version: 66.08
glider: 503
mission: 7
dive: 234
start: 12 16 110 8 39 11
data:
$ID,503
$MISSION,7
$DIVE,234
$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,-19781.963
$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,43
$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
$GPS1,161210,083422,-7637.984,17705.309,17,2.5,36,122.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.5
$GPS2,161210,083843,-7637.994,17705.330,8,1.3,13,122.7
$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,287.7,76954,-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,-219.0,0.0,0.0,0,111,0.00,0.00,-93.65,0.000,2,0.000,0.000,188,2798,3529,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.8,-10.0,16,135,8.82,1.60,-6.72,0.000,4,0.220,0.066,2517,3764,3856,0,0,0,0,0,0
$GC,353,-0.84,-219.0,59.1,-20.1,58,360,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2773,3860,0,0,0,0,0,0
$GC,496,-0.84,-219.0,85.3,-18.0,83,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,640,-0.84,-219.0,111.5,-17.9,103,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3860,0,0,0,0,0,0
$GC,768,-0.84,-219.0,134.2,-17.8,115,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,896,-0.84,-219.0,156.8,-17.5,127,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1023,-0.84,-219.0,179.2,-17.3,139,1026,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3750,3860,0,0,0,0,0,0
$GC,1057,-0.84,-219.0,185.7,-18.8,142,1060,0.00,1.50,0.00,0.000,6,0.000,0.031,2509,2791,3860,0,0,0,0,0,0
$GC,1197,-0.84,-219.0,211.2,-18.3,155,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2792,3861,0,0,0,0,0,0
$GC,1324,-0.84,-219.0,234.4,-18.1,167,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2791,3860,0,0,0,0,0,0
$GC,1451,-0.84,-219.0,257.8,-18.7,179,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2791,3860,0,0,0,0,0,0
$STATE,1620,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1620,begin apogee
$GC,1625,-0.16,0.0,289.1,17.9,195,1803,0.70,0.00,172.15,0.913,4,0.129,0.000,2741,2689,2959,0,0,0,0,0,0
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1804,begin climb
$GC,1806,0.84,219.0,299.4,0.0,211,2002,1.00,2.35,187.40,0.859,4,0.074,0.034,3076,1304,2066,0,0,0,0,0,0
$GC,2197,0.85,230.4,259.9,12.9,245,2217,0.00,2.42,9.90,0.773,6,0.000,0.041,3076,2692,2021,0,0,0,0,0,0
$GC,2407,0.85,230.4,229.7,14.8,265,2411,0.00,2.28,0.00,0.000,4,0.000,0.034,3085,1313,2019,0,0,0,0,0,0
$GC,2584,0.85,230.4,204.6,14.1,280,2591,0.00,2.35,0.00,0.000,6,0.000,0.041,3086,2702,2018,0,0,0,0,0,0
$GC,2719,0.85,230.4,184.5,15.4,293,2722,0.00,1.75,0.00,0.000,4,0.000,0.050,3086,3759,2017,0,0,0,0,0,0
$GC,2764,0.85,230.4,176.8,17.3,297,2768,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2709,2017,0,0,0,0,0,0
$GC,2903,0.85,230.4,154.5,15.9,310,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2707,2017,0,0,0,0,0,0
$GC,3031,0.85,230.4,134.3,16.2,322,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2707,2017,0,0,0,0,0,0
$GC,3158,0.85,230.4,114.0,16.1,334,3161,0.00,1.70,0.00,0.000,4,0.000,0.049,3094,3764,2017,0,0,0,0,0,0
$GC,3203,0.85,230.4,105.7,18.8,338,3207,0.00,1.65,0.00,0.000,6,0.000,0.032,3103,2701,2016,0,0,0,0,0,0
$GC,3341,0.85,230.4,82.7,17.1,360,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2701,2017,0,0,0,0,0,0
$GC,3482,0.85,230.4,59.4,16.6,385,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2701,2017,0,0,0,0,0,0
$GC,3623,0.85,230.4,36.8,16.2,410,3630,0.00,1.75,0.00,0.000,4,0.000,0.050,3103,3788,2016,0,0,0,0,0,0
$GC,3670,0.85,230.4,28.5,17.2,418,3679,0.08,1.70,0.00,0.000,6,0.153,0.032,3076,2721,2017,0,0,0,0,0,0
$FREEZE,8.58,-1.492,-1.900,2,1,0
$FREEZE,7.88,-1.491,-1.899,2,1,0
$GC,3814,0.85,230.4,7.9,13.4,443,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2721,2016,0,0,0,0,0,0
$FREEZE,5.93,-1.492,-1.898,2,1,0
$FREEZE,5.23,-1.492,-1.897,2,1,0
$FREEZE,4.48,-1.491,-1.897,2,1,0
$FREEZE,3.76,-1.492,-1.896,2,1,0
$FREEZE,2.93,-1.491,-1.896,2,1,0
$STATE,3848,end climb,SURFACE_DEPTH_REACHED
$STATE,3848,begin surface coast
$FREEZE,2.08,-1.490,-1.895,2,1,0
$FREEZE,1.26,-1.490,-1.894,2,1,0
$FREEZE,0.68,-1.491,-1.894,2,1,0
$FREEZE,-0.04,-1.499,-1.894,2,1,0
$FINISH,-0.0,1.027768
$STATE,3871,end surface coast,CONTROL_FINISHED_OK
$STATE,3871,begin surface
$SM_CCo,3886,43.08,0.103,0,0,1654,320.11
$SM_GC,1.04,0.00,0.00,43.08,0.000,0.000,0.103,183,2794,1654,-8.18,0.40,320.11
$IRIDIUM_FIX,-7554.21,17712.44,161210,070732
$TT8_MAMPS,0.027713
$HUMID,51.96
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$ALTIM_BOTTOM_PING,251.9,51.1
$24V_AH,22.5,19.277
$10V_AH,10.0,8.117
$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,18.250,26.050,369.450,43.075,0.000,30.830,38.852,92.431,0.750,0.000,15.581,1107.418,1537.611,457.093,1004.030,101.879,0.000,941.722,0.000,777.588,0.000,7.171,0.000
$DEVICE_MAMPS,219.555,98.685,913.410,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.453,632.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26936,453
$CAP_FILE_SIZE,61167,0
$CFSIZE,260165632,239554560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,177.9,1
$GPS,161210,094552,-7637.997,17707.480,13,3.0,32,122.7