version: 66.08
glider: 503
mission: 7
dive: 233
start: 12 16 110 7 27 1
data:
$ID,503
$MISSION,7
$DIVE,233
$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,-19780.707
$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,49
$R_STBD_OVSHOOT,28
$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
$GPS1,161210,071855,-7637.985,17703.051,45,1.5,45,122.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.4
$GPS2,161210,072632,-7638.011,17703.055,10,1.4,10,122.8
$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,284.9,77926,-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,-91.03,0.000,2,0.000,0.000,188,2775,3467,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.4,-7.0,15,133,8.70,1.67,-8.25,0.000,4,0.213,0.068,2513,3769,3855,0,0,0,0,0,0
$GC,372,-0.84,-219.0,61.3,-18.9,61,380,0.00,1.55,0.00,0.000,6,0.000,0.030,2513,2782,3859,0,0,0,0,0,0
$GC,514,-0.84,-219.0,87.4,-18.5,86,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$GC,657,-0.84,-219.0,114.1,-18.6,105,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$GC,784,-0.84,-219.0,137.6,-18.4,117,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$GC,911,-0.84,-219.0,161.0,-18.3,129,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$GC,1040,-0.84,-219.0,184.2,-18.3,141,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$GC,1167,-0.84,-219.0,207.3,-17.7,153,1170,0.00,1.60,0.00,0.000,4,0.000,0.051,2506,3762,3860,0,0,0,0,0,0
$GC,1193,-0.84,-219.0,212.6,-18.4,155,1201,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2785,3859,0,0,0,0,0,0
$GC,1328,-0.84,-219.0,237.1,-18.5,168,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2785,3860,0,0,0,0,0,0
$GC,1455,-0.84,-219.0,261.0,-18.4,180,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2784,3860,0,0,0,0,0,0
$STATE,1624,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1624,begin apogee
$GC,1629,-0.16,0.0,292.4,18.6,196,1808,0.73,0.00,172.25,0.913,4,0.129,0.000,2744,2684,2959,0,0,0,0,0,0
$STATE,1809,end apogee,CONTROL_FINISHED_OK
$STATE,1809,begin climb
$GC,1811,0.84,219.0,301.9,0.0,212,2007,1.00,2.38,187.57,0.860,4,0.080,0.034,3074,1305,2067,0,0,0,0,0,0
$GC,2064,0.84,219.0,282.5,15.0,234,2069,0.00,2.45,0.00,0.000,6,0.000,0.041,3074,2698,2060,0,0,0,0,0,0
$GC,2262,0.84,219.0,253.7,14.5,252,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2698,2056,0,0,0,0,0,0
$GC,2453,0.84,219.0,225.5,14.8,270,2457,0.00,1.75,0.00,0.000,4,0.000,0.049,3074,3763,2054,0,0,0,0,0,0
$GC,2488,0.84,219.0,220.1,16.2,273,2492,0.00,1.65,0.00,0.000,6,0.000,0.031,3082,2712,2053,0,0,1,0,0,0
$GC,2628,0.84,219.0,198.8,15.3,286,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2711,2053,0,0,0,0,0,0
$GC,2755,0.84,219.0,179.6,15.0,298,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2711,2052,0,0,0,0,0,0
$GC,2883,0.84,219.0,160.3,15.1,310,2886,0.00,1.70,0.00,0.000,4,0.000,0.050,3082,3762,2052,0,0,0,0,0,0
$GC,2931,0.84,219.0,151.7,17.5,314,2939,0.00,1.67,0.00,0.000,6,0.000,0.031,3090,2717,2051,0,0,0,0,0,0
$GC,3066,0.84,219.0,131.1,14.9,327,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,2052,0,0,0,0,0,0
$GC,3193,0.84,219.0,111.5,15.7,339,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,2051,0,0,0,0,0,0
$GC,3322,0.84,219.0,91.9,14.5,355,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,2051,0,0,0,0,0,0
$GC,3463,0.84,219.0,70.3,15.5,380,3470,0.00,1.73,0.00,0.000,4,0.000,0.049,3090,3768,2051,0,0,0,0,0,0
$GC,3515,0.84,219.0,61.7,17.3,389,3522,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2713,2051,0,0,0,0,0,0
$GC,3659,0.84,219.0,39.1,14.7,414,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2712,2050,0,0,0,0,0,0
$GC,3801,0.84,219.0,16.1,15.6,439,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2713,2050,0,0,0,0,0,0
$FREEZE,8.84,-1.500,-1.900,2,1,0
$FREEZE,8.01,-1.496,-1.899,2,1,0
$FREEZE,7.22,-1.498,-1.899,2,1,0
$FREEZE,6.39,-1.498,-1.898,2,1,0
$FREEZE,5.58,-1.497,-1.897,2,1,0
$FREEZE,4.60,-1.495,-1.897,2,1,0
$FREEZE,3.80,-1.495,-1.896,2,1,0
$FREEZE,2.93,-1.495,-1.895,2,1,0
$STATE,3884,end climb,SURFACE_DEPTH_REACHED
$STATE,3884,begin surface coast
$FREEZE,1.86,-1.492,-1.895,2,1,0
$FREEZE,0.97,-1.492,-1.894,2,1,0
$FREEZE,0.06,-1.499,-1.893,2,1,0
$FINISH,0.1,1.027760
$STATE,3902,end surface coast,CONTROL_FINISHED_OK
$STATE,3903,begin surface
$SM_CCo,3918,47.47,0.102,0,0,1655,320.11
$SM_GC,0.89,0.00,0.00,47.47,0.000,0.000,0.102,189,2798,1655,-8.16,0.51,320.11
$IRIDIUM_FIX,-7554.21,17703.62,161210,070716
$TT8_MAMPS,0.026215
$HUMID,52.12
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,20.2
$ALTIM_BOTTOM_PING,251.0,54.6
$24V_AH,22.5,19.176
$10V_AH,9.9,8.079
$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,18.150,21.575,359.825,47.475,0.000,57.174,81.076,155.804,1.000,0.000,13.468,1111.018,1673.995,451.819,1093.148,111.697,0.000,915.903,0.000,737.514,0.000,7.182,0.000
$DEVICE_MAMPS,213.435,87.975,913.410,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.517,635.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27098,457
$CAP_FILE_SIZE,62684,0
$CFSIZE,260165632,239587328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.169,183.6,1
$GPS,161210,083422,-7637.984,17705.309,17,2.5,36,122.7