version: 66.08
glider: 503
mission: 7
dive: 251
start: 12 17 110 4 44 23
data:
$ID,503
$MISSION,7
$DIVE,251
$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,-19803.34
$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,47
$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
$GPS1,171210,043930,-7637.217,17740.359,40,1.6,45,121.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.9
$GPS2,171210,044355,-7637.234,17740.502,8,1.6,13,121.9
$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,283.9,61781,-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,-219.0,0.0,0.0,0,113,0.00,0.00,-94.62,0.000,2,0.000,0.000,181,2807,3559,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.2,-11.1,16,137,8.82,2.35,-5.88,0.000,4,0.218,0.045,2524,1368,3856,0,0,0,0,0,0
$GC,341,-0.84,-219.0,50.1,-16.1,56,348,0.00,2.28,0.00,0.000,6,0.000,0.045,2514,2760,3859,0,0,0,0,0,0
$GC,482,-0.84,-219.0,76.0,-18.6,81,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3860,0,0,0,0,0,0
$GC,622,-0.84,-219.0,102.7,-18.9,105,625,0.00,1.62,0.00,0.000,4,0.000,0.050,2506,3794,3859,0,0,0,0,0,0
$GC,659,-0.84,-219.0,110.5,-20.6,108,667,0.00,1.60,0.00,0.000,6,0.000,0.030,2506,2770,3859,0,0,0,0,0,0
$GC,794,-0.84,-219.0,136.1,-18.7,121,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2770,3859,0,0,0,0,0,0
$GC,921,-0.84,-219.0,159.9,-18.9,133,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2770,3859,0,0,0,0,0,0
$GC,1049,-0.84,-219.0,183.7,-18.9,145,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2770,3859,0,0,0,0,0,0
$GC,1177,-0.84,-219.0,207.4,-18.7,157,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2770,3860,0,0,0,0,0,0
$GC,1304,-0.84,-219.0,231.1,-18.5,169,1307,0.00,1.62,0.00,0.000,4,0.000,0.050,2498,3793,3860,0,0,0,0,0,0
$GC,1330,-0.84,-219.0,236.7,-19.4,171,1339,0.08,1.58,0.00,0.000,6,0.145,0.030,2524,2782,3859,0,0,0,0,0,0
$GC,1465,-0.84,-219.0,259.3,-16.9,184,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2782,3860,0,0,0,0,0,0
$STATE,1581,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1581,begin apogee
$GC,1586,-0.16,0.0,278.6,17.0,195,1764,0.65,0.00,171.48,0.906,4,0.126,0.000,2741,2697,2959,0,0,0,0,0,0
$STATE,1765,end apogee,CONTROL_FINISHED_OK
$STATE,1765,begin climb
$GC,1767,0.84,219.0,287.5,0.0,211,1962,1.00,2.38,187.02,0.851,4,0.087,0.033,3066,1306,2066,0,0,0,0,0,0
$GC,2113,0.85,232.5,254.9,12.8,241,2133,0.00,2.42,12.30,0.782,6,0.000,0.041,3066,2694,2012,0,0,1,0,0,0
$GC,2323,0.85,232.5,226.1,14.1,261,2327,0.00,2.30,0.00,0.000,4,0.000,0.034,3076,1310,2008,0,0,0,0,0,0
$GC,2475,0.86,232.8,205.7,13.3,274,2480,0.00,2.33,0.00,0.000,6,0.000,0.042,3077,2712,2006,0,0,1,0,0,0
$GC,2609,0.86,232.8,185.7,15.5,286,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2712,2005,0,0,0,0,0,0
$GC,2736,0.86,232.8,166.4,14.7,298,2740,0.00,1.73,0.00,0.000,4,0.000,0.049,3077,3756,2005,0,0,0,0,0,0
$GC,2781,0.86,232.8,159.2,16.3,302,2785,0.00,1.62,0.00,0.000,6,0.000,0.031,3084,2701,2005,0,0,1,0,0,0
$GC,2921,0.86,232.8,137.9,14.9,315,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2700,2005,0,0,0,0,0,0
$GC,3048,0.86,232.8,119.0,15.0,327,3052,0.00,1.73,0.00,0.000,4,0.000,0.050,3085,3770,2004,0,0,1,0,0,0
$GC,3086,0.86,232.8,112.6,16.5,330,3095,0.00,1.70,0.00,0.000,6,0.000,0.030,3093,2705,2004,0,0,0,0,0,0
$GC,3224,0.86,232.8,92.2,15.0,347,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2705,2004,0,0,0,0,0,0
$GC,3363,0.86,232.8,71.2,14.6,372,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2705,2004,0,0,0,0,0,0
$GC,3504,0.86,232.8,50.3,15.3,397,3511,0.00,1.73,0.00,0.000,4,0.000,0.050,3093,3755,2003,0,0,0,0,0,0
$GC,3554,0.86,232.8,41.8,16.9,406,3562,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2712,2003,0,0,0,0,0,0
$GC,3699,0.86,232.8,19.8,15.1,431,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2711,2003,0,0,0,0,0,0
$FREEZE,8.44,-1.376,-1.896,2,1,0
$FREEZE,7.60,-1.385,-1.896,2,1,0
$FREEZE,6.73,-1.386,-1.895,2,1,0
$FREEZE,5.90,-1.389,-1.895,2,1,0
$FREEZE,5.04,-1.394,-1.894,2,1,0
$FREEZE,4.20,-1.394,-1.894,2,1,0
$FREEZE,3.30,-1.394,-1.893,2,1,0
$FREEZE,2.58,-1.386,-1.892,2,1,0
$STATE,3805,end climb,SURFACE_DEPTH_REACHED
$STATE,3805,begin surface coast
$FREEZE,1.52,-1.372,-1.891,2,1,0
$FREEZE,0.74,-1.374,-1.891,2,1,0
$FREEZE,-0.04,-1.386,-1.891,2,1,0
$FINISH,-0.0,1.027724
$STATE,3823,end surface coast,CONTROL_FINISHED_OK
$STATE,3824,begin surface
$SM_CCo,3839,41.38,0.100,0,0,1655,320.11
$SM_GC,0.81,0.00,0.00,41.38,0.000,0.000,0.100,182,2801,1655,-8.18,0.59,320.11
$IRIDIUM_FIX,-7554.21,17731.03,171210,030303
$TT8_MAMPS,0.027713
$HUMID,52.04
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,20.0
$ALTIM_BOTTOM_PING,250.4,41.8
$24V_AH,22.6,20.999
$10V_AH,10.0,8.755
$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,18.250,30.825,370.800,41.375,0.000,30.733,41.613,93.908,1.000,0.000,16.142,1105.452,1486.107,465.440,1001.489,104.964,0.000,951.791,0.000,772.337,0.000,7.144,0.000
$DEVICE_MAMPS,218.025,100.215,905.760,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.227,639.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,30315,453
$CAP_FILE_SIZE,61978,0
$CFSIZE,260165632,238903296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.176,147.0,1
$GPS,171210,054956,-7637.144,17743.121,14,1.0,14,121.8