version: 66.08
glider: 503
mission: 7
dive: 236
start: 12 16 110 11 2 11
data:
$ID,503
$MISSION,7
$DIVE,236
$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,-19784.477
$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,45
$R_STBD_OVSHOOT,37
$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
$GPS1,161210,105732,-7637.979,17709.875,10,1.2,10,122.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.4
$GPS2,161210,110143,-7637.979,17709.908,10,1.7,10,122.6
$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,294.9,75008,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-91.10,0.000,2,0.000,0.000,188,2794,3463,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.5,-7.3,15,133,8.85,1.60,-8.45,0.000,4,0.220,0.068,2518,3755,3856,0,0,0,0,0,0
$GC,361,-0.84,-219.0,58.5,-20.4,59,367,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2768,3860,0,0,0,0,0,0
$GC,502,-0.84,-219.0,84.9,-18.1,84,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2767,3859,0,0,0,0,0,0
$GC,640,-0.84,-219.0,110.3,-18.3,104,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2767,3860,0,0,0,0,0,0
$GC,767,-0.84,-219.0,132.6,-17.4,116,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2767,3860,0,0,0,0,0,0
$GC,895,-0.84,-219.0,155.5,-17.6,128,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2767,3859,0,0,0,0,0,0
$GC,1022,-0.84,-219.0,178.2,-18.1,140,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2767,3860,0,0,0,0,0,0
$GC,1150,-0.84,-219.0,201.1,-17.5,152,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2768,3860,0,0,0,0,0,0
$GC,1278,-0.84,-219.0,223.8,-17.6,164,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2767,3861,0,0,0,0,0,0
$GC,1405,-0.84,-219.0,246.4,-18.0,176,1408,0.00,1.60,0.00,0.000,4,0.000,0.051,2510,3746,3860,0,0,0,0,0,0
$GC,1440,-0.84,-219.0,253.1,-19.2,179,1444,0.00,1.50,0.00,0.000,6,0.000,0.031,2510,2782,3860,0,0,0,0,0,0
$STATE,1620,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1620,begin apogee
$GC,1626,-0.16,0.0,286.5,18.4,196,1804,0.70,0.00,171.85,0.910,4,0.129,0.000,2741,2683,2959,0,0,0,0,0,0
$STATE,1805,end apogee,CONTROL_FINISHED_OK
$STATE,1805,begin climb
$GC,1807,0.84,219.0,295.6,0.0,212,2003,1.00,2.35,187.40,0.855,4,0.080,0.033,3071,1301,2066,0,0,0,0,0,0
$GC,2188,0.84,219.0,259.2,13.7,245,2196,0.00,2.42,0.00,0.000,6,0.000,0.041,3071,2686,2057,0,0,0,0,0,0
$GC,2386,0.84,219.0,230.9,14.6,264,2390,0.00,2.28,0.00,0.000,4,0.000,0.034,3082,1312,2054,0,0,0,0,0,0
$GC,2559,0.84,219.0,206.8,13.9,279,2563,0.00,2.33,0.00,0.000,6,0.000,0.041,3081,2711,2053,0,0,0,0,0,0
$GC,2692,0.84,219.0,186.3,15.4,291,2696,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3766,2052,0,0,0,0,0,0
$GC,2742,0.84,219.0,177.6,17.9,295,2749,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2728,2052,0,0,1,0,0,0
$GC,2876,0.84,219.0,156.4,15.8,308,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2728,2052,0,0,0,0,0,0
$GC,3003,0.84,219.0,136.1,16.4,320,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2728,2051,0,0,0,0,0,0
$GC,3131,0.84,219.0,115.4,16.4,332,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2728,2051,0,0,0,0,0,0
$GC,3259,0.84,219.0,95.3,14.6,346,3266,0.00,1.70,0.00,0.000,4,0.000,0.050,3090,3754,2051,0,0,0,0,0,0
$GC,3294,0.84,219.0,89.1,17.2,352,3301,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2704,2050,0,0,1,0,0,0
$GC,3436,0.84,219.0,66.2,15.7,377,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,2050,0,0,0,0,0,0
$GC,3578,0.84,219.0,43.7,15.8,402,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,2051,0,0,0,0,0,0
$GC,3719,0.84,219.0,21.3,15.3,427,3725,0.00,1.73,0.00,0.000,4,0.000,0.050,3098,3754,2051,0,0,0,0,0,0
$GC,3781,0.84,219.0,10.1,18.1,438,3789,0.10,1.62,0.00,0.000,6,0.150,0.032,3062,2717,2050,0,0,1,0,0,0
$FREEZE,7.40,-1.498,-1.899,2,1,0
$FREEZE,6.57,-1.497,-1.899,2,1,0
$FREEZE,5.88,-1.498,-1.898,2,1,0
$FREEZE,5.10,-1.498,-1.897,2,1,0
$FREEZE,4.40,-1.502,-1.897,2,1,0
$FREEZE,3.73,-1.499,-1.896,2,1,0
$FREEZE,3.04,-1.498,-1.896,2,1,0
$FREEZE,2.29,-1.500,-1.895,2,1,0
$STATE,3831,end climb,SURFACE_DEPTH_REACHED
$STATE,3831,begin surface coast
$FREEZE,1.68,-1.500,-1.895,2,1,0
$FREEZE,0.88,-1.501,-1.894,2,1,0
$FREEZE,0.32,-1.502,-1.894,2,1,0
$FREEZE,0.07,-1.504,-1.894,2,1,0
$FINISH,0.1,1.027766
$STATE,3855,end surface coast,CONTROL_FINISHED_OK
$STATE,3855,begin surface
$SM_CCo,3871,46.85,0.102,0,0,1655,320.11
$SM_GC,0.97,0.00,0.00,46.85,0.000,0.000,0.102,188,2801,1655,-8.16,0.59,320.11
$IRIDIUM_FIX,-7554.21,17712.89,161210,090910
$TT8_MAMPS,0.027713
$HUMID,51.85
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,19.0
$ALTIM_BOTTOM_PING,250.7,50.7
$24V_AH,22.5,19.475
$10V_AH,10.0,8.192
$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,18.275,25.900,359.250,46.850,0.000,29.176,36.511,90.554,0.750,0.000,13.027,1100.668,1546.702,454.079,981.098,103.470,0.000,928.251,0.000,764.446,0.000,7.166,0.000
$DEVICE_MAMPS,220.320,87.210,909.585,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.166,631.736,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26970,451
$CAP_FILE_SIZE,60386,0
$CFSIZE,260165632,239480832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.079,156.5,1
$GPS,161210,120854,-7637.875,17712.377,29,1.2,47,122.6