version: 66.08
glider: 503
mission: 7
dive: 264
start: 12 17 110 20 36 48
data:
$ID,503
$MISSION,7
$DIVE,264
$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,-5
$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,-19820.521
$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,48
$R_STBD_OVSHOOT,26
$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
$GPS1,171210,202916,-7633.604,17821.254,8,2.4,27,120.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-71.9
$GPS2,171210,203620,-7633.571,17821.176,13,1.1,13,120.7
$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,346.5,43234,-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,16,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.12,0.000,2,0.000,0.000,174,2777,3436,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-7.0,15,138,8.77,2.28,-9.10,0.000,4,0.214,0.047,2521,1383,3856,0,0,0,0,0,0
$GC,388,-0.84,-219.0,58.5,-17.1,64,394,0.00,2.30,0.00,0.000,6,0.000,0.045,2511,2785,3860,0,0,0,0,0,0
$GC,529,-0.84,-219.0,85.8,-19.5,89,536,0.00,2.25,0.00,0.000,4,0.000,0.034,2511,1374,3859,0,0,0,0,0,0
$GC,560,-0.84,-219.0,91.6,-18.6,94,567,0.00,2.30,0.00,0.000,6,0.000,0.047,2501,2782,3858,0,0,0,0,0,0
$GC,703,-0.84,-219.0,120.3,-20.3,111,707,0.00,1.58,0.00,0.000,4,0.000,0.051,2493,3762,3858,0,0,0,0,0,0
$GC,748,-0.84,-219.0,130.0,-21.9,115,752,0.10,1.52,0.00,0.000,6,0.143,0.031,2542,2791,3859,0,0,0,0,0,0
$GC,887,-0.84,-219.0,153.4,-16.3,128,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2791,3859,0,0,0,0,0,0
$GC,1015,-0.84,-219.0,173.7,-15.7,140,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2791,3859,0,0,0,0,0,0
$GC,1142,-0.84,-219.0,194.1,-16.1,152,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2791,3860,0,0,0,0,0,0
$GC,1269,-0.84,-219.0,215.0,-16.2,164,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2791,3859,0,0,0,0,0,0
$GC,1397,-0.84,-219.0,235.7,-16.6,176,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2791,3860,0,0,0,0,0,0
$GC,1525,-0.84,-219.0,256.6,-16.6,188,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2791,3860,0,0,0,0,0,0
$STATE,1714,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1714,begin apogee
$GC,1719,-0.16,0.0,287.5,16.1,206,1897,0.60,0.00,171.40,0.910,4,0.125,0.000,2742,2688,2960,0,0,0,0,0,0
$STATE,1898,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1900,0.84,219.0,294.3,0.0,222,2095,1.00,2.35,187.43,0.857,4,0.087,0.034,3066,1313,2066,0,0,0,0,0,0
$GC,2163,0.87,246.0,275.1,12.2,245,2198,0.00,2.42,25.05,0.815,6,0.000,0.041,3066,2703,1956,0,0,1,0,0,0
$GC,2388,0.87,246.0,244.0,13.8,266,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2703,1951,0,0,0,0,0,0
$GC,2515,0.87,246.0,226.3,13.6,278,2519,0.00,1.80,0.00,0.000,4,0.000,0.048,3066,3766,1950,0,0,0,0,0,0
$GC,2542,0.87,246.0,222.0,15.7,280,2550,0.00,1.70,0.00,0.000,6,0.000,0.030,3074,2718,1948,0,0,1,0,0,0
$GC,2677,0.87,246.0,203.2,13.8,293,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2718,1947,0,0,0,0,0,0
$GC,2804,0.87,246.0,185.2,14.5,305,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2718,1946,0,0,0,0,0,0
$GC,2932,0.87,246.0,167.3,13.8,317,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2718,1946,0,0,0,0,0,0
$GC,3059,0.87,246.0,149.7,14.0,329,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2718,1946,0,0,0,0,0,0
$GC,3186,0.87,246.0,132.1,13.7,341,3190,0.00,1.67,0.00,0.000,4,0.000,0.049,3074,3766,1945,0,0,0,0,0,0
$GC,3220,0.87,246.0,127.0,15.5,344,3223,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2690,1945,0,0,1,0,0,0
$GC,3359,0.87,246.0,106.7,14.4,357,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2689,1945,0,0,0,0,0,0
$GC,3489,0.87,246.0,88.3,14.8,376,3496,0.00,1.75,0.00,0.000,4,0.000,0.049,3083,3770,1945,0,0,0,0,0,0
$GC,3525,0.87,246.0,83.0,16.1,382,3532,0.00,1.67,0.00,0.000,6,0.000,0.031,3091,2714,1945,0,0,0,0,0,0
$GC,3666,0.87,246.0,61.4,15.7,407,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2714,1945,0,0,0,0,0,0
$GC,3805,0.87,246.0,40.3,15.1,432,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2714,1944,0,0,0,0,0,0
$GC,3947,0.87,246.0,19.0,14.9,457,3954,0.00,1.73,0.00,0.000,4,0.000,0.050,3091,3766,1944,0,0,0,0,0,0
$GC,3989,0.87,246.0,12.0,17.4,464,3995,0.00,1.65,0.00,0.000,6,0.000,0.032,3099,2708,1944,0,0,1,0,0,0
$FREEZE,8.99,-1.385,-1.902,2,1,0
$FREEZE,8.15,-1.379,-1.902,2,1,0
$FREEZE,7.36,-1.381,-1.901,2,1,0
$FREEZE,6.72,-1.370,-1.901,2,1,0
$FREEZE,5.90,-1.386,-1.900,2,1,0
$FREEZE,5.10,-1.376,-1.900,2,1,0
$FREEZE,4.31,-1.381,-1.899,2,1,0
$FREEZE,3.42,-1.387,-1.898,2,1,0
$FREEZE,2.49,-1.393,-1.897,2,1,0
$STATE,4050,end climb,SURFACE_DEPTH_REACHED
$STATE,4050,begin surface coast
$FREEZE,1.32,-1.385,-1.896,2,1,0
$FREEZE,0.52,-1.380,-1.895,2,1,0
$FREEZE,0.01,-1.374,-1.895,2,1,0
$FINISH,0.0,1.027777
$STATE,4070,end surface coast,CONTROL_FINISHED_OK
$STATE,4070,begin surface
$SM_CCo,4085,34.97,0.103,0,0,1654,320.11
$SM_GC,0.83,0.00,0.00,34.97,0.000,0.000,0.103,186,2802,1654,-8.17,0.62,320.11
$IRIDIUM_FIX,-7554.21,17817.83,171210,202039
$TT8_MAMPS,0.026964
$HUMID,52.04
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,251.2,51.1
$24V_AH,22.6,22.345
$10V_AH,9.9,9.260
$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,18.150,30.850,383.875,34.975,0.000,55.970,112.516,95.038,0.750,0.000,16.236,1161.371,1719.396,466.717,1101.762,112.219,0.000,957.070,0.000,771.583,0.000,7.171,0.000
$DEVICE_MAMPS,214.200,81.855,909.585,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.896,668.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267272
$DATA_FILE_SIZE,30448,478
$CAP_FILE_SIZE,64753,0
$CFSIZE,260165632,238383104
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.191,292.7,1
$GPS,171210,214626,-7633.554,17822.189,19,1.7,19,120.7