version: 66.08
glider: 503
mission: 7
dive: 224
start: 12 15 110 20 21 17
data:
$ID,503
$MISSION,7
$DIVE,224
$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,-19769.389
$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,29
$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
$GPS1,151210,201606,-7637.551,17649.861,20,1.0,35,123.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.5
$GPS2,151210,202049,-7637.503,17649.803,31,1.1,36,123.1
$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,352.8,83396,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.38,0.000,2,0.000,0.000,154,2762,3450,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.3,-6.8,15,137,8.88,1.65,-8.80,0.000,4,0.217,0.065,2513,3767,3857,0,0,0,0,0,0
$GC,355,-0.84,-219.0,61.4,-21.7,58,362,0.00,1.55,0.00,0.000,6,0.000,0.030,2513,2776,3860,0,0,0,0,0,0
$GC,497,-0.84,-219.0,90.6,-19.2,83,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3859,0,0,0,0,0,0
$GC,634,-0.84,-219.0,117.1,-19.1,100,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3860,0,0,0,0,0,0
$GC,761,-0.84,-219.0,142.1,-19.5,112,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3859,0,0,0,0,0,0
$GC,889,-0.84,-219.0,167.0,-19.3,124,893,0.00,1.60,0.00,0.000,4,0.000,0.052,2505,3752,3859,0,0,0,0,0,0
$GC,934,-0.84,-219.0,176.3,-22.0,128,938,0.00,1.50,0.00,0.000,6,0.000,0.031,2505,2791,3860,0,0,0,0,0,0
$GC,1073,-0.84,-219.0,204.6,-21.0,141,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2791,3859,0,0,0,0,0,0
$GC,1201,-0.84,-219.0,231.1,-20.6,153,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2791,3860,0,0,0,0,0,0
$GC,1328,-0.84,-219.0,256.6,-19.5,165,1331,0.00,1.58,0.00,0.000,4,0.000,0.052,2497,3757,3860,0,0,0,0,0,0
$GC,1365,-0.84,-219.0,264.8,-21.3,168,1374,0.08,1.52,0.00,0.000,6,0.151,0.031,2523,2782,3860,0,0,0,0,0,0
$GC,1569,-0.84,-219.0,300.1,-18.0,187,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2782,3860,0,0,0,0,0,0
$STATE,1638,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1638,begin apogee
$GC,1643,-0.16,0.0,313.5,17.6,194,1824,0.65,0.00,172.25,0.926,4,0.125,0.000,2740,2682,2959,0,0,0,0,0,0
$STATE,1824,end apogee,CONTROL_FINISHED_OK
$STATE,1825,begin climb
$GC,1826,0.84,219.0,323.2,0.0,210,2022,1.00,2.35,187.82,0.874,4,0.079,0.034,3070,1307,2067,0,0,0,0,0,0
$GC,2027,0.86,240.5,310.6,12.4,227,2058,0.00,2.50,21.20,0.809,6,0.000,0.041,3071,2697,1979,0,0,1,0,0,0
$GC,2247,0.86,240.5,279.5,14.4,248,2251,0.00,1.80,0.00,0.000,4,0.000,0.049,3071,3766,1970,0,0,0,0,0,0
$GC,2285,0.86,240.5,273.1,16.5,251,2293,0.00,1.73,0.00,0.000,6,0.000,0.030,3079,2721,1968,0,0,1,0,0,0
$GC,2484,0.86,240.5,243.1,15.1,270,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2721,1967,0,0,0,0,0,0
$GC,2612,0.86,240.5,224.1,14.9,282,2615,0.00,1.73,0.00,0.000,4,0.000,0.048,3079,3767,1966,0,0,0,0,0,0
$GC,2638,0.86,240.5,219.4,16.4,284,2646,0.00,1.70,0.00,0.000,6,0.000,0.030,3087,2707,1966,0,0,1,0,0,0
$GC,2773,0.86,240.5,198.3,15.8,297,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2706,1966,0,0,0,0,0,0
$GC,2900,0.86,240.5,178.5,15.2,309,2904,0.00,1.73,0.00,0.000,4,0.000,0.050,3087,3770,1965,0,0,0,0,0,0
$GC,2945,0.86,240.5,170.7,17.4,313,2949,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2712,1965,0,0,0,0,0,0
$GC,3085,0.86,240.5,147.9,15.9,326,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2711,1965,0,0,0,0,0,0
$GC,3213,0.86,240.5,127.3,16.3,338,3216,0.00,1.70,0.00,0.000,4,0.000,0.050,3095,3769,1965,0,0,0,0,0,0
$GC,3273,0.86,240.5,116.0,18.3,343,3281,0.00,1.65,0.00,0.000,6,0.000,0.031,3103,2729,1964,0,0,0,0,0,0
$GC,3410,0.86,240.5,92.9,16.5,359,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2729,1964,0,0,0,0,0,0
$GC,3550,0.86,240.5,70.2,16.4,384,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2729,1964,0,0,0,0,0,0
$GC,3690,0.86,240.5,47.3,17.0,409,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2729,1964,0,0,0,0,0,0
$GC,3831,0.86,240.5,24.3,16.2,434,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2729,1963,0,0,0,0,0,0
$FREEZE,8.62,-1.623,-1.902,2,1,0
$FREEZE,7.66,-1.624,-1.902,2,1,0
$FREEZE,6.85,-1.620,-1.901,2,1,0
$FREEZE,6.18,-1.621,-1.900,2,1,0
$FREEZE,5.35,-1.624,-1.900,2,1,0
$FREEZE,4.64,-1.622,-1.899,2,1,0
$FREEZE,3.71,-1.620,-1.898,2,1,0
$FREEZE,3.10,-1.624,-1.898,2,1,0
$FREEZE,2.44,-1.623,-1.898,2,1,0
$STATE,3964,end climb,SURFACE_DEPTH_REACHED
$STATE,3964,begin surface coast
$FREEZE,1.57,-1.625,-1.897,2,1,0
$FREEZE,0.58,-1.618,-1.896,2,1,0
$FREEZE,-0.00,-1.622,-1.896,2,1,0
$FREEZE,-0.03,-1.724,-1.902,2,1,0
$FINISH,-0.0,1.027894
$STATE,3987,end surface coast,CONTROL_FINISHED_OK
$STATE,3987,begin surface
$SM_CCo,4003,36.38,0.102,0,0,1655,320.11
$SM_GC,0.75,0.00,0.00,36.38,0.000,0.000,0.102,185,2799,1655,-8.17,0.54,320.11
$IRIDIUM_FIX,-7554.21,17644.57,151210,191927
$TT8_MAMPS,0.027713
$HUMID,51.92
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.4
$ALTIM_BOTTOM_PING,300.1,27.6
$24V_AH,22.5,18.241
$10V_AH,10.0,7.734
$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,18.300,28.125,381.275,36.375,0.000,27.427,35.431,99.277,1.000,0.000,38.580,1121.804,1628.192,475.513,1010.068,104.436,0.000,962.924,0.000,762.073,0.000,8.823,0.000
$DEVICE_MAMPS,217.260,100.215,926.415,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.387,625.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,30363,462
$CAP_FILE_SIZE,62973,0
$CFSIZE,260165632,239943680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.195,328.2,1
$GPS,151210,212926,-7637.508,17651.594,10,1.7,10,123.0