version: 66.08
glider: 503
mission: 7
dive: 229
start: 12 16 110 2 29 42
data:
$ID,503
$MISSION,7
$DIVE,229
$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,-19775.676
$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,48
$R_STBD_OVSHOOT,32
$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
$GPS1,161210,022502,-7637.587,17656.920,14,1.5,14,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.2
$GPS2,161210,022914,-7637.582,17656.836,13,2.0,13,122.9
$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,317.2,80425,-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,-92.07,0.000,2,0.000,0.000,174,2784,3491,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.5,-7.5,15,134,8.75,1.62,-7.75,0.000,4,0.214,0.066,2518,3769,3855,0,0,0,0,0,0
$GC,383,-0.84,-219.0,63.3,-18.5,63,390,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2774,3860,0,0,0,0,0,0
$GC,524,-0.84,-219.0,89.9,-18.8,88,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,666,-0.84,-219.0,116.5,-18.8,106,670,0.00,1.60,0.00,0.000,4,0.000,0.050,2511,3751,3859,0,0,0,0,0,0
$GC,734,-0.84,-219.0,129.6,-19.8,112,737,0.00,1.50,0.00,0.000,6,0.000,0.031,2511,2790,3859,0,0,0,0,0,0
$GC,873,-0.84,-219.0,155.6,-18.7,125,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3859,0,0,0,0,0,0
$GC,1000,-0.84,-219.0,179.5,-18.4,137,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3859,0,0,0,0,0,0
$GC,1128,-0.84,-219.0,202.9,-18.3,149,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3859,0,0,0,0,0,0
$GC,1256,-0.84,-219.0,226.2,-18.1,161,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3859,0,0,0,0,0,0
$GC,1383,-0.84,-219.0,249.5,-18.1,173,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2789,3859,0,0,0,0,0,0
$GC,1511,-0.84,-219.0,272.9,-18.8,185,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2790,3860,0,0,0,0,0,0
$STATE,1660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1660,begin apogee
$GC,1665,-0.16,0.0,300.4,18.2,199,1844,0.70,0.00,172.10,0.917,4,0.129,0.000,2742,2690,2959,0,0,0,0,0,0
$STATE,1845,end apogee,CONTROL_FINISHED_OK
$STATE,1845,begin climb
$GC,1847,0.84,219.0,310.4,0.0,215,2043,0.98,2.35,187.68,0.865,4,0.067,0.033,3075,1302,2066,0,0,0,0,0,0
$GC,2103,0.84,219.0,290.0,13.7,237,2111,0.00,2.50,0.00,0.000,6,0.000,0.041,3075,2694,2060,0,0,0,0,0,0
$GC,2301,0.84,219.0,260.2,15.0,256,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2694,2056,0,0,0,0,0,0
$GC,2493,0.84,219.0,232.1,14.5,274,2497,0.00,1.75,0.00,0.000,4,0.000,0.047,3075,3768,2054,0,0,0,0,0,0
$GC,2527,0.84,219.0,226.5,17.3,277,2531,0.00,1.65,0.00,0.000,6,0.000,0.030,3083,2709,2053,0,0,1,0,0,0
$GC,2666,0.84,219.0,205.2,15.1,290,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2707,2053,0,0,0,0,0,0
$GC,2794,0.84,219.0,185.3,15.7,302,2798,0.00,1.77,0.00,0.000,4,0.000,0.049,3083,3768,2052,0,0,0,0,0,0
$GC,2843,0.84,219.0,176.6,17.4,306,2852,0.00,1.67,0.00,0.000,6,0.000,0.030,3092,2707,2051,0,0,1,0,0,0
$GC,2978,0.84,219.0,155.1,15.7,319,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2707,2052,0,0,0,0,0,0
$GC,3106,0.84,219.0,135.1,16.0,331,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2706,2051,0,0,0,0,0,0
$GC,3233,0.84,219.0,114.4,16.1,343,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2707,2051,0,0,0,0,0,0
$GC,3360,0.84,219.0,93.6,16.3,358,3368,0.00,1.75,0.00,0.000,4,0.000,0.050,3092,3788,2051,0,0,0,0,0,0
$GC,3408,0.84,219.0,85.0,18.2,366,3417,0.05,1.70,0.00,0.000,6,0.141,0.032,3072,2709,2050,0,0,1,0,0,0
$GC,3553,0.84,219.0,63.3,14.2,391,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2709,2051,0,0,0,0,0,0
$GC,3694,0.84,219.0,42.8,14.0,416,3700,0.00,1.73,0.00,0.000,4,0.000,0.050,3072,3761,2050,0,0,0,0,0,0
$GC,3745,0.84,219.0,34.2,16.3,425,3752,0.00,1.65,0.00,0.000,6,0.000,0.031,3080,2717,2050,0,0,0,0,0,0
$GC,3886,0.84,219.0,13.2,15.3,450,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2718,2050,0,0,0,0,0,0
$FREEZE,8.60,-1.416,-1.900,2,1,0
$FREEZE,7.79,-1.404,-1.900,2,1,0
$FREEZE,7.07,-1.404,-1.899,2,1,0
$FREEZE,6.32,-1.405,-1.899,2,1,0
$FREEZE,5.48,-1.406,-1.898,2,1,0
$FREEZE,4.82,-1.406,-1.898,2,1,0
$FREEZE,4.08,-1.405,-1.897,2,1,0
$FREEZE,3.26,-1.405,-1.896,2,1,0
$FREEZE,2.52,-1.405,-1.896,2,1,0
$STATE,3957,end climb,SURFACE_DEPTH_REACHED
$STATE,3958,begin surface coast
$FREEZE,1.48,-1.403,-1.895,2,1,0
$FREEZE,0.91,-1.402,-1.894,2,1,0
$FREEZE,0.04,-1.399,-1.894,2,1,0
$FREEZE,0.07,-1.457,-1.897,2,1,0
$FINISH,0.1,1.027818
$STATE,3981,end surface coast,CONTROL_FINISHED_OK
$STATE,3981,begin surface
$SM_CCo,3997,46.40,0.100,0,0,1654,320.11
$SM_GC,0.92,0.00,0.00,46.40,0.000,0.000,0.100,187,2811,1654,-8.16,0.88,320.11
$IRIDIUM_FIX,-7554.21,17703.14,161210,010151
$TT8_MAMPS,0.027713
$HUMID,52.04
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.9
$ALTIM_BOTTOM_PING,300.4,10.2
$24V_AH,22.5,18.754
$10V_AH,10.0,7.925
$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,18.125,25.025,359.775,46.400,0.000,22.276,38.490,92.803,1.500,0.000,15.845,1137.721,1636.273,456.864,978.059,103.543,0.000,930.720,0.000,756.965,0.000,11.670,0.000
$DEVICE_MAMPS,214.200,84.150,917.235,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.529,644.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,30257,467
$CAP_FILE_SIZE,61681,0
$CFSIZE,260165632,239738880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.187,248.1,1
$GPS,161210,033824,-7637.707,17658.176,40,1.6,40,122.9