version: 66.08
glider: 503
mission: 7
dive: 249
start: 12 17 110 2 25 35
data:
$ID,503
$MISSION,7
$DIVE,249
$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,-19800.828
$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,48
$R_STBD_OVSHOOT,46
$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
$GPS1,171210,021824,-7637.260,17735.283,45,1.3,45,122.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-71.7
$GPS2,171210,022507,-7637.293,17735.445,29,1.4,29,122.0
$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,293.3,63940,-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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-94.75,0.000,2,0.000,0.000,178,2801,3559,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.9,-10.3,16,136,8.85,2.35,-5.90,0.000,4,0.218,0.044,2520,1371,3856,0,0,0,0,0,0
$GC,281,-0.84,-219.0,41.4,-16.6,45,288,0.00,2.28,0.00,0.000,6,0.000,0.044,2510,2761,3860,0,0,0,0,0,0
$GC,425,-0.84,-219.0,68.3,-19.3,70,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2761,3860,0,0,0,0,0,0
$GC,566,-0.84,-219.0,96.0,-19.3,95,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2761,3859,0,0,0,0,0,0
$GC,706,-0.84,-219.0,123.3,-19.3,110,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2761,3859,0,0,0,0,0,0
$GC,834,-0.84,-219.0,147.8,-19.7,122,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2761,3860,0,0,0,0,0,0
$GC,961,-0.84,-219.0,172.3,-19.0,134,965,0.00,1.60,0.00,0.000,4,0.000,0.051,2502,3755,3860,0,0,0,0,0,0
$GC,994,-0.84,-219.0,179.0,-21.3,137,998,0.00,1.52,0.00,0.000,6,0.000,0.031,2503,2778,3860,0,0,0,0,0,0
$GC,1133,-0.84,-219.0,206.2,-19.6,150,1137,0.00,2.20,0.00,0.000,4,0.000,0.033,2503,1365,3860,0,0,0,0,0,0
$GC,1176,-0.84,-219.0,214.5,-17.4,153,1185,0.08,2.30,0.00,0.000,6,0.134,0.045,2523,2761,3860,0,0,0,0,0,0
$GC,1311,-0.84,-219.0,237.2,-17.0,166,1314,0.00,1.62,0.00,0.000,4,0.000,0.052,2516,3796,3860,0,0,0,0,0,0
$GC,1345,-0.84,-219.0,243.4,-19.0,169,1349,0.00,1.60,0.00,0.000,6,0.000,0.031,2516,2770,3860,0,0,0,0,0,0
$GC,1484,-0.84,-219.0,268.3,-17.8,182,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3860,0,0,0,0,0,0
$STATE,1525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1525,begin apogee
$GC,1531,-0.16,0.0,275.9,18.0,186,1710,0.68,0.00,171.77,0.903,4,0.124,0.000,2741,2685,2959,0,0,0,0,0,0
$STATE,1711,end apogee,CONTROL_FINISHED_OK
$STATE,1711,begin climb
$GC,1713,0.84,219.0,285.5,0.0,202,1908,1.00,2.35,187.27,0.848,4,0.078,0.034,3074,1311,2067,0,0,0,0,0,0
$GC,1933,0.86,236.0,268.3,12.6,221,1957,0.00,2.45,16.58,0.783,6,0.000,0.041,3074,2700,1997,0,0,1,0,0,0
$GC,2148,0.86,236.0,237.3,14.6,241,2152,0.00,1.80,0.00,0.000,4,0.000,0.049,3074,3763,1990,0,0,0,0,0,0
$GC,2209,0.86,236.0,226.9,16.9,246,2216,0.00,1.70,0.00,0.000,6,0.000,0.030,3082,2725,1989,0,0,1,0,0,0
$GC,2343,0.86,236.0,206.3,15.4,259,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2724,1988,0,0,0,0,0,0
$GC,2470,0.86,236.0,186.6,15.5,271,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2724,1988,0,0,0,0,0,0
$GC,2598,0.86,236.0,166.8,15.6,283,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2724,1987,0,0,0,0,0,0
$GC,2726,0.86,236.0,147.9,14.7,295,2729,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3765,1986,0,0,0,0,0,0
$GC,2763,0.86,236.0,141.5,16.4,298,2771,0.00,1.70,0.00,0.000,6,0.000,0.031,3090,2703,1986,0,0,0,0,0,0
$GC,2898,0.86,236.0,121.3,15.0,311,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2703,1986,0,0,0,0,0,0
$GC,3026,0.86,236.0,102.5,14.4,323,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2703,1986,0,0,0,0,0,0
$GC,3157,0.86,236.0,82.9,14.3,345,3164,0.00,1.75,0.00,0.000,4,0.000,0.050,3089,3784,1986,0,0,0,0,0,0
$GC,3187,0.86,236.0,78.0,15.9,350,3194,0.00,1.70,0.00,0.000,6,0.000,0.032,3099,2720,1985,0,0,0,0,0,0
$GC,3329,0.86,236.0,56.2,14.8,375,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2720,1985,0,0,0,0,0,0
$GC,3471,0.86,236.0,33.6,15.4,400,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2720,1985,0,0,0,0,0,0
$GC,3612,0.86,236.0,12.2,15.1,425,3619,0.00,1.70,0.00,0.000,4,0.000,0.049,3099,3756,1985,0,0,0,0,0,0
$FREEZE,8.85,-1.412,-1.897,2,1,0
$FREEZE,7.95,-1.407,-1.896,2,1,0
$FREEZE,7.01,-1.409,-1.895,2,1,0
$GC,3642,0.86,236.0,7.0,17.1,430,3650,0.08,1.62,0.00,0.000,6,0.159,0.031,3083,2720,1984,0,0,1,0,0,0
$FREEZE,4.44,-1.403,-1.894,2,1,0
$FREEZE,3.73,-1.399,-1.893,2,1,0
$FREEZE,2.87,-1.403,-1.892,2,1,0
$STATE,3666,end climb,SURFACE_DEPTH_REACHED
$STATE,3666,begin surface coast
$FREEZE,2.10,-1.400,-1.892,2,1,0
$FREEZE,1.35,-1.400,-1.891,2,1,0
$FREEZE,0.45,-1.401,-1.890,2,1,0
$FINISH,0.5,1.027712
$STATE,3686,end surface coast,CONTROL_FINISHED_OK
$STATE,3686,begin surface
$SM_CCo,3702,39.15,0.100,0,0,1654,320.11
$SM_GC,0.64,0.00,0.00,39.15,0.000,0.000,0.100,177,2807,1654,-8.20,0.76,320.11
$IRIDIUM_FIX,-7554.21,17731.43,171210,020247
$TT8_MAMPS,0.027713
$HUMID,51.77
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.7
$ALTIM_BOTTOM_PING,251.3,39.1
$24V_AH,22.6,20.800
$10V_AH,9.9,8.679
$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,18.300,34.125,375.625,39.150,0.000,54.291,76.715,97.180,0.750,0.000,31.682,1063.092,1488.718,472.643,1028.750,108.474,0.000,944.722,0.000,721.968,0.000,7.138,0.000
$DEVICE_MAMPS,218.025,98.685,903.465,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.639,619.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,27164,437
$CAP_FILE_SIZE,63420,0
$CFSIZE,260165632,238989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.163,178.3,1
$GPS,171210,032843,-7637.236,17737.928,9,1.4,9,121.9