version: 66.08
glider: 503
mission: 7
dive: 307
start: 12 19 110 23 25 4
data:
$ID,503
$MISSION,7
$DIVE,307
$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,-19875.803
$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,43
$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,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
$GPS1,191210,231958,-7629.340,17936.145,6,2.5,25,118.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-75.3
$GPS2,191210,232436,-7629.371,17935.793,14,0.8,30,118.7
$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,309.1,10531,-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,16,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-90.38,0.000,2,0.000,0.000,179,2805,3383,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.1,-7.0,15,137,8.85,0.00,-10.50,0.000,6,0.216,0.000,2526,2805,3855,0,0,0,0,0,0
$GC,270,-0.84,-219.0,39.0,-19.7,43,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2805,3858,0,0,0,0,0,0
$GC,412,-0.84,-219.0,66.9,-19.8,68,419,0.00,2.28,0.00,0.000,4,0.000,0.032,2525,1370,3858,0,0,0,0,0,0
$GC,449,-0.84,-219.0,73.8,-18.5,74,456,0.00,2.28,0.00,0.000,6,0.000,0.046,2515,2758,3858,0,0,0,0,0,0
$GC,595,-0.84,-219.0,103.0,-19.4,99,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2759,3858,0,0,0,0,0,0
$GC,723,-0.84,-219.0,128.4,-19.7,111,727,0.00,2.20,0.00,0.000,4,0.000,0.034,2515,1366,3858,0,0,0,0,0,0
$GC,754,-0.84,-219.0,135.2,-19.9,113,763,0.00,2.30,0.00,0.000,6,0.000,0.046,2505,2754,3858,0,0,0,0,0,0
$GC,890,-0.84,-219.0,161.8,-20.3,126,893,0.00,1.62,0.00,0.000,4,0.000,0.051,2497,3790,3858,0,0,0,0,0,0
$GC,927,-0.84,-219.0,170.0,-20.7,129,937,0.08,1.60,0.00,0.000,6,0.152,0.029,2522,2758,3858,0,0,0,0,0,0
$GC,1063,-0.84,-219.0,193.6,-17.1,142,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2758,3858,0,0,0,0,0,0
$GC,1191,-0.84,-219.0,216.1,-17.7,154,1195,0.00,1.62,0.00,0.000,4,0.000,0.051,2515,3785,3858,0,0,0,0,0,0
$GC,1226,-0.84,-219.0,222.4,-17.1,157,1229,0.00,1.58,0.00,0.000,6,0.000,0.031,2515,2774,3858,0,0,0,0,0,0
$GC,1366,-0.84,-219.0,248.2,-17.8,170,1370,0.00,2.17,0.00,0.000,4,0.000,0.034,2515,1383,3858,0,0,0,0,0,0
$STATE,1378,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1378,begin apogee
$GC,1385,-0.16,0.0,250.3,18.2,171,1566,0.73,0.00,171.23,0.888,4,0.132,0.000,2741,2707,2959,0,0,0,0,0,0
$STATE,1567,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1569,0.84,219.0,262.8,0.0,187,1764,1.02,2.42,186.32,0.835,4,0.088,0.035,3072,1300,2066,0,0,1,0,0,0
$GC,1783,0.84,219.0,246.8,14.3,206,1787,0.00,2.47,0.00,0.000,6,0.000,0.042,3072,2697,2063,0,0,1,0,0,0
$GC,1918,0.84,219.3,228.8,13.3,218,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2697,2057,0,0,0,0,0,0
$GC,2044,0.84,219.3,209.9,15.3,230,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2697,2054,0,0,0,0,0,0
$GC,2172,0.84,219.3,191.7,13.9,242,2175,0.00,1.75,0.00,0.000,4,0.000,0.049,3072,3766,2053,0,0,0,0,0,0
$GC,2261,0.84,219.3,177.8,14.6,250,2265,0.00,1.67,0.00,0.000,6,0.000,0.031,3081,2693,2052,0,0,1,0,0,0
$GC,2401,0.84,219.3,156.4,15.0,263,2404,0.00,1.75,0.00,0.000,4,0.000,0.050,3081,3767,2052,0,0,0,0,0,0
$GC,2438,0.84,219.3,149.8,17.4,266,2446,0.00,1.70,0.00,0.000,6,0.000,0.031,3089,2697,2051,0,0,1,0,0,0
$GC,2573,0.84,219.3,127.5,17.1,279,2577,0.00,1.73,0.00,0.000,4,0.000,0.049,3089,3766,2051,0,0,0,0,0,0
$GC,2640,0.84,219.3,114.9,18.5,285,2644,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2706,2050,0,0,0,0,0,0
$GC,2775,0.84,219.3,92.5,15.7,301,2783,0.00,2.28,0.00,0.000,4,0.000,0.037,3109,1290,2050,0,0,0,0,0,0
$GC,2812,0.84,219.3,86.6,15.9,307,2819,0.12,2.35,0.00,0.000,6,0.156,0.044,3074,2715,2050,0,0,0,0,0,0
$GC,2954,0.85,232.3,66.5,12.8,332,2968,0.00,0.00,10.30,0.760,6,0.000,0.000,3074,2717,2012,0,0,0,0,0,0
$GC,3104,0.85,232.3,45.6,15.0,358,3111,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3762,2010,0,0,0,0,0,0
$GC,3151,0.85,232.3,37.6,17.1,366,3158,0.00,1.65,0.00,0.000,6,0.000,0.031,3082,2723,2010,0,0,0,0,0,0
$GC,3294,0.85,232.3,16.3,14.8,391,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2722,2009,0,0,0,0,0,0
$FREEZE,8.57,-1.408,-1.900,2,1,0
$FREEZE,7.83,-1.407,-1.900,2,1,0
$FREEZE,7.19,-1.407,-1.899,2,1,0
$FREEZE,6.42,-1.393,-1.898,2,1,0
$FREEZE,5.64,-1.400,-1.898,2,1,0
$FREEZE,4.78,-1.410,-1.897,2,1,0
$FREEZE,4.10,-1.411,-1.896,2,1,0
$FREEZE,3.33,-1.412,-1.895,2,1,0
$FREEZE,2.56,-1.378,-1.893,2,1,0
$STATE,3386,end climb,SURFACE_DEPTH_REACHED
$STATE,3386,begin surface coast
$FREEZE,1.90,-1.330,-1.893,2,1,0
$FREEZE,1.04,-1.020,-1.887,2,1,0
$FREEZE,0.35,-0.946,-1.887,2,1,0
$FREEZE,0.02,-0.571,-1.888,2,1,0
$FINISH,0.0,1.027646
$STATE,3409,end surface coast,CONTROL_FINISHED_OK
$STATE,3409,begin surface
$SM_CCo,3425,41.72,0.101,0,0,1655,320.11
$SM_GC,0.64,0.00,0.00,41.72,0.000,0.000,0.101,178,2797,1655,-8.20,0.48,320.11
$IRIDIUM_FIX,-7545.40,17941.62,191210,222222
$TT8_MAMPS,0.027713
$HUMID,52.52
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,250.3,13.3
$24V_AH,22.6,26.911
$10V_AH,9.9,10.881
$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,18.475,43.075,367.850,41.725,0.000,25.699,41.091,93.823,0.750,0.000,32.693,1014.120,1230.001,472.368,931.397,114.085,0.000,933.401,0.000,697.442,0.000,7.068,0.000
$DEVICE_MAMPS,215.730,97.155,888.165,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.942,601.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267196
$DATA_FILE_SIZE,27017,412
$CAP_FILE_SIZE,62037,0
$CFSIZE,260165632,236756992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.506,248.4,1
$GPS,201210,002338,-7629.479,17934.439,7,1.1,7,118.7