version: 66.08
glider: 503
mission: 7
dive: 240
start: 12 16 110 15 50 18
data:
$ID,503
$MISSION,7
$DIVE,240
$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,-19789.512
$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,36
$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
$GPS1,161210,154531,-7637.543,17719.594,38,1.5,38,122.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.4
$GPS2,161210,154950,-7637.525,17719.576,11,1.6,11,122.4
$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,328.2,70744,-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,15,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-94.85,0.000,2,0.000,0.000,191,2794,3556,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.9,-9.7,16,136,8.85,1.60,-6.07,0.000,4,0.220,0.064,2513,3761,3856,0,0,0,0,0,0
$GC,281,-0.84,-219.0,45.3,-19.6,45,287,0.00,1.55,0.00,0.000,6,0.000,0.031,2514,2775,3859,0,0,0,0,0,0
$GC,422,-0.84,-219.0,72.6,-19.0,70,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,563,-0.84,-219.0,99.8,-19.2,95,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,696,-0.84,-219.0,124.8,-18.5,108,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3860,0,0,0,0,0,0
$GC,824,-0.84,-219.0,148.1,-18.3,120,828,0.00,2.20,0.00,0.000,4,0.000,0.033,2514,1370,3859,0,0,0,0,0,0
$GC,858,-0.84,-219.0,154.2,-17.7,123,862,0.00,2.28,0.00,0.000,6,0.000,0.045,2504,2772,3860,0,0,0,0,0,0
$GC,997,-0.84,-219.0,180.7,-19.2,136,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2772,3860,0,0,0,0,0,0
$GC,1125,-0.84,-219.0,205.1,-18.6,148,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2772,3860,0,0,0,0,0,0
$GC,1252,-0.84,-219.0,229.2,-18.7,160,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2772,3860,0,0,0,0,0,0
$GC,1379,-0.84,-219.0,252.8,-18.2,172,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2772,3860,0,0,0,0,0,0
$STATE,1547,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1548,begin apogee
$GC,1553,-0.16,0.0,283.9,18.0,188,1731,0.73,0.00,171.98,0.907,4,0.127,0.000,2742,2699,2959,0,0,0,0,0,0
$STATE,1732,end apogee,CONTROL_FINISHED_OK
$STATE,1732,begin climb
$GC,1734,0.84,219.0,292.7,0.0,204,1930,1.00,2.38,187.43,0.855,4,0.080,0.033,3072,1302,2066,0,0,0,0,0,0
$GC,2122,0.86,236.9,255.1,12.6,238,2147,0.00,2.40,16.25,0.806,6,0.000,0.041,3072,2701,1994,0,0,0,0,0,0
$GC,2336,0.86,236.9,223.6,14.6,258,2340,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1307,1989,0,0,0,0,0,0
$GC,2509,0.86,236.9,198.8,13.8,273,2513,0.00,2.30,0.00,0.000,6,0.000,0.042,3083,2705,1988,0,0,1,0,0,0
$GC,2643,0.86,236.9,178.3,15.4,285,2647,0.00,1.75,0.00,0.000,4,0.000,0.049,3083,3761,1987,0,0,0,0,0,0
$GC,2677,0.86,236.9,172.6,18.1,288,2681,0.00,1.67,0.00,0.000,6,0.000,0.031,3092,2724,1986,0,0,0,0,0,0
$GC,2817,0.86,236.9,149.4,16.2,301,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2724,1986,0,0,0,0,0,0
$GC,2944,0.86,236.9,128.8,16.5,313,2945,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2724,1986,0,0,0,0,0,0
$GC,3072,0.86,236.9,108.6,15.7,325,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2724,1986,0,0,0,0,0,0
$GC,3201,0.86,236.9,88.1,15.2,343,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2724,1985,0,0,0,0,0,0
$GC,3344,0.86,236.9,65.6,15.9,368,3350,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3756,1985,0,0,0,0,0,0
$GC,3384,0.86,236.9,58.4,17.7,375,3392,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2719,1984,0,0,1,0,0,0
$GC,3527,0.86,236.9,34.9,15.8,400,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2719,1984,0,0,0,0,0,0
$GC,3669,0.86,236.9,11.9,15.4,425,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2718,1984,0,0,0,0,0,0
$FREEZE,9.00,-1.461,-1.901,2,1,0
$FREEZE,8.15,-1.452,-1.900,2,1,0
$FREEZE,7.29,-1.444,-1.899,2,1,0
$FREEZE,6.47,-1.429,-1.898,2,1,0
$FREEZE,5.60,-1.427,-1.898,2,1,0
$FREEZE,4.69,-1.422,-1.897,2,1,0
$FREEZE,3.97,-1.427,-1.897,2,1,0
$FREEZE,3.11,-1.416,-1.896,2,1,0
$FREEZE,2.34,-1.409,-1.895,2,1,0
$STATE,3729,end climb,SURFACE_DEPTH_REACHED
$STATE,3729,begin surface coast
$FREEZE,1.12,-1.401,-1.894,2,1,0
$FREEZE,0.38,-1.402,-1.893,2,1,0
$FREEZE,-0.03,-1.421,-1.838,2,1,0
$FINISH,-0.0,1.026976
$STATE,3747,end surface coast,CONTROL_FINISHED_OK
$STATE,3747,begin surface
$SM_CCo,3763,39.53,0.102,0,0,1655,320.11
$SM_GC,0.64,0.00,0.00,39.53,0.000,0.000,0.102,183,2798,1655,-8.18,0.51,320.11
$IRIDIUM_FIX,-7554.21,17712.89,161210,141415
$TT8_MAMPS,0.027713
$HUMID,52.28
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.5
$ALTIM_BOTTOM_PING,250.8,47.5
$24V_AH,22.5,19.879
$10V_AH,10.0,8.343
$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,18.275,23.950,375.650,39.525,0.000,29.860,40.715,90.847,0.750,0.000,13.490,1064.494,1481.906,457.276,974.484,100.602,0.000,927.670,0.000,747.867,0.000,7.161,0.000
$DEVICE_MAMPS,219.555,98.685,906.525,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.478,614.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,27015,439
$CAP_FILE_SIZE,58797,0
$CFSIZE,260165632,239329280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.101,323.1,1
$GPS,161210,165426,-7637.461,17721.414,7,1.4,7,122.3