version: 66.08
glider: 503
mission: 7
dive: 235
start: 12 16 110 9 51 2
data:
$ID,503
$MISSION,7
$DIVE,235
$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,-19783.219
$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,41
$R_STBD_OVSHOOT,40
$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
$GPS1,161210,094552,-7637.997,17707.480,13,3.0,32,122.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-74.3
$GPS2,161210,095034,-7638.000,17707.510,12,2.1,31,122.7
$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,289.0,76032,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.70,0.000,2,0.000,0.000,181,2795,3509,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.7,-8.7,16,134,8.85,1.60,-7.15,0.000,4,0.220,0.067,2514,3755,3856,0,0,0,0,0,0
$GC,372,-0.84,-219.0,63.3,-19.6,62,380,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2770,3860,0,0,0,0,0,0
$GC,516,-0.84,-219.0,90.5,-18.7,87,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3860,0,0,0,0,0,0
$GC,652,-0.84,-219.0,116.2,-18.7,104,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3859,0,0,0,0,0,0
$GC,779,-0.84,-219.0,140.3,-18.9,116,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2768,3859,0,0,0,0,0,0
$GC,907,-0.84,-219.0,164.1,-18.8,128,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3859,0,0,0,0,0,0
$GC,1034,-0.84,-219.0,188.0,-18.4,140,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2769,3860,0,0,0,0,0,0
$GC,1162,-0.84,-219.0,211.6,-18.8,152,1165,0.00,1.60,0.00,0.000,4,0.000,0.052,2506,3745,3860,0,0,0,0,0,0
$GC,1199,-0.84,-219.0,219.2,-20.8,155,1207,0.00,1.50,0.00,0.000,6,0.000,0.031,2506,2785,3860,0,0,0,0,0,0
$GC,1334,-0.84,-219.0,244.3,-18.7,168,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2785,3860,0,0,0,0,0,0
$GC,1461,-0.84,-219.0,267.8,-18.4,180,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2785,3859,0,0,0,0,0,0
$STATE,1566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1566,begin apogee
$GC,1571,-0.16,0.0,287.5,18.8,190,1751,0.73,0.00,172.02,0.911,4,0.128,0.000,2745,2687,2959,0,0,0,0,0,0
$STATE,1751,end apogee,CONTROL_FINISHED_OK
$STATE,1751,begin climb
$GC,1754,0.84,219.0,297.5,0.0,206,1949,1.00,2.35,187.32,0.858,4,0.086,0.033,3071,1300,2066,0,0,0,0,0,0
$GC,2164,0.84,219.0,257.1,13.4,242,2168,0.00,2.38,0.00,0.000,6,0.000,0.041,3071,2687,2057,0,0,0,0,0,0
$GC,2361,0.84,219.0,228.9,14.2,260,2365,0.00,2.28,0.00,0.000,4,0.000,0.034,3082,1308,2054,0,0,0,0,0,0
$GC,2546,0.84,220.8,204.1,13.3,276,2550,0.00,2.30,0.00,0.000,6,0.000,0.042,3082,2701,2053,0,0,0,0,0,0
$GC,2680,0.84,220.8,184.8,14.8,288,2683,0.00,1.73,0.00,0.000,4,0.000,0.049,3082,3771,2052,0,0,0,0,0,0
$GC,2718,0.84,220.8,178.3,16.7,291,2725,0.00,1.70,0.00,0.000,6,0.000,0.030,3090,2717,2052,0,0,0,0,0,0
$GC,2852,0.84,220.8,158.1,15.4,304,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2717,2051,0,0,0,0,0,0
$GC,2979,0.84,220.8,139.1,14.8,316,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,2051,0,0,0,0,0,0
$GC,3107,0.84,220.8,119.6,15.5,328,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,2051,0,0,0,0,0,0
$GC,3234,0.84,220.8,99.6,15.0,340,3241,0.00,1.73,0.00,0.000,4,0.000,0.049,3090,3761,2051,0,0,0,0,0,0
$GC,3275,0.84,220.8,92.9,16.8,347,3282,0.00,1.70,0.00,0.000,6,0.000,0.031,3099,2695,2050,0,0,0,0,0,0
$GC,3416,0.84,220.8,70.2,15.5,372,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2695,2051,0,0,0,0,0,0
$GC,3556,0.84,220.8,48.6,15.5,397,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2695,2051,0,0,0,0,0,0
$GC,3699,0.84,220.8,26.7,15.9,422,3705,0.00,1.75,0.00,0.000,4,0.000,0.050,3099,3781,2050,0,0,0,0,0,0
$GC,3750,0.84,220.8,18.0,16.4,431,3757,0.08,1.70,0.00,0.000,6,0.151,0.031,3072,2708,2050,0,0,0,0,0,0
$FREEZE,8.53,-1.488,-1.900,2,1,0
$FREEZE,7.79,-1.488,-1.899,2,1,0
$FREEZE,7.16,-1.488,-1.899,2,1,0
$FREEZE,6.47,-1.487,-1.898,2,1,0
$FREEZE,5.75,-1.487,-1.898,2,1,0
$FREEZE,5.02,-1.489,-1.897,2,1,0
$FREEZE,4.29,-1.492,-1.897,2,1,0
$FREEZE,3.47,-1.489,-1.896,2,1,0
$FREEZE,2.80,-1.487,-1.895,2,1,0
$STATE,3856,end climb,SURFACE_DEPTH_REACHED
$STATE,3856,begin surface coast
$FREEZE,1.92,-1.491,-1.895,2,1,0
$FREEZE,1.31,-1.489,-1.894,2,1,0
$FREEZE,0.60,-1.490,-1.894,2,1,0
$FREEZE,0.09,-1.494,-1.893,2,1,0
$FINISH,0.1,1.027763
$STATE,3878,end surface coast,CONTROL_FINISHED_OK
$STATE,3878,begin surface
$SM_CCo,3894,46.83,0.101,0,0,1654,320.11
$SM_GC,0.95,0.00,0.00,46.83,0.000,0.000,0.101,188,2794,1654,-8.16,0.40,320.11
$IRIDIUM_FIX,-7554.21,17703.62,161210,080847
$TT8_MAMPS,0.027713
$HUMID,52.04
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,250.2,50.8
$24V_AH,22.5,19.377
$10V_AH,10.0,8.155
$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,18.275,26.075,359.350,46.825,0.000,24.225,39.495,98.975,1.000,0.000,35.316,1109.662,1554.745,455.439,1019.936,100.574,0.000,934.826,0.000,773.256,0.000,7.167,0.000
$DEVICE_MAMPS,220.320,229.500,911.115,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.178,633.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27101,454
$CAP_FILE_SIZE,60957,0
$CFSIZE,260165632,239517696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,172.0,1
$GPS,161210,105732,-7637.979,17709.875,10,1.2,10,122.6