version: 66.08
glider: 503
mission: 7
dive: 230
start: 12 16 110 3 43 26
data:
$ID,503
$MISSION,7
$DIVE,230
$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,-19776.936
$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,46
$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
$GPS1,161210,033824,-7637.707,17658.176,40,1.6,40,122.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-71.2
$GPS2,161210,034258,-7637.712,17658.131,10,7.2,29,122.9
$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,310.5,79916,-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,12,begin dive
$GC,14,-0.84,-219.0,0.0,0.0,0,106,0.00,0.00,-89.28,0.000,2,0.000,0.000,184,2812,3417,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.3,-6.9,15,136,8.75,1.52,-9.65,0.000,4,0.216,0.070,2515,3736,3856,0,0,0,0,0,0
$GC,346,-0.84,-219.0,55.1,-19.0,57,354,0.00,1.50,0.00,0.000,6,0.000,0.030,2516,2779,3859,0,0,0,0,0,0
$GC,490,-0.84,-219.0,82.1,-18.8,82,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2779,3859,0,0,0,0,0,0
$GC,629,-0.84,-219.0,108.1,-18.3,103,633,0.00,1.58,0.00,0.000,4,0.000,0.051,2508,3736,3859,0,0,0,0,0,0
$GC,675,-0.84,-219.0,117.3,-20.1,107,678,0.00,1.48,0.00,0.000,6,0.000,0.031,2508,2795,3858,0,0,0,0,0,0
$GC,814,-0.84,-219.0,144.5,-19.4,120,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3859,0,0,0,0,0,0
$GC,941,-0.84,-219.0,168.8,-18.7,132,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3859,0,0,0,0,0,0
$GC,1069,-0.84,-219.0,192.5,-18.5,144,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3858,0,0,0,0,0,0
$GC,1196,-0.84,-219.0,215.6,-18.0,156,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3859,0,0,0,0,0,0
$GC,1323,-0.84,-219.0,238.9,-18.0,168,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3859,0,0,0,0,0,0
$GC,1451,-0.84,-219.0,262.5,-18.5,180,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2794,3859,0,0,0,0,0,0
$GC,1644,-0.84,-219.0,298.0,-19.4,198,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2795,3859,0,0,0,0,0,0
$STATE,1664,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1664,begin apogee
$GC,1669,-0.16,0.0,302.0,19.8,200,1848,0.70,0.00,172.12,0.921,4,0.129,0.000,2739,2683,2959,0,0,0,0,0,0
$STATE,1849,end apogee,CONTROL_FINISHED_OK
$STATE,1849,begin climb
$GC,1851,0.84,219.0,309.3,0.0,216,2044,0.95,0.00,187.55,0.864,6,0.072,0.000,3070,2683,2067,0,0,0,0,0,0
$GC,2244,0.84,219.0,263.7,15.1,252,2248,0.00,2.30,0.00,0.000,4,0.000,0.033,3080,1313,2057,0,0,0,0,0,0
$GC,2264,0.84,219.0,260.3,15.0,253,2273,0.00,2.38,0.00,0.000,6,0.000,0.041,3080,2683,2056,0,0,1,0,0,0
$GC,2463,0.84,219.0,229.6,15.8,272,2467,0.00,1.80,0.00,0.000,4,0.000,0.048,3080,3753,2055,0,0,0,0,0,0
$GC,2501,0.84,219.0,222.8,18.7,275,2508,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2732,2054,0,0,1,0,0,0
$GC,2635,0.84,219.0,200.8,16.3,288,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2732,2053,0,0,0,0,0,0
$GC,2763,0.84,219.0,179.9,16.3,300,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2732,2054,0,0,0,0,0,0
$GC,2890,0.84,219.0,158.9,16.7,312,2894,0.00,1.73,0.00,0.000,4,0.000,0.050,3088,3766,2053,0,0,0,0,0,0
$GC,2916,0.84,219.0,153.9,17.6,314,2924,0.00,1.67,0.00,0.000,6,0.000,0.031,3096,2711,2052,0,0,1,0,0,0
$GC,3051,0.84,219.0,131.1,17.4,327,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2711,2052,0,0,0,0,0,0
$GC,3178,0.84,219.0,109.5,16.5,339,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2711,2052,0,0,0,0,0,0
$GC,3308,0.84,219.0,88.9,15.7,357,3315,0.00,1.73,0.00,0.000,4,0.000,0.050,3096,3759,2052,0,0,0,0,0,0
$GC,3344,0.84,219.0,82.6,17.5,363,3352,0.10,1.65,0.00,0.000,6,0.151,0.032,3061,2728,2051,0,0,0,0,0,0
$GC,3486,0.86,232.9,63.1,12.8,388,3500,0.00,0.00,11.02,0.770,6,0.000,0.000,3061,2728,2010,0,0,0,0,0,0
$GC,3634,0.86,232.9,42.6,13.9,414,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2728,2008,0,0,0,0,0,0
$GC,3776,0.88,249.5,23.3,12.7,439,3796,0.00,0.00,15.95,0.761,6,0.000,0.000,3061,2728,1942,0,0,0,0,0,0
$FREEZE,8.69,-1.481,-1.901,2,1,0
$FREEZE,7.87,-1.479,-1.900,2,1,0
$FREEZE,7.18,-1.474,-1.899,2,1,0
$FREEZE,6.43,-1.480,-1.899,2,1,0
$FREEZE,5.75,-1.474,-1.898,2,1,0
$FREEZE,4.94,-1.478,-1.898,2,1,0
$FREEZE,4.23,-1.470,-1.897,2,1,0
$FREEZE,3.54,-1.474,-1.897,2,1,0
$FREEZE,2.82,-1.465,-1.896,2,1,0
$STATE,3928,end climb,SURFACE_DEPTH_REACHED
$STATE,3928,begin surface coast
$FREEZE,2.15,-1.466,-1.895,2,1,0
$FREEZE,1.64,-1.465,-1.895,2,1,0
$FREEZE,0.76,-1.478,-1.894,2,1,0
$FREEZE,-0.03,-1.468,-1.894,2,1,0
$FINISH,-0.0,1.027765
$STATE,3951,end surface coast,CONTROL_FINISHED_OK
$STATE,3951,begin surface
$SM_CCo,3967,33.80,0.102,0,0,1655,320.11
$SM_GC,0.74,0.00,0.00,33.80,0.000,0.000,0.102,188,2794,1655,-8.16,0.40,320.11
$IRIDIUM_FIX,-7554.21,17653.85,161210,020218
$TT8_MAMPS,0.027713
$HUMID,52.08
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,302.0,7.1
$24V_AH,22.5,18.859
$10V_AH,10.0,7.963
$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,18.175,21.175,386.650,33.800,0.000,30.426,37.681,90.711,1.250,0.000,33.082,1135.294,1600.638,459.177,994.559,103.426,0.000,937.070,0.000,752.654,0.000,8.764,0.000
$DEVICE_MAMPS,216.495,98.685,921.060,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.161,650.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30432,470
$CAP_FILE_SIZE,61876,0
$CFSIZE,260165632,239702016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.189,222.3,1
$GPS,161210,045125,-7637.840,17659.939,39,1.2,39,122.9