version: 66.08
glider: 503
mission: 7
dive: 238
start: 12 16 110 13 26 30
data:
$ID,503
$MISSION,7
$DIVE,238
$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,-19786.998
$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,44
$R_STBD_OVSHOOT,39
$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
$GPS1,161210,132138,-7637.758,17715.000,11,1.3,11,122.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-71.5
$GPS2,161210,132602,-7637.747,17715.033,13,1.2,13,122.5
$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,315.8,72751,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-89.47,0.000,2,0.000,0.000,190,2793,3414,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.1,-5.5,15,136,8.85,1.58,-9.85,0.000,4,0.220,0.070,2517,3743,3856,0,0,0,0,0,0
$GC,369,-0.84,-219.0,58.7,-19.1,61,377,0.00,1.50,0.00,0.000,6,0.000,0.031,2517,2773,3859,0,0,1,0,0,0
$GC,512,-0.84,-219.0,85.4,-18.0,86,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3859,0,0,0,0,0,0
$GC,655,-0.84,-219.0,111.6,-17.8,106,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3859,0,0,0,0,0,0
$GC,782,-0.84,-219.0,134.3,-17.8,118,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3859,0,0,0,0,0,0
$GC,910,-0.84,-219.0,156.6,-16.9,130,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3858,0,0,0,0,0,0
$GC,1037,-0.84,-219.0,178.5,-17.3,142,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3859,0,0,0,0,0,0
$GC,1165,-0.84,-219.0,200.0,-17.0,154,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3858,0,0,0,0,0,0
$GC,1293,-0.84,-219.0,221.8,-17.4,166,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2772,3858,0,0,0,0,0,0
$GC,1420,-0.84,-219.0,243.9,-17.0,178,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3859,0,0,0,0,0,0
$GC,1547,-0.84,-219.0,265.8,-17.1,190,1550,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3751,3859,0,0,0,0,0,0
$GC,1581,-0.84,-219.0,272.1,-18.1,193,1585,0.00,1.50,0.00,0.000,6,0.000,0.031,2510,2788,3859,0,0,0,0,0,0
$STATE,1655,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1655,begin apogee
$GC,1660,-0.16,0.0,285.5,17.5,200,1840,0.70,0.00,171.80,0.907,4,0.127,0.000,2741,2692,2959,0,0,0,0,0,0
$STATE,1841,end apogee,CONTROL_FINISHED_OK
$STATE,1841,begin climb
$GC,1843,0.84,219.0,294.3,0.0,216,2039,1.00,2.38,187.38,0.855,4,0.080,0.034,3071,1304,2066,0,0,0,0,0,0
$GC,2222,0.84,219.0,256.8,13.7,249,2230,0.00,2.40,0.00,0.000,6,0.000,0.041,3071,2680,2057,0,0,0,0,0,0
$GC,2422,0.84,219.0,226.8,15.4,268,2426,0.00,2.28,0.00,0.000,4,0.000,0.034,3082,1307,2054,0,0,0,0,0,0
$GC,2595,0.84,219.0,201.4,14.0,283,2600,0.00,2.33,0.00,0.000,6,0.000,0.042,3082,2708,2053,0,0,0,0,0,0
$GC,2729,0.84,219.0,180.0,16.4,295,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2708,2052,0,0,0,0,0,0
$GC,2856,0.84,219.0,159.3,16.3,307,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2708,2052,0,0,0,0,0,0
$GC,2984,0.84,219.0,138.5,16.3,319,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2708,2052,0,0,0,0,0,0
$GC,3112,0.84,219.0,118.0,16.2,331,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2708,2051,0,0,0,0,0,0
$GC,3240,0.84,219.0,97.7,15.2,344,3247,0.00,1.73,0.00,0.000,4,0.000,0.050,3082,3766,2051,0,0,0,0,0,0
$GC,3270,0.84,219.0,92.6,17.2,349,3277,0.00,1.67,0.00,0.000,6,0.000,0.032,3090,2713,2051,0,0,0,0,0,0
$GC,3412,0.84,219.0,70.0,16.2,374,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2713,2051,0,0,0,0,0,0
$GC,3551,0.84,219.0,47.9,15.1,399,3559,0.00,1.73,0.00,0.000,4,0.000,0.050,3090,3764,2051,0,0,0,0,0,0
$GC,3598,0.84,219.0,39.6,17.8,407,3606,0.00,1.67,0.00,0.000,6,0.000,0.032,3099,2710,2050,0,0,0,0,0,0
$GC,3742,0.84,219.0,16.7,16.3,432,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2709,2050,0,0,0,0,0,0
$FREEZE,8.87,-1.454,-1.898,2,1,0
$FREEZE,8.11,-1.454,-1.897,2,1,0
$FREEZE,7.34,-1.454,-1.897,2,1,0
$FREEZE,6.39,-1.454,-1.896,2,1,0
$FREEZE,5.59,-1.454,-1.895,2,1,0
$FREEZE,4.74,-1.454,-1.895,2,1,0
$FREEZE,3.88,-1.454,-1.894,2,1,0
$FREEZE,3.06,-1.454,-1.893,2,1,0
$FREEZE,2.20,-1.453,-1.893,2,1,0
$STATE,3830,end climb,SURFACE_DEPTH_REACHED
$STATE,3831,begin surface coast
$FREEZE,1.25,-1.455,-1.892,2,1,0
$FREEZE,0.43,-1.458,-1.891,2,1,0
$FREEZE,-0.04,-1.461,-1.891,2,1,0
$FINISH,-0.0,1.027731
$STATE,3848,end surface coast,CONTROL_FINISHED_OK
$STATE,3848,begin surface
$SM_CCo,3864,46.92,0.101,0,0,1654,320.11
$SM_GC,0.92,0.00,0.00,46.92,0.000,0.000,0.101,182,2795,1654,-8.18,0.42,320.11
$IRIDIUM_FIX,-7554.21,17703.14,161210,121217
$TT8_MAMPS,0.027713
$HUMID,51.81
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,251.3,48.3
$24V_AH,22.5,19.674
$10V_AH,10.0,8.267
$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,18.275,22.575,359.175,46.925,0.000,28.151,43.322,92.501,0.750,0.000,15.932,1099.378,1549.780,453.474,987.899,102.055,0.000,924.971,0.000,758.004,0.000,7.163,0.000
$DEVICE_MAMPS,220.320,86.445,906.525,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.176,632.212,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,27027,451
$CAP_FILE_SIZE,59619,0
$CFSIZE,260165632,239407104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.031,  3.7,1
$GPS,161210,143249,-7637.663,17717.377,18,1.1,29,122.4