version: 66.08
glider: 503
mission: 7
dive: 247
start: 12 17 110 0 1 47
data:
$ID,503
$MISSION,7
$DIVE,247
$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,-19798.311
$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,44
$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
$GPS1,161210,235700,-7637.333,17730.525,38,1.2,38,122.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-73.8
$GPS2,171210,000119,-7637.284,17731.889,9,1.6,9,122.1
$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,299.7,65440,-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,15,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-91.43,0.000,2,0.000,0.000,186,2804,3458,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.3,-7.1,15,139,8.85,2.35,-8.60,0.000,4,0.219,0.045,2526,1366,3856,0,0,0,0,0,0
$GC,337,-0.84,-219.0,47.4,-16.2,55,344,0.00,2.30,0.00,0.000,6,0.000,0.044,2516,2770,3860,0,0,0,0,0,0
$GC,478,-0.84,-219.0,73.0,-18.7,80,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3859,0,0,0,0,0,0
$GC,617,-0.84,-219.0,99.5,-19.3,105,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3860,0,0,0,0,0,0
$GC,751,-0.84,-219.0,124.5,-18.7,118,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3860,0,0,0,0,0,0
$GC,879,-0.84,-219.0,148.2,-18.9,130,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,1006,-0.84,-219.0,171.9,-18.4,142,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3860,0,0,0,0,0,0
$GC,1133,-0.84,-219.0,195.2,-18.1,154,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3860,0,0,0,0,0,0
$GC,1261,-0.84,-219.0,217.6,-17.5,166,1265,0.00,2.20,0.00,0.000,4,0.000,0.033,2516,1367,3860,0,0,0,0,0,0
$GC,1293,-0.84,-219.0,223.6,-16.6,168,1301,0.00,2.30,0.00,0.000,6,0.000,0.045,2506,2768,3860,0,0,0,0,0,0
$GC,1428,-0.84,-219.0,247.8,-18.2,181,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2769,3860,0,0,0,0,0,0
$GC,1556,-0.84,-219.0,271.1,-18.3,193,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2768,3860,0,0,0,0,0,0
$STATE,1586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1586,begin apogee
$GC,1591,-0.16,0.0,276.8,17.7,196,1770,0.73,0.00,171.88,0.901,4,0.127,0.000,2745,2683,2959,0,0,0,0,0,0
$STATE,1771,end apogee,CONTROL_FINISHED_OK
$STATE,1771,begin climb
$GC,1773,0.84,219.0,285.9,0.0,212,1969,0.98,2.35,187.32,0.847,4,0.076,0.034,3070,1306,2066,0,0,0,0,0,0
$GC,2153,0.85,232.1,248.6,12.8,245,2174,0.00,2.40,12.00,0.781,6,0.000,0.041,3070,2701,2012,0,0,0,0,0,0
$GC,2299,0.85,232.1,228.4,14.4,259,2303,0.00,2.33,0.00,0.000,4,0.000,0.034,3081,1310,2009,0,0,0,0,0,0
$GC,2462,0.85,232.1,206.3,13.4,273,2467,0.00,2.35,0.00,0.000,6,0.000,0.042,3081,2713,2008,0,0,0,0,0,0
$GC,2596,0.85,232.1,186.6,15.1,285,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2713,2007,0,0,0,0,0,0
$GC,2723,0.85,232.1,167.6,14.7,297,2727,0.00,1.73,0.00,0.000,4,0.000,0.049,3081,3760,2006,0,0,0,0,0,0
$GC,2757,0.85,232.1,162.2,16.0,300,2761,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2720,2006,0,0,1,0,0,0
$GC,2897,0.85,232.1,140.4,15.4,313,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2720,2005,0,0,0,0,0,0
$GC,3024,0.85,232.1,120.5,15.6,325,3027,0.00,1.67,0.00,0.000,4,0.000,0.048,3089,3765,2005,0,0,0,0,0,0
$GC,3057,0.85,232.1,114.9,16.5,328,3061,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2703,2005,0,0,0,0,0,0
$GC,3193,0.85,232.1,93.0,16.7,344,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2702,2005,0,0,0,0,0,0
$GC,3332,0.85,232.1,71.2,15.0,369,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2702,2005,0,0,0,0,0,0
$GC,3474,0.85,232.1,49.2,15.4,394,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2702,2005,0,0,0,0,0,0
$GC,3615,0.85,232.1,27.1,15.6,419,3622,0.00,1.75,0.00,0.000,4,0.000,0.050,3098,3790,2005,0,0,0,0,0,0
$GC,3672,0.85,232.1,16.7,18.6,429,3680,0.05,1.70,0.00,0.000,6,0.165,0.031,3079,2720,2005,0,0,0,0,0,0
$FREEZE,8.56,-1.341,-1.896,2,1,0
$FREEZE,7.81,-1.349,-1.896,2,1,0
$FREEZE,7.14,-1.340,-1.895,2,1,0
$FREEZE,6.54,-1.335,-1.895,2,1,0
$FREEZE,5.73,-1.336,-1.894,2,1,0
$FREEZE,5.19,-1.333,-1.894,2,1,0
$FREEZE,4.39,-1.331,-1.893,2,1,0
$FREEZE,3.59,-1.334,-1.892,2,1,0
$FREEZE,2.75,-1.335,-1.892,2,1,0
$STATE,3772,end climb,SURFACE_DEPTH_REACHED
$STATE,3772,begin surface coast
$FREEZE,1.90,-1.335,-1.891,2,1,0
$FREEZE,1.14,-1.337,-1.891,2,1,0
$FREEZE,0.41,-1.336,-1.890,2,1,0
$FREEZE,-0.04,-1.335,-1.890,2,1,0
$FINISH,-0.0,1.027705
$STATE,3796,end surface coast,CONTROL_FINISHED_OK
$STATE,3796,begin surface
$SM_CCo,3812,41.22,0.101,0,0,1655,320.11
$SM_GC,0.62,0.00,0.00,41.22,0.000,0.000,0.101,185,2804,1655,-8.17,0.68,320.11
$IRIDIUM_FIX,-7545.40,17654.86,161210,222247
$TT8_MAMPS,0.027713
$HUMID,51.73
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.7
$ALTIM_BOTTOM_PING,251.6,39.7
$24V_AH,22.6,20.593
$10V_AH,10.0,8.604
$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,18.225,28.925,371.200,41.225,0.000,30.637,37.142,97.371,0.750,0.000,11.971,1103.866,1464.836,464.075,994.926,102.494,0.000,948.551,0.000,769.042,0.000,7.142,0.000
$DEVICE_MAMPS,218.790,93.330,901.170,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.942,639.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30410,451
$CAP_FILE_SIZE,61630,0
$CFSIZE,260165632,239058944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.132,216.3,1
$GPS,171210,010650,-7637.224,17733.398,11,2.0,11,122.0