version: 66.08
glider: 503
mission: 7
dive: 246
start: 12 16 110 22 51 12
data:
$ID,503
$MISSION,7
$DIVE,246
$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,-19797.055
$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,40
$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
$GPS1,161210,224625,-7637.349,17729.807,38,1.7,38,122.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-72.2
$GPS2,161210,225044,-7637.365,17729.887,14,1.9,14,122.1
$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,308.3,66318,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-89.50,0.000,2,0.000,0.000,176,2799,3416,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.0,-5.3,15,137,8.82,2.33,-9.75,0.000,4,0.218,0.045,2524,1370,3856,0,0,0,0,0,0
$GC,336,-0.84,-219.0,46.2,-16.3,55,343,0.00,2.28,0.00,0.000,6,0.000,0.046,2514,2765,3859,0,0,0,0,0,0
$GC,477,-0.84,-219.0,72.4,-19.3,80,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3858,0,0,0,0,0,0
$GC,618,-0.84,-219.0,99.7,-20.0,105,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2765,3859,0,0,0,0,0,0
$GC,752,-0.84,-219.0,125.7,-19.5,118,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3859,0,0,0,0,0,0
$GC,880,-0.84,-219.0,150.8,-19.5,130,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2765,3859,0,0,0,0,0,0
$GC,1007,-0.84,-219.0,175.4,-19.0,142,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3859,0,0,0,0,0,0
$GC,1135,-0.84,-219.0,199.1,-18.1,154,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2765,3859,0,0,0,0,0,0
$GC,1263,-0.84,-219.0,222.5,-18.2,166,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2765,3859,0,0,0,0,0,0
$GC,1390,-0.84,-219.0,245.4,-17.9,178,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2765,3859,0,0,0,0,0,0
$GC,1517,-0.84,-219.0,268.1,-17.8,190,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2765,3859,0,0,0,0,0,0
$STATE,1568,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1568,begin apogee
$GC,1574,-0.16,0.0,277.5,17.5,195,1753,0.70,0.00,171.43,0.905,4,0.126,0.000,2746,2693,2959,0,0,0,0,0,0
$STATE,1754,end apogee,CONTROL_FINISHED_OK
$STATE,1754,begin climb
$GC,1756,0.84,219.0,287.0,0.0,211,1951,0.95,1.88,187.43,0.849,4,0.080,0.051,3069,3755,2067,0,0,1,0,0,0
$GC,1976,0.84,219.0,267.9,15.8,230,1980,0.00,1.75,0.00,0.000,6,0.000,0.028,3077,2707,2063,0,0,1,0,0,0
$GC,2179,0.84,219.0,237.1,14.9,249,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2705,2056,0,0,0,0,0,0
$GC,2307,0.84,219.0,218.1,15.0,261,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2705,2055,0,0,0,0,0,0
$GC,2434,0.84,219.0,199.2,14.9,273,2438,0.00,1.75,0.00,0.000,4,0.000,0.048,3077,3769,2054,0,0,0,0,0,0
$GC,2460,0.84,219.0,194.8,16.7,275,2468,0.00,1.70,0.00,0.000,6,0.000,0.030,3084,2705,2054,0,0,1,0,0,0
$GC,2595,0.84,219.0,174.4,15.5,288,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2705,2053,0,0,0,0,0,0
$GC,2723,0.84,219.0,155.2,15.0,300,2726,0.00,1.73,0.00,0.000,4,0.000,0.050,3084,3767,2053,0,0,0,0,0,0
$GC,2757,0.84,219.0,149.6,16.7,303,2760,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2716,2052,0,0,0,0,0,0
$GC,2896,0.84,219.0,128.1,15.3,316,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2714,2052,0,0,0,0,0,0
$GC,3023,0.84,219.0,108.6,15.2,328,3027,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3771,2052,0,0,0,0,0,0
$GC,3057,0.84,219.0,103.2,16.6,331,3062,0.12,1.65,0.00,0.000,6,0.175,0.031,3067,2709,2052,0,0,0,0,0,0
$GC,3198,0.84,222.9,84.5,13.2,354,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2709,2052,0,0,0,0,0,0
$GC,3338,0.88,249.5,66.6,12.2,379,3369,0.00,0.00,25.40,0.777,6,0.000,0.000,3067,2709,1942,0,0,0,0,0,0
$GC,3503,0.88,249.5,44.3,13.7,408,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2708,1939,0,0,0,0,0,0
$GC,3643,0.88,256.6,25.5,13.0,433,3657,0.00,1.73,7.25,0.702,4,0.000,0.048,3066,3765,1914,0,0,0,0,0,0
$GC,3691,0.88,256.6,18.4,15.2,441,3699,0.00,1.65,0.00,0.000,6,0.000,0.031,3074,2719,1913,0,0,1,0,0,0
$FREEZE,8.86,-1.286,-1.896,2,1,0
$FREEZE,8.20,-1.304,-1.896,2,1,0
$FREEZE,7.53,-1.308,-1.895,2,1,0
$FREEZE,6.77,-1.281,-1.895,2,1,0
$FREEZE,6.09,-1.273,-1.894,2,1,0
$FREEZE,5.41,-1.273,-1.893,2,1,0
$FREEZE,4.76,-1.298,-1.893,2,1,0
$FREEZE,3.97,-1.304,-1.893,2,1,0
$FREEZE,3.34,-1.273,-1.892,2,1,0
$FREEZE,2.39,-1.274,-1.891,2,1,0
$STATE,3802,end climb,SURFACE_DEPTH_REACHED
$STATE,3802,begin surface coast
$FREEZE,1.72,-1.267,-1.890,2,1,0
$FREEZE,1.03,-1.258,-1.890,2,1,0
$FREEZE,0.39,-1.256,-1.889,2,1,0
$FREEZE,0.00,-1.236,-1.887,2,1,0
$FINISH,0.0,1.027670
$STATE,3825,end surface coast,CONTROL_FINISHED_OK
$STATE,3825,begin surface
$SM_CCo,3840,30.45,0.102,0,0,1655,320.11
$SM_GC,1.04,0.00,0.00,30.45,0.000,0.000,0.102,186,2804,1655,-8.17,0.68,320.11
$IRIDIUM_FIX,-7554.21,17740.71,161210,212135
$TT8_MAMPS,0.027713
$HUMID,52.00
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,20.1
$ALTIM_BOTTOM_PING,251.1,40.4
$24V_AH,22.6,20.492
$10V_AH,10.0,8.566
$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,18.225,21.950,391.500,30.450,0.000,23.517,42.081,93.683,1.000,0.000,17.506,1121.492,1494.488,459.741,967.636,104.665,0.000,934.347,0.000,743.591,0.000,7.141,0.000
$DEVICE_MAMPS,218.025,100.215,904.995,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.554,662.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30355,465
$CAP_FILE_SIZE,61533,0
$CFSIZE,260165632,239095808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.263,236.5,1
$GPS,161210,235700,-7637.333,17730.525,38,1.2,38,122.1