version: 66.08
glider: 503
mission: 7
dive: 228
start: 12 16 110 1 17 29
data:
$ID,503
$MISSION,7
$DIVE,228
$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,-19774.42
$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,50
$R_STBD_OVSHOOT,23
$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
$GPS1,161210,011224,-7637.524,17655.615,30,2.0,35,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.0
$GPS2,161210,011701,-7637.513,17655.570,11,2.0,28,122.9
$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,327.0,80941,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-89.60,0.000,2,0.000,0.000,180,2772,3416,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.1,-5.5,15,137,8.75,1.65,-9.98,0.000,4,0.216,0.070,2515,3765,3856,0,0,0,0,0,0
$GC,309,-0.84,-219.0,48.0,-21.5,50,316,0.00,1.55,0.00,0.000,6,0.000,0.031,2515,2777,3860,0,0,0,0,0,0
$GC,451,-0.84,-219.0,76.3,-19.6,75,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3859,0,0,0,0,0,0
$GC,597,-0.84,-219.0,104.0,-18.4,99,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3859,0,0,0,0,0,0
$GC,724,-0.84,-219.0,127.6,-18.5,111,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3859,0,0,0,0,0,0
$GC,852,-0.84,-219.0,151.8,-19.1,123,856,0.00,1.62,0.00,0.000,4,0.000,0.051,2507,3797,3859,0,0,0,0,0,0
$GC,889,-0.84,-219.0,159.7,-20.0,126,897,0.00,1.58,0.00,0.000,6,0.000,0.029,2507,2782,3859,0,0,0,0,0,0
$GC,1024,-0.84,-219.0,185.3,-19.2,139,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2782,3859,0,0,0,0,0,0
$GC,1152,-0.84,-219.0,210.0,-19.5,151,1156,0.00,1.60,0.00,0.000,4,0.000,0.050,2500,3765,3859,0,0,0,0,0,0
$GC,1189,-0.84,-219.0,217.9,-19.8,154,1197,0.00,1.50,0.00,0.000,6,0.000,0.031,2500,2799,3859,0,0,0,0,0,0
$GC,1324,-0.84,-219.0,243.7,-19.3,167,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2799,3859,0,0,0,0,0,0
$GC,1451,-0.84,-219.0,268.6,-19.4,179,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2799,3860,0,0,0,0,0,0
$STATE,1613,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1613,begin apogee
$GC,1618,-0.16,0.0,300.2,20.4,194,1797,0.75,0.00,172.20,0.919,4,0.129,0.000,2746,2683,2959,0,0,0,0,0,0
$STATE,1798,end apogee,CONTROL_FINISHED_OK
$STATE,1798,begin climb
$GC,1800,0.84,219.0,310.2,0.0,210,1996,0.98,2.35,187.50,0.864,4,0.077,0.033,3071,1305,2067,0,0,0,0,0,0
$GC,2032,0.84,219.0,292.9,13.3,230,2037,0.00,2.47,0.00,0.000,6,0.000,0.040,3071,2702,2062,0,0,0,0,0,0
$GC,2231,0.84,219.0,263.8,14.8,248,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2702,2056,0,0,0,0,0,0
$GC,2422,0.84,219.0,235.8,14.6,266,2425,0.00,1.75,0.00,0.000,4,0.000,0.048,3071,3771,2054,0,0,0,0,0,0
$GC,2470,0.84,219.0,227.6,16.4,270,2478,0.00,1.70,0.00,0.000,6,0.000,0.030,3080,2713,2053,0,0,1,0,0,0
$GC,2605,0.84,219.0,207.4,15.0,283,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2713,2053,0,0,0,0,0,0
$GC,2732,0.84,219.0,188.2,15.2,295,2736,0.00,1.70,0.00,0.000,4,0.000,0.048,3080,3765,2053,0,0,0,0,0,0
$GC,2767,0.84,219.0,182.5,17.6,298,2770,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2712,2052,0,0,1,0,0,0
$GC,2906,0.84,219.0,159.8,16.4,311,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2710,2052,0,0,0,0,0,0
$GC,3033,0.84,219.0,139.5,16.0,323,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2710,2052,0,0,0,0,0,0
$GC,3161,0.84,219.0,119.3,15.8,335,3164,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3769,2052,0,0,0,0,0,0
$GC,3195,0.84,219.0,113.4,18.2,338,3199,0.00,1.62,0.00,0.000,6,0.000,0.031,3096,2706,2051,0,0,1,0,0,0
$GC,3332,0.84,219.0,91.1,16.6,355,3339,0.00,1.75,0.00,0.000,4,0.000,0.050,3096,3789,2051,0,0,0,0,0,0
$GC,3389,0.84,219.0,80.7,18.2,365,3397,0.08,1.67,0.00,0.000,6,0.158,0.032,3071,2736,2051,0,0,0,0,0,0
$GC,3533,0.84,219.0,59.4,14.3,390,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2736,2051,0,0,0,0,0,0
$GC,3675,0.84,219.0,38.9,14.7,415,3681,0.00,1.67,0.00,0.000,4,0.000,0.049,3071,3758,2051,0,0,0,0,0,0
$GC,3716,0.84,219.0,32.0,17.5,422,3723,0.00,1.62,0.00,0.000,6,0.000,0.031,3079,2730,2051,0,0,0,0,0,0
$GC,3860,0.84,219.0,10.3,14.7,447,3867,0.00,2.25,0.00,0.000,4,0.000,0.036,3090,1299,2050,0,0,0,0,0,0
$FREEZE,8.08,-1.422,-1.900,2,1,0
$FREEZE,7.41,-1.419,-1.900,2,1,0
$FREEZE,6.68,-1.419,-1.899,2,1,0
$FREEZE,5.90,-1.419,-1.899,2,1,0
$FREEZE,5.23,-1.422,-1.898,2,1,0
$GC,3896,0.84,219.0,5.2,13.6,453,3904,0.00,2.30,0.00,0.000,6,0.000,0.042,3090,2720,2050,0,0,0,0,0,0
$FREEZE,3.01,-1.419,-1.896,2,1,0
$FREEZE,2.32,-1.419,-1.896,2,1,0
$STATE,3915,end climb,SURFACE_DEPTH_REACHED
$STATE,3915,begin surface coast
$FREEZE,1.48,-1.419,-1.895,2,1,0
$FREEZE,0.68,-1.416,-1.895,2,1,0
$FREEZE,-0.06,-1.421,-1.894,2,1,0
$FREEZE,-0.02,-1.604,-0.553,2,1,0
$FINISH,-0.0,1.008039
$STATE,3938,end surface coast,FINISH_DEPTH_REACHED
$STATE,3939,begin surface
$SM_CCo,3955,46.45,0.102,0,0,1655,320.11
$SM_GC,1.08,0.00,0.00,46.45,0.000,0.000,0.102,185,2783,1655,-8.17,0.08,320.11
$IRIDIUM_FIX,-7554.21,17645.09,161210,000007
$TT8_MAMPS,0.027713
$HUMID,51.77
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.6
$ALTIM_BOTTOM_PING,300.2,12.3
$24V_AH,22.5,18.654
$10V_AH,10.0,7.887
$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,18.225,35.900,359.700,46.450,0.000,29.120,41.284,92.596,1.000,0.000,31.534,1128.653,1599.730,466.591,992.082,108.402,0.000,950.056,0.000,752.618,0.000,8.780,0.000
$DEVICE_MAMPS,215.730,116.280,918.765,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.220,636.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30388,460
$CAP_FILE_SIZE,64692,0
$CFSIZE,260165632,239779840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.188,260.2,1
$GPS,161210,022502,-7637.587,17656.920,14,1.5,14,122.9