version: 66.08
glider: 503
mission: 7
dive: 226
start: 12 15 110 22 50 53
data:
$ID,503
$MISSION,7
$DIVE,226
$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,-19771.906
$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,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
$GPS1,151210,224314,-7637.503,17653.092,17,1.5,17,123.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.9
$GPS2,151210,225024,-7637.459,17652.938,36,1.6,36,123.0
$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,341.0,82046,-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,-89.45,0.000,2,0.000,0.000,148,2801,3435,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.3,-6.5,14,136,8.85,1.58,-9.18,0.000,4,0.213,0.069,2518,3752,3857,0,0,0,0,0,0
$GC,333,-0.84,-219.0,52.8,-20.5,53,339,0.00,1.52,0.00,0.000,6,0.000,0.028,2518,2775,3860,0,0,0,0,0,0
$GC,475,-0.84,-219.0,80.2,-19.0,78,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3860,0,0,0,0,0,0
$GC,620,-0.84,-219.0,106.5,-18.1,101,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3860,0,0,0,0,0,0
$GC,748,-0.84,-219.0,129.6,-18.1,113,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3859,0,0,0,0,0,0
$GC,875,-0.84,-219.0,152.2,-17.7,125,879,0.00,1.60,0.00,0.000,4,0.000,0.050,2510,3749,3859,0,0,0,0,0,0
$GC,935,-0.84,-219.0,164.6,-19.1,130,943,0.00,1.50,0.00,0.000,6,0.000,0.030,2510,2786,3860,0,0,0,0,0,0
$GC,1070,-0.84,-219.0,190.6,-19.7,143,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2785,3860,0,0,0,0,0,0
$GC,1198,-0.84,-219.0,214.9,-18.9,155,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2785,3860,0,0,0,0,0,0
$GC,1325,-0.84,-219.0,238.6,-18.5,167,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2785,3860,0,0,0,0,0,0
$GC,1452,-0.84,-219.0,261.8,-18.2,179,1456,0.00,1.58,0.00,0.000,4,0.000,0.050,2503,3749,3860,0,0,0,0,0,0
$GC,1490,-0.84,-219.0,269.3,-19.3,182,1497,0.00,1.50,0.00,0.000,6,0.000,0.030,2503,2780,3860,0,0,0,0,0,0
$GC,1688,-0.84,-219.0,306.2,-18.7,201,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$STATE,1709,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1709,begin apogee
$GC,1714,-0.16,0.0,310.1,18.1,203,1893,0.73,0.00,172.30,0.926,4,0.130,0.000,2741,2698,2959,0,0,0,0,0,0
$STATE,1894,end apogee,CONTROL_FINISHED_OK
$STATE,1894,begin climb
$GC,1896,0.84,219.0,319.3,0.0,219,2092,0.95,1.85,188.02,0.871,4,0.079,0.052,3071,3740,2066,0,0,1,0,0,0
$GC,2217,0.84,219.0,281.5,16.8,247,2221,0.00,1.67,0.00,0.000,6,0.000,0.029,3079,2709,2058,0,0,1,0,0,0
$GC,2419,0.84,219.0,249.4,15.3,266,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2707,2055,0,0,0,0,0,0
$GC,2547,0.84,219.0,230.5,15.0,278,2550,0.00,1.73,0.00,0.000,4,0.000,0.048,3080,3749,2054,0,0,0,0,0,0
$GC,2585,0.84,219.0,224.2,16.6,281,2592,0.00,1.70,0.00,0.000,6,0.000,0.030,3087,2700,2053,0,0,1,0,0,0
$GC,2719,0.84,219.0,204.4,14.6,294,2723,0.00,1.73,0.00,0.000,4,0.000,0.050,3087,3749,2053,0,0,0,0,0,0
$GC,2753,0.84,219.0,198.7,16.9,297,2756,0.00,1.62,0.00,0.000,6,0.000,0.031,3096,2706,2052,0,0,1,0,0,0
$GC,2892,0.84,219.0,175.7,16.4,310,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2705,2053,0,0,0,0,0,0
$GC,3019,0.84,219.0,155.1,15.5,322,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2704,2052,0,0,0,0,0,0
$GC,3147,0.84,219.0,134.0,16.6,334,3150,0.00,1.67,0.00,0.000,4,0.000,0.049,3095,3749,2052,0,0,0,0,0,0
$GC,3204,0.84,219.0,123.8,18.5,339,3208,0.12,1.62,0.00,0.000,6,0.173,0.031,3071,2690,2052,0,0,1,0,0,0
$GC,3343,0.84,219.0,103.6,13.6,352,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2689,2051,0,0,0,0,0,0
$GC,3474,0.84,219.0,85.8,13.4,373,3481,0.00,1.73,0.00,0.000,4,0.000,0.049,3071,3740,2051,0,0,0,0,0,0
$GC,3514,0.84,219.0,79.8,15.9,380,3521,0.00,1.58,0.00,0.000,6,0.000,0.031,3077,2731,2051,0,0,1,0,0,0
$GC,3656,0.84,219.0,59.6,15.5,405,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2731,2051,0,0,0,0,0,0
$GC,3798,0.84,219.0,39.9,13.8,430,3806,0.00,1.67,0.00,0.000,4,0.000,0.050,3077,3752,2051,0,0,0,0,0,0
$GC,3834,0.84,219.0,34.2,16.7,436,3840,0.00,1.58,0.00,0.000,6,0.000,0.031,3084,2739,2050,0,0,1,0,0,0
$GC,3977,0.84,219.0,11.8,16.7,461,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,2050,0,0,0,0,0,0
$FREEZE,8.34,-1.594,-1.903,2,1,0
$FREEZE,7.34,-1.591,-1.902,2,1,0
$FREEZE,6.62,-1.592,-1.902,2,1,0
$FREEZE,5.79,-1.592,-1.901,2,1,0
$FREEZE,5.05,-1.590,-1.901,2,1,0
$FREEZE,4.25,-1.597,-1.900,2,1,0
$FREEZE,3.72,-1.596,-1.900,2,1,0
$FREEZE,2.81,-1.593,-1.899,2,1,0
$STATE,4032,end climb,SURFACE_DEPTH_REACHED
$STATE,4032,begin surface coast
$FREEZE,1.67,-1.593,-1.898,2,1,0
$FREEZE,0.95,-1.596,-1.898,2,1,0
$FREEZE,0.11,-1.596,-1.897,2,1,0
$FREEZE,-0.10,-1.633,-1.899,2,1,0
$FINISH,-0.1,1.027847
$STATE,4058,end surface coast,CONTROL_FINISHED_OK
$STATE,4058,begin surface
$SM_CCo,4072,46.30,0.101,0,0,1655,320.11
$SM_GC,0.80,0.00,0.00,46.30,0.000,0.000,0.101,182,2738,1655,-8.17,-1.22,320.11
$IRIDIUM_FIX,-7554.21,17703.62,151210,222250
$TT8_MAMPS,0.028462
$HUMID,52.12
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.4
$ALTIM_BOTTOM_PING,300.4,24.2
$24V_AH,22.5,18.451
$10V_AH,9.9,7.811
$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,18.275,29.500,360.325,46.300,0.000,65.034,84.682,96.222,1.250,0.000,39.182,1172.424,1694.802,463.777,1126.087,110.277,0.000,958.874,0.000,788.839,0.000,11.723,0.000
$DEVICE_MAMPS,213.435,100.215,926.415,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.056,651.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,30337,475
$CAP_FILE_SIZE,65871,0
$CFSIZE,260165632,239857664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.170,288.2,1
$GPS,161210,000040,-7637.490,17654.361,9,2.2,28,123.0