version: 66.08
glider: 503
mission: 7
dive: 286
start: 12 18 110 23 38 6
data:
$ID,503
$MISSION,7
$DIVE,286
$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,-19849.395
$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,47
$R_STBD_OVSHOOT,47
$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
$GPS1,181210,233319,-7631.637,17905.102,12,1.7,17,119.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.9
$GPS2,181210,233738,-7631.644,17905.010,10,1.7,10,119.5
$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,323.7,23969,-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,-91.18,0.000,2,0.000,0.000,181,2806,3450,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-7.2,15,138,8.80,2.35,-8.77,0.000,4,0.216,0.046,2522,1372,3856,0,0,0,0,0,0
$GC,299,-0.84,-219.0,43.2,-17.4,48,306,0.00,2.28,0.00,0.000,6,0.000,0.044,2512,2762,3859,0,0,0,0,0,0
$GC,440,-0.84,-219.0,71.8,-21.0,73,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2762,3859,0,0,0,0,0,0
$GC,588,-0.84,-219.0,102.9,-20.6,98,591,0.00,1.62,0.00,0.000,4,0.000,0.050,2504,3791,3859,0,0,0,0,0,0
$GC,625,-0.84,-219.0,111.1,-21.3,101,634,0.00,1.58,0.00,0.000,6,0.000,0.030,2504,2780,3859,0,0,0,0,0,0
$GC,760,-0.84,-219.0,138.4,-19.9,114,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3859,0,0,0,0,0,0
$GC,887,-0.84,-219.0,163.8,-20.0,126,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3860,0,0,0,0,0,0
$GC,1015,-0.84,-219.0,189.1,-19.9,138,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3859,0,0,0,0,0,0
$GC,1143,-0.84,-219.0,215.0,-20.2,150,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3859,0,0,0,0,0,0
$GC,1270,-0.84,-219.0,240.8,-19.4,162,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3859,0,0,0,0,0,0
$GC,1397,-0.84,-219.0,265.3,-19.1,174,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3860,0,0,0,0,0,0
$STATE,1459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1459,begin apogee
$GC,1464,-0.16,0.0,277.0,17.5,180,1643,0.73,0.00,171.38,0.903,4,0.131,0.000,2741,2697,2960,0,0,0,0,0,0
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1644,begin climb
$GC,1646,0.84,219.0,286.7,0.0,196,1842,1.00,2.38,186.68,0.851,4,0.080,0.034,3071,1306,2068,0,0,0,0,0,0
$GC,2017,0.86,233.5,253.3,12.7,229,2040,0.00,2.40,13.55,0.790,6,0.000,0.041,3071,2704,2007,0,0,0,0,0,0
$GC,2231,0.86,233.5,222.6,14.8,249,2235,0.00,2.33,0.00,0.000,4,0.000,0.035,3082,1307,2003,0,0,0,0,0,0
$GC,2376,0.86,233.5,202.2,13.4,261,2383,0.00,2.35,0.00,0.000,6,0.000,0.042,3082,2709,2002,0,0,0,0,0,0
$GC,2510,0.86,233.5,182.7,14.7,274,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2709,2001,0,0,0,0,0,0
$GC,2638,0.86,233.5,164.7,13.9,286,2641,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3763,2001,0,0,0,0,0,0
$GC,2672,0.86,233.5,159.5,15.3,289,2676,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2703,2000,0,0,0,0,0,0
$GC,2811,0.86,233.5,138.3,15.4,302,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2703,2000,0,0,0,0,0,0
$GC,2939,0.86,233.5,119.1,15.0,314,2943,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3763,2000,0,0,0,0,0,0
$GC,2985,0.86,233.5,111.3,18.0,318,2989,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2701,1999,0,0,0,0,0,0
$GC,3123,0.86,233.5,89.3,15.0,336,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2700,1999,0,0,0,0,0,0
$GC,3261,0.86,233.5,67.7,15.6,361,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2700,1999,0,0,0,0,0,0
$GC,3404,0.86,233.5,45.3,15.8,386,3410,0.00,1.75,0.00,0.000,4,0.000,0.049,3099,3784,1999,0,0,0,0,0,0
$GC,3450,0.86,233.5,36.9,17.9,394,3458,0.08,1.65,0.00,0.000,6,0.155,0.032,3073,2729,1999,0,0,1,0,0,0
$GC,3591,0.86,233.5,15.9,14.2,419,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2729,1998,0,0,0,0,0,0
$FREEZE,8.76,-1.173,-1.902,2,1,0
$FREEZE,8.10,-1.172,-1.902,2,1,0
$FREEZE,7.48,-1.167,-1.901,2,1,0
$FREEZE,6.64,-1.159,-1.900,2,1,0
$FREEZE,6.00,-1.157,-1.900,2,1,0
$FREEZE,5.26,-1.158,-1.899,2,1,0
$FREEZE,4.65,-1.158,-1.899,2,1,0
$FREEZE,3.95,-1.158,-1.899,2,1,0
$FREEZE,3.01,-1.151,-1.898,2,1,0
$FREEZE,2.54,-1.150,-1.898,2,1,0
$STATE,3688,end climb,SURFACE_DEPTH_REACHED
$STATE,3688,begin surface coast
$FREEZE,1.71,-1.145,-1.897,2,1,0
$FREEZE,0.81,-1.144,-1.896,2,1,0
$FREEZE,0.10,-1.143,-1.896,2,1,0
$FREEZE,-0.07,-1.149,-1.084,2,1,0
$FINISH,-0.1,1.016020
$STATE,3711,end surface coast,FINISH_DEPTH_REACHED
$STATE,3711,begin surface
$SM_CCo,3726,40.08,0.101,0,0,1655,320.11
$SM_GC,0.90,0.00,0.00,40.08,0.000,0.000,0.101,177,2807,1655,-8.20,0.76,320.11
$IRIDIUM_FIX,-7545.40,17913.92,181210,222242
$TT8_MAMPS,0.026964
$HUMID,52.32
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$ALTIM_BOTTOM_PING,251.1,39.1
$24V_AH,22.6,24.675
$10V_AH,10.0,10.111
$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,18.150,27.525,371.600,40.075,0.000,27.723,36.067,96.971,0.750,0.000,12.532,1074.642,1424.302,464.241,973.279,105.934,0.000,938.007,0.000,751.107,0.000,7.139,0.000
$DEVICE_MAMPS,216.495,101.745,903.465,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.783,621.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267244
$DATA_FILE_SIZE,27078,441
$CAP_FILE_SIZE,60434,0
$CFSIZE,260165632,237522944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.237,241.2,1
$GPS,191210,004207,-7631.785,17905.455,35,1.5,35,119.5