version: 66.08
glider: 503
mission: 7
dive: 241
start: 12 16 110 16 59 24
data:
$ID,503
$MISSION,7
$DIVE,241
$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,-19790.771
$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,43
$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
$GPS1,161210,165426,-7637.461,17721.414,7,1.4,7,122.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.7
$GPS2,161210,165856,-7637.449,17721.400,16,1.6,16,122.3
$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,331.6,69943,-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,-219.0,0.0,0.0,0,110,0.00,0.00,-92.10,0.000,2,0.000,0.000,183,2798,3478,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.3,-6.6,16,135,8.85,1.58,-8.10,0.000,4,0.219,0.067,2516,3751,3855,0,0,0,0,0,0
$GC,301,-0.84,-219.0,46.8,-19.4,49,308,0.00,1.55,0.00,0.000,6,0.000,0.030,2515,2766,3859,0,0,0,0,0,0
$GC,442,-0.84,-219.0,74.0,-19.3,74,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2765,3859,0,0,0,0,0,0
$GC,589,-0.84,-219.0,102.3,-18.6,99,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2765,3859,0,0,0,0,0,0
$GC,716,-0.84,-219.0,126.6,-18.7,111,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2765,3859,0,0,0,0,0,0
$GC,844,-0.84,-219.0,150.3,-18.1,123,848,0.00,2.17,0.00,0.000,4,0.000,0.032,2515,1374,3859,0,0,0,0,0,0
$GC,878,-0.84,-219.0,156.4,-17.6,126,882,0.00,2.25,0.00,0.000,6,0.000,0.044,2506,2767,3859,0,0,0,0,0,0
$GC,1017,-0.84,-219.0,182.6,-19.0,139,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2767,3859,0,0,0,0,0,0
$GC,1145,-0.84,-219.0,206.7,-19.0,151,1149,0.00,1.60,0.00,0.000,4,0.000,0.052,2497,3755,3859,0,0,0,0,0,0
$GC,1179,-0.84,-219.0,213.5,-20.0,154,1183,0.08,1.50,0.00,0.000,6,0.147,0.031,2523,2796,3859,0,0,0,0,0,0
$GC,1318,-0.84,-219.0,237.4,-16.6,167,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2796,3859,0,0,0,0,0,0
$GC,1445,-0.84,-219.0,259.1,-17.3,179,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2796,3860,0,0,0,0,0,0
$STATE,1592,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1592,begin apogee
$GC,1597,-0.16,0.0,284.1,16.2,193,1777,0.65,0.00,171.62,0.908,4,0.123,0.000,2741,2678,2959,0,0,0,0,0,0
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1780,0.84,219.0,293.2,0.0,209,1976,1.00,2.33,187.05,0.854,4,0.079,0.031,3072,1311,2068,0,0,0,0,0,0
$GC,1982,0.87,248.5,280.2,12.1,227,2018,0.00,2.47,28.85,0.805,6,0.000,0.040,3072,2697,1946,0,0,1,0,0,0
$GC,2207,0.87,248.5,247.4,14.6,248,2211,0.00,1.80,0.00,0.000,4,0.000,0.049,3072,3765,1936,0,0,0,0,0,0
$GC,2233,0.87,248.5,243.0,15.8,250,2241,0.00,1.73,0.00,0.000,6,0.000,0.031,3080,2723,1936,0,0,1,0,0,0
$GC,2368,0.87,248.5,222.5,15.4,263,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2723,1934,0,0,0,0,0,0
$GC,2496,0.87,248.5,203.1,15.1,275,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2723,1934,0,0,0,0,0,0
$GC,2623,0.87,248.5,183.0,15.5,287,2627,0.00,1.75,0.00,0.000,4,0.000,0.049,3081,3754,1933,0,0,0,0,0,0
$GC,2657,0.87,248.5,177.2,17.2,290,2661,0.00,1.67,0.00,0.000,6,0.000,0.031,3088,2704,1933,0,0,1,0,0,0
$GC,2796,0.87,248.5,154.7,15.8,303,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2704,1932,0,0,0,0,0,0
$GC,2923,0.87,248.5,134.3,16.3,315,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2704,1931,0,0,0,0,0,0
$GC,3050,0.87,248.5,114.0,15.6,327,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2704,1931,0,0,0,0,0,0
$GC,3179,0.87,248.5,93.4,15.9,342,3186,0.00,1.75,0.00,0.000,4,0.000,0.049,3088,3785,1932,0,0,0,0,0,0
$GC,3215,0.87,248.5,87.2,17.3,348,3223,0.00,1.70,0.00,0.000,6,0.000,0.032,3096,2705,1931,0,0,1,0,0,0
$GC,3359,0.87,248.5,64.0,15.8,373,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2705,1931,0,0,0,0,0,0
$GC,3498,0.87,248.5,41.3,16.0,398,3505,0.00,1.75,0.00,0.000,4,0.000,0.050,3096,3787,1931,0,0,0,0,0,0
$GC,3527,0.87,248.5,36.3,17.5,403,3534,0.00,1.70,0.00,0.000,6,0.000,0.032,3105,2721,1931,0,0,0,0,0,0
$GC,3669,0.87,248.5,12.4,16.9,428,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2721,1931,0,0,0,0,0,0
$FREEZE,8.83,-1.389,-1.898,2,1,0
$FREEZE,7.97,-1.389,-1.897,2,1,0
$FREEZE,7.13,-1.386,-1.897,2,1,0
$FREEZE,6.23,-1.387,-1.896,2,1,0
$FREEZE,5.35,-1.386,-1.895,2,1,0
$FREEZE,4.52,-1.384,-1.895,2,1,0
$FREEZE,3.72,-1.377,-1.894,2,1,0
$FREEZE,2.82,-1.377,-1.893,2,1,0
$STATE,3723,end climb,SURFACE_DEPTH_REACHED
$STATE,3724,begin surface coast
$FREEZE,1.86,-1.377,-1.893,2,1,0
$FREEZE,1.02,-1.372,-1.892,2,1,0
$FREEZE,0.21,-1.371,-1.891,2,1,0
$FINISH,0.2,1.027728
$STATE,3742,end surface coast,CONTROL_FINISHED_OK
$STATE,3742,begin surface
$SM_CCo,3757,33.03,0.102,0,0,1655,320.11
$SM_GC,0.91,0.00,0.00,33.03,0.000,0.000,0.102,195,2800,1655,-8.14,0.57,320.11
$IRIDIUM_FIX,-7554.21,17722.16,161210,151559
$TT8_MAMPS,0.027713
$HUMID,52.08
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.8
$ALTIM_BOTTOM_PING,251.8,46.8
$24V_AH,22.5,19.984
$10V_AH,10.0,8.379
$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,18.300,29.525,387.525,33.025,0.000,29.483,39.369,94.673,0.750,0.000,22.215,1068.755,1493.193,462.055,950.469,103.909,0.000,928.444,0.000,714.399,0.000,7.159,0.000
$DEVICE_MAMPS,218.790,94.860,908.055,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.690,616.731,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27090,441
$CAP_FILE_SIZE,61632,0
$CFSIZE,260165632,239288320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,3
$CURRENT,0.110,309.1,1
$GPS,161210,180343,-7637.413,17723.635,19,1.8,30,122.3