version: 66.08
glider: 503
mission: 7
dive: 250
start: 12 17 110 3 33 30
data:
$ID,503
$MISSION,7
$DIVE,250
$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,-19802.084
$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,52
$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
$GPS1,171210,032843,-7637.236,17737.928,9,1.4,9,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-71.8
$GPS2,171210,033302,-7637.258,17738.047,11,1.2,11,121.9
$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,287.8,62827,-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,-219.0,0.0,0.0,0,107,0.00,0.00,-89.12,0.000,2,0.000,0.000,177,2807,3396,0,0,0,0,0,0
$GC,109,-0.84,-219.0,3.1,-6.1,15,136,8.85,2.30,-10.25,0.000,4,0.219,0.042,2526,1365,3855,0,0,0,0,0,0
$GC,326,-0.84,-219.0,44.8,-16.3,53,334,0.00,2.28,0.00,0.000,6,0.000,0.044,2515,2758,3857,0,0,0,0,0,0
$GC,469,-0.84,-219.0,71.1,-18.7,78,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2759,3858,0,0,0,0,0,0
$GC,609,-0.84,-219.0,97.7,-18.8,103,616,0.00,1.62,0.00,0.000,4,0.000,0.050,2507,3765,3858,0,0,0,0,0,0
$GC,645,-0.84,-219.0,104.5,-19.7,107,648,0.00,1.55,0.00,0.000,6,0.000,0.031,2507,2774,3858,0,0,0,0,0,0
$GC,784,-0.84,-219.0,131.2,-19.2,120,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2774,3858,0,0,0,0,0,0
$GC,911,-0.84,-219.0,155.7,-19.1,132,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2774,3858,0,0,0,0,0,0
$GC,1039,-0.84,-219.0,180.1,-19.1,144,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2774,3858,0,0,0,0,0,0
$GC,1167,-0.84,-219.0,204.4,-18.7,156,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3857,0,0,0,0,0,0
$GC,1294,-0.84,-219.0,228.3,-18.5,168,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2774,3858,0,0,0,0,0,0
$GC,1424,-0.84,-219.0,251.9,-18.2,180,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2774,3858,0,0,0,0,0,0
$STATE,1557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1558,begin apogee
$GC,1563,-0.16,0.0,277.1,18.2,193,1742,0.73,0.00,171.00,0.903,4,0.126,0.000,2747,2694,2959,0,0,0,0,0,0
$STATE,1743,end apogee,CONTROL_FINISHED_OK
$STATE,1743,begin climb
$GC,1745,0.84,219.0,285.6,0.0,209,1941,0.98,2.38,186.88,0.849,4,0.076,0.033,3073,1297,2067,0,0,0,0,0,0
$GC,2141,0.84,219.0,245.7,14.1,244,2150,0.00,2.45,0.00,0.000,6,0.000,0.041,3074,2701,2057,0,0,0,0,0,0
$GC,2276,0.84,219.0,226.3,14.3,257,2280,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1305,2055,0,0,0,0,0,0
$GC,2441,0.84,219.0,202.1,14.5,271,2449,0.00,2.38,0.00,0.000,6,0.000,0.043,3084,2710,2054,0,0,1,0,0,0
$GC,2576,0.84,219.0,181.6,15.5,284,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2711,2053,0,0,0,0,0,0
$GC,2703,0.84,219.0,161.6,15.4,296,2707,0.00,1.70,0.00,0.000,4,0.000,0.048,3084,3771,2052,0,0,0,0,0,0
$GC,2752,0.84,219.0,153.0,17.4,300,2761,0.00,1.67,0.00,0.000,6,0.000,0.030,3092,2709,2051,0,0,1,0,0,0
$GC,2887,0.84,219.0,131.9,15.7,313,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2709,2051,0,0,0,0,0,0
$GC,3015,0.84,219.0,112.2,15.3,325,3018,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3766,2051,0,0,0,0,0,0
$GC,3049,0.84,219.0,106.5,17.4,328,3053,0.12,1.62,0.00,0.000,6,0.175,0.032,3068,2706,2051,0,0,1,0,0,0
$GC,3185,0.84,219.0,87.8,13.5,348,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2705,2051,0,0,0,0,0,0
$GC,3326,0.84,219.0,69.4,13.4,373,3332,0.00,1.75,0.00,0.000,4,0.000,0.050,3067,3790,2051,0,0,0,0,0,0
$GC,3366,0.84,219.0,63.3,14.9,380,3374,0.00,1.70,0.00,0.000,6,0.000,0.031,3074,2718,2051,0,0,0,0,0,0
$GC,3509,0.84,219.0,43.4,13.6,405,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2718,2050,0,0,0,0,0,0
$GC,3649,0.84,219.0,23.7,13.8,430,3656,0.00,1.70,0.00,0.000,4,0.000,0.049,3075,3759,2051,0,0,0,0,0,0
$GC,3695,0.84,219.0,16.7,15.7,438,3702,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2728,2050,0,0,0,0,0,0
$FREEZE,8.36,-1.384,-1.896,2,1,0
$FREEZE,7.44,-1.379,-1.896,2,1,0
$FREEZE,6.73,-1.390,-1.896,2,1,0
$FREEZE,5.97,-1.391,-1.895,2,1,0
$FREEZE,5.19,-1.385,-1.894,2,1,0
$FREEZE,4.46,-1.385,-1.894,2,1,0
$FREEZE,3.66,-1.389,-1.893,2,1,0
$FREEZE,2.83,-1.385,-1.892,2,1,0
$STATE,3790,end climb,SURFACE_DEPTH_REACHED
$STATE,3791,begin surface coast
$FREEZE,1.96,-1.370,-1.892,2,1,0
$FREEZE,1.10,-1.367,-1.891,2,1,0
$FREEZE,0.36,-1.368,-1.890,2,1,0
$FREEZE,-0.09,-1.366,-1.890,2,1,0
$FINISH,-0.1,1.027714
$STATE,3813,end surface coast,CONTROL_FINISHED_OK
$STATE,3813,begin surface
$SM_CCo,3829,46.58,0.101,0,0,1654,320.11
$SM_GC,0.95,0.00,0.00,46.58,0.000,0.000,0.101,181,2806,1654,-8.18,0.74,320.11
$IRIDIUM_FIX,-7554.21,17740.33,171210,020255
$TT8_MAMPS,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.8
$ALTIM_BOTTOM_PING,251.9,39.1
$24V_AH,22.6,20.898
$10V_AH,10.0,8.717
$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,18.300,30.925,357.875,46.575,0.000,24.846,38.399,98.831,0.750,0.000,13.813,1116.819,1455.248,467.763,1004.773,107.267,0.000,952.496,0.000,779.126,0.000,7.142,0.000
$DEVICE_MAMPS,218.790,101.745,903.465,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.517,651.808,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,30300,459
$CAP_FILE_SIZE,62088,0
$CFSIZE,260165632,238944256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.181,161.2,1
$GPS,171210,043930,-7637.217,17740.359,40,1.6,45,121.9