version: 66.08
glider: 503
mission: 7
dive: 232
start: 12 16 110 6 10 48
data:
$ID,503
$MISSION,7
$DIVE,232
$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,-19779.449
$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,45
$R_STBD_OVSHOOT,37
$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
$GPS1,161210,060302,-7637.920,17701.105,11,1.0,11,122.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-70.7
$GPS2,161210,061020,-7637.958,17701.080,15,1.4,15,122.8
$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,289.3,78746,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-89.95,0.000,2,0.000,0.000,182,2800,3437,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-6.5,15,139,8.88,2.33,-9.10,0.000,4,0.218,0.045,2523,1374,3857,0,0,0,0,0,0
$GC,388,-0.84,-219.0,55.9,-15.8,64,395,0.00,2.30,0.00,0.000,6,0.000,0.044,2512,2776,3859,0,0,0,0,0,0
$GC,530,-0.84,-219.0,82.2,-19.2,89,537,0.00,2.25,0.00,0.000,4,0.000,0.032,2512,1364,3859,0,0,0,0,0,0
$GC,571,-0.84,-219.0,89.9,-17.3,96,578,0.00,2.33,0.00,0.000,6,0.000,0.045,2501,2783,3859,0,0,0,0,0,0
$GC,715,-0.84,-219.0,117.6,-19.8,114,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3859,0,0,0,0,0,0
$GC,842,-0.84,-219.0,143.0,-20.1,126,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3859,0,0,0,0,0,0
$GC,969,-0.84,-219.0,168.5,-20.5,138,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3860,0,0,0,0,0,0
$GC,1097,-0.84,-219.0,194.3,-19.9,150,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2783,3860,0,0,0,0,0,0
$GC,1224,-0.84,-219.0,219.5,-19.9,162,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3860,0,0,0,0,0,0
$GC,1352,-0.84,-219.0,244.5,-19.1,174,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3860,0,0,0,0,0,0
$GC,1479,-0.84,-219.0,269.1,-19.3,186,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3860,0,0,0,0,0,0
$STATE,1605,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1605,begin apogee
$GC,1610,-0.16,0.0,294.0,20.0,198,1789,0.73,0.00,172.23,0.916,4,0.127,0.000,2742,2677,2959,0,0,0,0,0,0
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1790,begin climb
$GC,1791,0.84,219.0,303.7,0.0,214,1985,0.95,0.00,188.02,0.861,6,0.080,0.000,3065,2677,2066,0,0,0,0,0,0
$GC,2184,0.84,219.0,262.0,14.6,250,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2677,2057,0,0,0,0,0,0
$GC,2376,0.84,219.0,234.9,14.3,268,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2677,2055,0,0,0,0,0,0
$GC,2504,0.84,219.0,216.9,14.1,280,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2677,2053,0,0,0,0,0,0
$GC,2631,0.84,219.0,198.2,14.5,292,2634,0.00,1.77,0.00,0.000,4,0.000,0.048,3065,3763,2053,0,0,0,0,0,0
$GC,2687,0.84,219.0,188.7,17.6,297,2690,0.00,1.65,0.00,0.000,6,0.000,0.031,3073,2709,2052,0,0,0,0,0,0
$GC,2826,0.84,219.0,166.8,15.1,310,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2708,2053,0,0,0,0,0,0
$GC,2953,0.84,219.0,148.0,14.8,322,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2707,2052,0,0,0,0,0,0
$GC,3081,0.84,219.0,129.1,14.7,334,3084,0.00,1.70,0.00,0.000,4,0.000,0.049,3074,3764,2052,0,0,0,0,0,0
$GC,3119,0.84,219.0,122.7,16.3,337,3126,0.00,1.67,0.00,0.000,6,0.000,0.031,3082,2716,2052,0,0,0,0,0,0
$GC,3253,0.84,219.0,101.7,15.9,350,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2715,2051,0,0,0,0,0,0
$GC,3385,0.84,219.0,81.4,14.7,373,3392,0.00,1.73,0.00,0.000,4,0.000,0.049,3082,3762,2051,0,0,0,0,0,0
$GC,3427,0.84,219.0,74.7,16.4,380,3434,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2723,2051,0,0,0,0,0,0
$GC,3569,0.84,219.0,53.3,14.7,405,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2723,2050,0,0,0,0,0,0
$GC,3709,0.84,219.0,32.4,14.6,430,3716,0.00,2.28,0.00,0.000,4,0.000,0.035,3101,1290,2050,0,0,0,0,0,0
$GC,3761,0.84,219.0,25.1,13.8,439,3770,0.10,2.33,0.00,0.000,6,0.164,0.043,3074,2721,2050,0,0,0,0,0,0
$FREEZE,8.45,-1.479,-1.900,2,1,0
$FREEZE,7.63,-1.477,-1.899,2,1,0
$FREEZE,6.86,-1.476,-1.898,2,1,0
$FREEZE,6.18,-1.476,-1.898,2,1,0
$FREEZE,5.42,-1.475,-1.897,2,1,0
$GC,3906,0.84,219.0,5.4,13.9,464,3913,0.00,1.67,0.00,0.000,4,0.000,0.050,3074,3754,2049,0,0,0,0,0,0
$FREEZE,3.21,-1.475,-1.896,2,1,0
$FREEZE,2.40,-1.476,-1.895,2,1,0
$STATE,3924,end climb,SURFACE_DEPTH_REACHED
$STATE,3924,begin surface coast
$FREEZE,1.60,-1.470,-1.894,2,1,0
$FREEZE,0.86,-1.471,-1.894,2,1,0
$FREEZE,0.36,-1.470,-1.893,2,1,0
$FINISH,0.4,1.027757
$STATE,3941,end surface coast,CONTROL_FINISHED_OK
$STATE,3941,begin surface
$SM_CCo,3957,46.50,0.101,0,0,1655,320.11
$SM_GC,0.92,0.00,0.00,46.50,0.000,0.000,0.101,197,2775,1655,-8.13,-0.14,320.11
$IRIDIUM_FIX,-7554.21,17653.85,161210,060624
$TT8_MAMPS,0.027713
$HUMID,52.24
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,21.1
$ALTIM_BOTTOM_PING,250.6,57.9
$24V_AH,22.5,19.070
$10V_AH,9.9,8.040
$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,18.275,27.325,360.250,46.500,0.000,55.736,127.104,93.398,0.750,0.000,18.046,1137.847,1673.707,454.659,1086.347,107.296,0.000,923.163,0.000,744.519,0.000,7.189,0.000
$DEVICE_MAMPS,218.025,70.380,916.470,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.560,652.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30431,470
$CAP_FILE_SIZE,61442,0
$CFSIZE,260165632,239620096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,193.3,1
$GPS,161210,071855,-7637.985,17703.051,45,1.5,45,122.8