version: 66.08
glider: 503
mission: 7
dive: 231
start: 12 16 110 4 56 12
data:
$ID,503
$MISSION,7
$DIVE,231
$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,-19778.193
$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,39
$R_STBD_OVSHOOT,34
$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
$GPS1,161210,045125,-7637.840,17659.939,39,1.2,39,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.7
$GPS2,161210,045544,-7637.861,17659.912,10,1.7,10,122.9
$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,297.1,79209,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-94.65,0.000,2,0.000,0.000,177,2795,3558,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.8,-8.3,16,137,8.77,2.35,-6.10,0.000,4,0.214,0.044,2521,1360,3856,0,0,0,0,0,0
$GC,386,-0.84,-219.0,56.5,-16.9,64,393,0.00,2.30,0.00,0.000,6,0.000,0.044,2512,2772,3860,0,0,0,0,0,0
$GC,526,-0.84,-219.0,82.9,-18.7,89,533,0.00,2.22,0.00,0.000,4,0.000,0.033,2512,1366,3859,0,0,0,0,0,0
$GC,578,-0.84,-219.0,92.6,-17.5,98,586,0.00,2.33,0.00,0.000,6,0.000,0.046,2501,2788,3859,0,0,0,0,0,0
$GC,716,-0.84,-219.0,118.5,-19.0,114,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3860,0,0,0,0,0,0
$GC,844,-0.84,-219.0,143.1,-19.4,126,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3859,0,0,0,0,0,0
$GC,971,-0.84,-219.0,168.5,-20.0,138,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3860,0,0,0,0,0,0
$GC,1098,-0.84,-219.0,194.4,-20.6,150,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3860,0,0,0,0,0,0
$GC,1226,-0.84,-219.0,219.7,-19.6,162,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3860,0,0,0,0,0,0
$GC,1353,-0.84,-219.0,244.6,-19.5,174,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3860,0,0,0,0,0,0
$GC,1480,-0.84,-219.0,269.9,-20.3,186,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2788,3860,0,0,0,0,0,0
$STATE,1596,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1596,begin apogee
$GC,1601,-0.16,0.0,292.9,18.8,197,1781,0.73,0.00,172.15,0.913,4,0.129,0.000,2740,2687,2959,0,0,0,0,0,0
$STATE,1782,end apogee,CONTROL_FINISHED_OK
$STATE,1782,begin climb
$GC,1784,0.84,219.0,302.0,0.0,213,1980,1.00,2.35,187.62,0.859,4,0.082,0.033,3069,1302,2067,0,0,0,0,0,0
$GC,2142,0.84,219.0,267.3,13.8,244,2151,0.00,2.45,0.00,0.000,6,0.000,0.041,3069,2694,2058,0,0,0,0,0,0
$GC,2340,0.84,219.0,237.5,14.8,263,2344,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1307,2055,0,0,0,0,0,0
$GC,2513,0.84,219.0,213.3,13.9,278,2518,0.00,2.30,0.00,0.000,6,0.000,0.042,3080,2703,2053,0,0,1,0,0,0
$GC,2647,0.84,219.0,192.7,15.7,290,2651,0.00,1.75,0.00,0.000,4,0.000,0.049,3080,3760,2053,0,0,0,0,0,0
$GC,2692,0.84,219.0,185.2,17.6,294,2696,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2709,2052,0,0,1,0,0,0
$GC,2831,0.84,219.0,163.2,15.4,307,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2709,2052,0,0,0,0,0,0
$GC,2958,0.84,219.0,143.6,15.5,319,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2709,2051,0,0,0,0,0,0
$GC,3086,0.84,219.0,123.8,15.5,331,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2709,2051,0,0,0,0,0,0
$GC,3213,0.84,219.0,104.7,14.9,343,3217,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3766,2051,0,0,0,0,0,0
$GC,3264,0.84,219.0,96.4,17.1,349,3271,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2715,2051,0,0,1,0,0,0
$GC,3406,0.84,219.0,74.0,15.5,374,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2715,2051,0,0,0,0,0,0
$GC,3545,0.84,219.0,51.9,15.4,399,3552,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3751,2051,0,0,0,0,0,0
$GC,3576,0.84,219.0,46.6,17.6,404,3584,0.10,1.65,0.00,0.000,6,0.155,0.031,3061,2712,2050,0,0,0,0,0,0
$GC,3721,0.88,254.5,27.1,11.9,429,3758,0.00,2.30,29.50,0.767,4,0.000,0.037,3072,1298,1921,0,0,0,0,0,0
$GC,3804,0.90,267.8,16.3,12.8,443,3824,0.00,2.30,12.88,0.724,6,0.000,0.043,3072,2689,1868,0,0,0,0,0,0
$FREEZE,8.50,-1.492,-1.900,2,1,0
$FREEZE,7.61,-1.494,-1.899,2,1,0
$FREEZE,6.81,-1.493,-1.898,2,1,0
$FREEZE,5.95,-1.495,-1.898,2,1,0
$FREEZE,5.22,-1.493,-1.897,2,1,0
$FREEZE,4.48,-1.493,-1.897,2,1,0
$FREEZE,3.68,-1.492,-1.896,2,1,0
$FREEZE,2.89,-1.488,-1.895,2,1,0
$STATE,3895,end climb,SURFACE_DEPTH_REACHED
$STATE,3895,begin surface coast
$FREEZE,2.18,-1.487,-1.895,2,1,0
$FREEZE,1.54,-1.487,-1.894,2,1,0
$FREEZE,0.70,-1.486,-1.894,2,1,0
$FREEZE,-0.06,-1.484,-1.893,2,1,0
$FINISH,-0.1,1.027757
$STATE,3918,end surface coast,CONTROL_FINISHED_OK
$STATE,3918,begin surface
$SM_CCo,3934,26.12,0.102,0,0,1655,320.11
$SM_GC,1.07,0.00,0.00,26.12,0.000,0.000,0.102,185,2799,1655,-8.17,0.54,320.11
$IRIDIUM_FIX,-7554.21,17644.57,161210,030348
$TT8_MAMPS,0.027713
$HUMID,51.61
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$ALTIM_BOTTOM_PING,250.8,56.0
$24V_AH,22.5,18.966
$10V_AH,9.9,8.001
$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,18.375,33.550,402.150,26.125,0.000,24.530,44.946,93.612,0.750,0.000,13.261,1118.532,1537.155,470.902,1001.216,109.568,0.000,961.405,0.000,778.015,0.000,7.183,0.000
$DEVICE_MAMPS,214.200,77.265,913.410,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.739,644.622,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30464,463
$CAP_FILE_SIZE,62768,0
$CFSIZE,260165632,239661056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.189,203.1,1
$GPS,161210,060302,-7637.920,17701.105,11,1.0,11,122.8