version: 66.08
glider: 503
mission: 7
dive: 277
start: 12 18 110 12 41 54
data:
$ID,503
$MISSION,7
$DIVE,277
$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,-19838.08
$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,46
$R_STBD_OVSHOOT,28
$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,48
$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
$GPS1,181210,123649,-7634.040,17849.150,8,1.7,19,120.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.5
$GPS2,181210,124126,-7634.022,17849.348,15,1.6,15,120.1
$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,306.7,31441,-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,-219.0,0.0,0.0,0,113,0.00,0.00,-94.75,0.000,2,0.000,0.000,174,2786,3567,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-10.6,16,137,8.80,2.33,-5.78,0.000,4,0.216,0.054,2522,1364,3855,0,0,0,0,0,0
$GC,388,-0.84,-219.0,59.5,-16.5,64,395,0.00,2.30,0.00,0.000,6,0.000,0.044,2511,2778,3859,0,0,0,0,0,0
$GC,530,-0.84,-219.0,86.6,-19.5,89,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2778,3859,0,0,0,0,0,0
$GC,672,-0.84,-219.0,114.6,-19.5,108,676,0.00,2.20,0.00,0.000,4,0.000,0.033,2511,1375,3858,0,0,0,0,0,0
$GC,705,-0.84,-219.0,121.1,-18.8,110,713,0.00,2.28,0.00,0.000,6,0.000,0.045,2501,2761,3858,0,0,0,0,0,0
$GC,840,-0.84,-219.0,147.1,-20.0,123,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2761,3858,0,0,0,0,0,0
$GC,967,-0.84,-219.0,172.6,-19.9,135,971,0.00,2.17,0.00,0.000,4,0.000,0.032,2501,1374,3858,0,0,0,0,0,0
$GC,999,-0.84,-219.0,179.2,-18.9,137,1007,0.08,2.28,0.00,0.000,6,0.133,0.045,2522,2754,3859,0,0,0,0,0,0
$GC,1134,-0.84,-219.0,202.5,-17.5,150,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2754,3859,0,0,0,0,0,0
$GC,1261,-0.84,-219.0,225.0,-17.9,162,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2754,3859,0,0,0,0,0,0
$GC,1388,-0.84,-219.0,247.0,-17.0,174,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2754,3859,0,0,0,0,0,0
$GC,1516,-0.84,-219.0,269.1,-17.4,186,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2754,3859,0,0,0,0,0,0
$STATE,1579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1579,begin apogee
$GC,1583,-0.16,0.0,281.3,19.0,192,1762,0.65,0.00,171.57,0.907,4,0.124,0.000,2740,2754,2959,0,0,0,0,0,0
$STATE,1763,end apogee,CONTROL_FINISHED_OK
$STATE,1763,begin climb
$GC,1765,0.84,219.0,289.0,0.0,208,1958,0.95,0.00,187.10,0.851,6,0.083,0.000,3061,2754,2066,0,0,0,0,0,0
$GC,2157,0.84,222.1,249.9,13.2,244,2160,0.00,1.67,0.00,0.000,4,0.000,0.049,3061,3763,2056,0,0,0,0,0,0
$GC,2259,0.84,222.1,234.2,16.2,253,2263,0.00,1.67,0.00,0.000,6,0.000,0.031,3070,2704,2054,0,0,1,0,0,0
$GC,2398,0.84,222.1,214.7,13.4,266,2402,0.00,1.80,0.00,0.000,4,0.000,0.049,3070,3765,2053,0,0,0,0,0,0
$GC,2465,0.84,222.1,204.5,14.9,272,2469,0.00,1.62,0.00,0.000,6,0.000,0.031,3079,2723,2053,0,0,1,0,0,0
$GC,2605,0.84,222.1,185.0,13.6,285,2608,0.00,1.70,0.00,0.000,4,0.000,0.049,3079,3767,2052,0,0,0,0,0,0
$GC,2673,0.84,222.1,174.5,15.7,291,2676,0.00,1.65,0.00,0.000,6,0.000,0.031,3087,2711,2052,0,0,0,0,0,0
$GC,2812,0.84,222.1,154.4,14.5,304,2815,0.00,1.70,0.00,0.000,4,0.000,0.050,3087,3765,2051,0,0,0,0,0,0
$GC,2872,0.84,222.1,144.4,17.2,309,2879,0.00,1.60,0.00,0.000,6,0.000,0.031,3095,2764,2051,0,0,0,0,0,0
$GC,3006,0.84,222.1,124.0,15.4,322,3010,0.00,1.65,0.00,0.000,4,0.000,0.050,3095,3764,2051,0,0,0,0,0,0
$GC,3051,0.84,222.1,116.3,18.2,326,3055,0.05,1.58,0.00,0.000,6,0.158,0.032,3071,2775,2051,0,0,0,0,0,0
$GC,3186,0.84,222.1,96.9,14.2,340,3192,0.00,1.62,0.00,0.000,4,0.000,0.050,3071,3763,2051,0,0,0,0,0,0
$GC,3237,0.84,222.1,88.7,16.3,349,3244,0.00,1.55,0.00,0.000,6,0.000,0.031,3078,2785,2050,0,0,0,0,0,0
$GC,3380,0.84,222.1,68.2,14.1,374,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2785,2050,0,0,0,0,0,0
$GC,3523,0.84,222.1,48.3,13.8,399,3529,0.00,1.60,0.00,0.000,4,0.000,0.050,3078,3763,2050,0,0,0,0,0,0
$GC,3608,0.84,222.1,35.1,16.1,414,3615,0.00,1.52,0.00,0.000,6,0.000,0.031,3086,2797,2050,0,0,0,0,0,0
$GC,3753,0.84,222.1,14.9,14.5,439,3760,0.00,1.58,0.00,0.000,4,0.000,0.050,3086,3762,2050,0,0,0,0,0,0
$FREEZE,8.28,-1.170,-1.901,2,1,0
$FREEZE,7.43,-1.167,-1.901,2,1,0
$FREEZE,6.59,-1.166,-1.900,2,1,0
$GC,3806,0.84,222.1,6.6,16.0,448,3812,0.00,1.50,0.00,0.000,6,0.000,0.032,3094,2814,2049,0,0,0,0,0,0
$FREEZE,4.44,-1.159,-1.898,2,1,0
$FREEZE,3.71,-1.160,-1.898,2,1,0
$FREEZE,2.94,-1.160,-1.897,2,1,0
$STATE,3828,end climb,SURFACE_DEPTH_REACHED
$STATE,3828,begin surface coast
$FREEZE,2.13,-1.164,-1.897,2,1,0
$FREEZE,1.31,-1.163,-1.896,2,1,0
$FREEZE,0.39,-1.161,-1.895,2,1,0
$FREEZE,-0.02,-1.214,-1.898,2,1,0
$FINISH,-0.0,1.027824
$STATE,3853,end surface coast,CONTROL_FINISHED_OK
$STATE,3853,begin surface
$SM_CCo,3869,46.25,0.100,0,0,1655,320.11
$SM_GC,0.88,0.00,0.00,46.25,0.000,0.000,0.100,183,2814,1655,-8.18,0.96,320.11
$IRIDIUM_FIX,-7545.40,17846.08,181210,111124
$TT8_MAMPS,0.027713
$HUMID,52.55
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.1
$ALTIM_BOTTOM_PING,250.6,45.5
$24V_AH,22.6,23.711
$10V_AH,10.0,9.766
$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,18.175,39.575,358.675,46.250,0.000,31.389,37.857,102.200,1.000,0.000,18.615,1123.780,1499.589,465.670,1010.457,109.461,0.000,957.469,0.000,772.263,0.000,7.155,0.000
$DEVICE_MAMPS,216.495,54.315,906.525,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.345,642.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267268
$DATA_FILE_SIZE,30408,456
$CAP_FILE_SIZE,64463,0
$CFSIZE,260165632,237871104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.208, 72.8,1
$GPS,181210,134756,-7633.527,17853.387,8,1.2,8,119.9