902,2,1,0
$FREEZE,7.36,-1.417,-1.901,2,1,0
$FREEZE,6.44,-1.412,-1.900,2,1,0
$FREEZE,5.44,-1.415,-1.900,2,1,0
$FREEZE,4.47,-1.419,-1.899,2,1,0
$FREEZE,3.64,-1.416,-1.898,2,1,0
$FREEZE,2.84,-1.420,-1.898,2,1,0
$STATE,3997,end climb,SURFACE_DEPTH_REACHED
$STATE,3997,begin surface coast
$FREEZE,1.85,-1.429,-1.897,2,1,0
$FREEZE,0.99,-1.428,-1.896,2,1,0
$FREEZE,0.20,-1.430,-1.896,2,1,0
$FINISH,0.2,1.027792
$STATE,4016,end surface coast,CONTROL_FINISHED_OK
$STATE,4016,begin surface
$SM_CCo,4031,33.85,0.102,0,0,1655,320.11
$SM_GC,1.04,0.00,0.00,33.85,0.000,0.000,0.102,194,2745,1655,-8.15,-0.99,320.11
$IRIDIUM_FIX,-7554.21,17653.85,151210,161643
$TT8_MAMPS,0.027713
$HUMID,51.69
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,301.9,27.8
$24V_AH,22.5,18.035
$10V_AH,10.0,7.656
$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,18.275,35.425,387.575,33.850,0.000,29.462,37.681,94.776,1.000,0.000,15.133,1127.378,1617.161,470.365,1014.573,111.625,0.000,978.380,0.000,789.599,0.000,8.823,0.000
$DEVICE_MAMPS,217.260,81.855,926.415,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.325,619.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,30463,459
$CAP_FILE_SIZE,65418,0
$CFSIZE,260165632,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.225,351.3,1
$GPS,151210,190103,-7637.665,17648.238,9,2.0,16,123.1