version: 66.08
glider: 503
mission: 7
dive: 237
start: 12 16 110 12 13 36
data:
$ID,503
$MISSION,7
$DIVE,237
$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,-19785.736
$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,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
$GPS1,161210,120854,-7637.875,17712.377,29,1.2,47,122.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.0
$GPS2,161210,121308,-7637.871,17712.430,11,1.3,11,122.6
$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,303.0,73899,-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,-91.85,0.000,2,0.000,0.000,187,2802,3476,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.5,-7.7,15,133,8.88,1.60,-8.07,0.000,4,0.221,0.068,2518,3764,3855,0,0,0,0,0,0
$GC,367,-0.84,-219.0,58.8,-17.8,60,374,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2774,3859,0,0,0,0,0,0
$GC,509,-0.84,-219.0,84.2,-18.4,85,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,654,-0.84,-219.0,109.3,-17.5,106,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,782,-0.84,-219.0,131.8,-17.7,118,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,910,-0.84,-219.0,154.6,-18.1,130,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,1037,-0.84,-219.0,177.2,-17.5,142,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,1165,-0.84,-219.0,199.6,-17.7,154,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,1292,-0.84,-219.0,222.1,-17.8,166,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,1419,-0.84,-219.0,244.6,-17.7,178,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,1546,-0.84,-219.0,266.8,-17.6,190,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$STATE,1673,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1673,begin apogee
$GC,1678,-0.16,0.0,288.9,17.5,202,1858,0.68,0.00,171.77,0.911,4,0.127,0.000,2742,2684,2959,0,0,0,0,0,0
$STATE,1858,end apogee,CONTROL_FINISHED_OK
$STATE,1859,begin climb
$GC,1861,0.84,219.0,296.7,0.0,218,2056,0.98,2.33,187.35,0.858,4,0.073,0.033,3069,1314,2066,0,0,0,0,0,0
$GC,2248,0.85,231.7,260.9,12.8,252,2265,0.00,2.35,11.40,0.786,6,0.000,0.041,3069,2689,2015,0,0,0,0,0,0
$GC,2458,0.85,231.7,231.4,14.4,271,2462,0.00,2.28,0.00,0.000,4,0.000,0.033,3079,1315,2011,0,0,0,0,0,0
$GC,2614,0.85,231.7,209.6,13.5,284,2621,0.00,2.30,0.00,0.000,6,0.000,0.041,3080,2707,2010,0,0,1,0,0,0
$GC,2748,0.85,231.7,189.8,15.2,297,2752,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3762,2009,0,0,0,0,0,0
$GC,2797,0.85,231.7,181.4,16.7,301,2806,0.00,1.67,0.00,0.000,6,0.000,0.031,3088,2725,2009,0,0,0,0,0,0
$GC,2932,0.85,231.7,160.6,15.2,314,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2725,2008,0,0,0,0,0,0
$GC,3059,0.85,231.7,140.8,15.4,326,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2725,2008,0,0,0,0,0,0
$GC,3187,0.85,231.7,121.1,15.1,338,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2725,2007,0,0,0,0,0,0
$GC,3314,0.85,231.7,101.7,15.2,350,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2725,2007,0,0,0,0,0,0
$GC,3447,0.85,231.7,81.7,14.9,372,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2725,2007,0,0,0,0,0,0
$GC,3587,0.85,231.7,60.7,15.5,397,3594,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3759,2007,0,0,0,0,0,0
$GC,3634,0.85,231.7,52.7,17.2,405,3642,0.00,1.65,0.00,0.000,6,0.000,0.032,3095,2720,2007,0,0,0,0,0,0
$GC,3777,0.85,231.7,30.4,15.2,430,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2720,2007,0,0,0,0,0,0
$FREEZE,8.92,-1.427,-1.898,2,1,0
$FREEZE,8.03,-1.421,-1.898,2,1,0
$GC,3920,0.85,231.7,8.0,16.0,455,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2720,2007,0,0,0,0,0,0
$FREEZE,5.55,-1.418,-1.896,2,1,0
$FREEZE,4.80,-1.415,-1.895,2,1,0
$FREEZE,4.00,-1.407,-1.894,2,1,0
$FREEZE,3.26,-1.406,-1.894,2,1,0
$FREEZE,2.42,-1.406,-1.893,2,1,0
$STATE,3952,end climb,SURFACE_DEPTH_REACHED
$STATE,3952,begin surface coast
$FREEZE,1.70,-1.407,-1.893,2,1,0
$FREEZE,0.95,-1.406,-1.892,2,1,0
$FREEZE,0.32,-1.407,-1.892,2,1,0
$FREEZE,-0.01,-1.427,-1.892,2,1,0
$FINISH,-0.0,1.027746
$STATE,3974,end surface coast,CONTROL_FINISHED_OK
$STATE,3975,begin surface
$SM_CCo,3990,42.05,0.102,0,0,1655,320.11
$SM_GC,0.75,0.00,0.00,42.05,0.000,0.000,0.102,191,2791,1655,-8.16,0.31,320.11
$IRIDIUM_FIX,-7554.21,17712.89,161210,101056
$TT8_MAMPS,0.026964
$HUMID,51.81
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,250.1,52.6
$24V_AH,22.5,19.576
$10V_AH,10.0,8.231
$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,18.200,19.300,370.525,42.050,0.000,29.675,35.973,92.327,0.750,0.000,14.110,1130.000,1613.807,456.077,997.963,106.417,0.000,937.174,0.000,778.673,0.000,7.173,0.000
$DEVICE_MAMPS,221.085,100.980,911.115,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.083,650.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,30381,465
$CAP_FILE_SIZE,60266,0
$CFSIZE,260165632,239439872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.045, 81.4,1
$GPS,161210,132138,-7637.758,17715.000,11,1.3,11,122.5