version: 66.08
glider: 503
mission: 7
dive: 225
start: 12 15 110 21 34 32
data:
$ID,503
$MISSION,7
$DIVE,225
$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,-19770.648
$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,38
$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
$GPS1,151210,212926,-7637.508,17651.594,10,1.7,10,123.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.6
$GPS2,151210,213404,-7637.479,17651.590,14,1.6,16,123.0
$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,349.2,82626,-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,-219.0,0.0,0.0,0,109,0.00,0.00,-91.70,0.000,2,0.000,0.000,148,2800,3523,0,0,0,0,0,0
$GC,112,-0.84,-219.0,4.1,-9.7,15,133,8.90,1.60,-6.62,0.000,4,0.216,0.065,2514,3765,3855,0,0,0,0,0,0
$GC,377,-0.84,-219.0,65.4,-20.5,62,384,0.00,1.55,0.00,0.000,6,0.000,0.031,2513,2774,3860,0,0,0,0,0,0
$GC,519,-0.84,-219.0,93.9,-19.9,87,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,662,-0.84,-219.0,122.1,-19.9,103,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2774,3859,0,0,0,0,0,0
$GC,788,-0.84,-219.0,147.3,-19.5,115,792,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3748,3859,0,0,0,0,0,0
$GC,823,-0.84,-219.0,154.1,-20.7,118,827,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2774,3859,0,0,0,0,0,0
$GC,962,-0.84,-219.0,182.6,-20.3,131,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,1090,-0.84,-219.0,207.5,-19.1,143,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,1217,-0.84,-219.0,232.9,-20.6,155,1221,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3752,3859,0,0,0,0,0,0
$GC,1264,-0.84,-219.0,242.6,-21.3,159,1268,0.08,1.50,0.00,0.000,6,0.148,0.031,2524,2792,3859,0,0,0,0,0,0
$GC,1402,-0.84,-219.0,269.0,-17.9,172,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2792,3859,0,0,0,0,0,0
$GC,1595,-0.84,-219.0,302.9,-17.6,190,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2792,3860,0,0,0,0,0,0
$STATE,1645,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1646,begin apogee
$GC,1650,-0.16,0.0,311.9,16.9,195,1829,0.65,0.00,172.18,0.926,4,0.128,0.000,2740,2688,2959,0,0,0,0,0,0
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1832,0.84,219.0,320.5,0.0,211,2028,1.00,2.35,187.82,0.872,4,0.080,0.034,3069,1312,2067,0,0,0,0,0,0
$GC,2064,0.87,241.0,303.2,12.4,231,2090,0.00,2.42,21.10,0.815,6,0.000,0.040,3069,2687,1977,0,0,1,0,0,0
$GC,2283,0.87,241.0,272.6,13.7,251,2286,0.00,1.80,0.00,0.000,4,0.000,0.047,3069,3763,1969,0,0,0,0,0,0
$GC,2331,0.87,241.0,264.7,16.0,255,2339,0.00,1.73,0.00,0.000,6,0.000,0.030,3077,2717,1968,0,0,1,0,0,0
$GC,2530,0.87,241.0,235.3,15.0,274,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2717,1967,0,0,0,0,0,0
$GC,2658,0.87,241.0,216.2,14.9,286,2662,0.00,1.75,0.00,0.000,4,0.000,0.048,3078,3753,1966,0,0,0,0,0,0
$GC,2696,0.87,241.0,209.6,16.3,289,2704,0.00,1.67,0.00,0.000,6,0.000,0.029,3085,2701,1966,0,0,1,0,0,0
$GC,2831,0.87,241.0,188.8,15.7,302,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2701,1965,0,0,0,0,0,0
$GC,2958,0.87,241.0,169.0,15.8,314,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2701,1965,0,0,0,0,0,0
$GC,3085,0.87,241.0,149.6,15.4,326,3089,0.00,1.75,0.00,0.000,4,0.000,0.049,3085,3756,1964,0,0,0,0,0,0
$GC,3123,0.87,241.0,142.9,17.4,329,3132,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2711,1964,0,0,1,0,0,0
$GC,3259,0.87,241.0,122.2,15.2,342,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2711,1964,0,0,0,0,0,0
$GC,3386,0.87,241.0,102.7,14.9,354,3389,0.00,1.70,0.00,0.000,4,0.000,0.050,3093,3769,1964,0,0,0,0,0,0
$GC,3425,0.87,241.0,96.2,16.2,359,3432,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2713,1964,0,0,1,0,0,0
$GC,3567,0.87,241.0,73.1,16.5,384,3574,0.00,1.73,0.00,0.000,4,0.000,0.050,3102,3762,1964,0,0,0,0,0,0
$GC,3599,0.87,241.0,67.6,17.5,389,3607,0.00,1.62,0.00,0.000,6,0.000,0.031,3110,2738,1964,0,0,0,0,0,0
$GC,3742,0.87,241.0,44.1,16.3,414,3750,0.12,2.30,0.00,0.000,4,0.170,0.035,3088,1291,1963,0,0,0,0,0,0
$GC,3778,0.87,241.0,38.3,14.2,420,3785,0.00,2.33,0.00,0.000,6,0.000,0.043,3087,2724,1963,0,0,0,0,0,0
$GC,3919,0.87,241.0,17.0,15.6,445,3927,0.00,1.67,0.00,0.000,4,0.000,0.050,3088,3759,1963,0,0,0,0,0,0
$FREEZE,8.03,-1.580,-1.902,2,1,0
$FREEZE,7.06,-1.579,-1.901,2,1,0
$GC,3973,0.87,241.0,7.1,20.0,454,3980,0.00,1.62,0.00,0.000,6,0.000,0.032,3096,2730,1963,0,0,0,0,0,0
$FREEZE,4.31,-1.579,-1.899,2,1,0
$FREEZE,3.52,-1.579,-1.899,2,1,0
$FREEZE,2.64,-1.583,-1.898,2,1,0
$STATE,3997,end climb,SURFACE_DEPTH_REACHED
$STATE,3997,begin surface coast
$FREEZE,1.62,-1.581,-1.897,2,1,0
$FREEZE,0.75,-1.579,-1.897,2,1,0
$FREEZE,0.07,-1.577,-1.896,2,1,0
$FINISH,0.1,1.027801
$STATE,4014,end surface coast,CONTROL_FINISHED_OK
$STATE,4014,begin surface
$SM_CCo,4029,36.28,0.101,0,0,1655,320.11
$SM_GC,0.65,0.00,0.00,36.28,0.000,0.000,0.101,189,2801,1655,-8.16,0.57,320.11
$IRIDIUM_FIX,-7554.21,17654.36,151210,202027
$TT8_MAMPS,0.027713
$HUMID,52.08
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,301.0,25.8
$24V_AH,22.5,18.348
$10V_AH,10.0,7.771
$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,18.450,39.325,381.100,36.275,0.000,30.848,37.382,109.206,1.000,0.000,18.997,1130.652,1642.471,473.209,1004.872,110.948,0.000,965.177,0.000,759.834,0.000,8.815,0.000
$DEVICE_MAMPS,216.495,97.155,926.415,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.787,624.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,30271,461
$CAP_FILE_SIZE,66402,0
$CFSIZE,260165632,239898624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.171,314.3,1
$GPS,151210,224314,-7637.503,17653.092,17,1.5,17,123.0