version: 66.08
glider: 503
mission: 7
dive: 248
start: 12 17 110 1 11 30
data:
$ID,503
$MISSION,7
$DIVE,248
$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,-19799.568
$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,42
$R_STBD_OVSHOOT,47
$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
$GPS1,171210,010650,-7637.224,17733.398,11,2.0,11,122.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-72.4
$GPS2,171210,011102,-7637.245,17733.502,9,1.9,9,122.0
$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,301.1,64743,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-94.40,0.000,2,0.000,0.000,184,2805,3549,0,0,0,0,0,0
$GC,114,-0.84,-219.0,4.0,-10.0,16,136,8.80,2.35,-6.18,0.000,4,0.218,0.046,2524,1367,3855,0,0,0,0,0,0
$GC,347,-0.84,-219.0,51.8,-15.5,57,354,0.00,2.28,0.00,0.000,6,0.000,0.044,2514,2760,3859,0,0,0,0,0,0
$GC,489,-0.84,-219.0,78.5,-19.2,82,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$GC,635,-0.84,-219.0,106.5,-18.4,105,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$GC,763,-0.84,-219.0,130.3,-18.4,117,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$GC,891,-0.84,-219.0,153.8,-18.4,129,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$GC,1018,-0.84,-219.0,177.0,-18.0,141,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$GC,1145,-0.84,-219.0,199.9,-17.8,153,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2760,3860,0,0,0,0,0,0
$GC,1273,-0.84,-219.0,222.5,-17.9,165,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$GC,1400,-0.84,-219.0,245.1,-18.0,177,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$GC,1529,-0.84,-219.0,267.6,-17.9,189,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$STATE,1591,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1591,begin apogee
$GC,1596,-0.16,0.0,279.0,17.7,195,1775,0.70,0.00,171.55,0.905,4,0.124,0.000,2747,2682,2959,0,0,0,0,0,0
$STATE,1776,end apogee,CONTROL_FINISHED_OK
$STATE,1776,begin climb
$GC,1778,0.84,219.0,288.8,0.0,211,1974,0.98,2.35,187.02,0.852,4,0.076,0.032,3073,1309,2067,0,0,0,0,0,0
$GC,2087,0.84,219.0,260.6,13.6,238,2091,0.00,2.40,0.00,0.000,6,0.000,0.041,3074,2701,2059,0,0,1,0,0,0
$GC,2284,0.84,219.0,231.9,14.9,256,2288,0.00,2.33,0.00,0.000,4,0.000,0.035,3084,1316,2055,0,0,0,0,0,0
$GC,2460,0.84,219.0,206.9,14.1,271,2468,0.00,2.35,0.00,0.000,6,0.000,0.041,3084,2706,2054,0,0,1,0,0,0
$GC,2594,0.84,219.0,187.3,14.8,284,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2707,2053,0,0,0,0,0,0
$GC,2722,0.84,219.0,167.4,16.1,296,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2707,2053,0,0,0,0,0,0
$GC,2850,0.84,219.0,148.0,15.0,308,2854,0.00,1.73,0.00,0.000,4,0.000,0.049,3084,3759,2052,0,0,0,0,0,0
$GC,2910,0.84,219.0,137.6,17.2,313,2918,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2721,2052,0,0,0,0,0,0
$GC,3045,0.84,219.0,116.9,15.6,326,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2721,2052,0,0,0,0,0,0
$GC,3172,0.84,219.0,97.2,15.0,339,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2721,2051,0,0,0,0,0,0
$GC,3312,0.84,219.0,76.0,14.2,364,3320,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3756,2051,0,0,0,0,0,0
$GC,3349,0.84,219.0,69.9,17.0,370,3357,0.08,1.67,0.00,0.000,6,0.161,0.031,3066,2703,2051,0,0,0,0,0,0
$GC,3491,0.84,224.4,50.9,13.1,395,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2703,2051,0,0,0,0,0,0
$GC,3632,0.85,226.4,32.5,13.3,420,3640,0.00,0.00,4.93,0.662,6,0.000,0.000,3066,2703,2037,0,0,0,0,0,0
$GC,3777,0.87,248.6,13.7,12.4,445,3803,0.00,1.80,21.45,0.757,4,0.000,0.049,3065,3765,1946,0,0,0,0,0,0
$FREEZE,8.98,-1.381,-1.897,2,1,0
$FREEZE,8.30,-1.364,-1.896,2,1,0
$FREEZE,7.66,-1.359,-1.895,2,1,0
$GC,3821,0.87,248.6,7.7,13.8,452,3829,0.00,1.67,0.00,0.000,6,0.000,0.031,3073,2705,1944,0,0,1,0,0,0
$FREEZE,5.24,-1.349,-1.894,2,1,0
$FREEZE,4.59,-1.347,-1.893,2,1,0
$FREEZE,3.86,-1.350,-1.893,2,1,0
$FREEZE,3.16,-1.349,-1.892,2,1,0
$FREEZE,2.42,-1.351,-1.892,2,1,0
$STATE,3857,end climb,SURFACE_DEPTH_REACHED
$STATE,3857,begin surface coast
$FREEZE,1.37,-1.356,-1.891,2,1,0
$FREEZE,0.58,-1.352,-1.890,2,1,0
$FREEZE,-0.07,-1.355,-1.890,2,1,0
$FREEZE,-0.08,-1.435,-1.854,2,1,0
$FINISH,-0.1,1.027205
$STATE,3880,end surface coast,CONTROL_FINISHED_OK
$STATE,3880,begin surface
$SM_CCo,3896,34.33,0.101,0,0,1655,320.11
$SM_GC,0.62,0.00,0.00,34.33,0.000,0.000,0.101,178,2801,1655,-8.19,0.59,320.11
$IRIDIUM_FIX,-7554.21,17731.43,161210,232324
$TT8_MAMPS,0.027713
$HUMID,51.49
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,19.9
$ALTIM_BOTTOM_PING,250.8,43.1
$24V_AH,22.6,20.696
$10V_AH,10.0,8.641
$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,18.250,24.475,384.950,34.325,0.000,29.250,37.835,90.828,1.000,0.000,12.330,1120.870,1524.449,463.962,985.828,105.365,0.000,944.875,0.000,767.813,0.000,7.151,0.000
$DEVICE_MAMPS,218.025,100.980,904.995,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.418,655.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30284,462
$CAP_FILE_SIZE,61636,0
$CFSIZE,260165632,239022080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.153,199.2,1
$GPS,171210,021824,-7637.260,17735.283,45,1.3,45,122.0