version: 66.08
glider: 503
mission: 7
dive: 252
start: 12 17 110 5 54 36
data:
$ID,503
$MISSION,7
$DIVE,252
$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,-19804.594
$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,46
$R_STBD_OVSHOOT,40
$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
$GPS1,171210,054956,-7637.144,17743.121,14,1.0,14,121.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.5
$GPS2,171210,055408,-7637.157,17743.262,11,1.0,11,121.8
$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,286.7,60585,-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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-90.80,0.000,2,0.000,0.000,181,2801,3446,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.3,-7.3,15,138,8.85,2.33,-8.77,0.000,4,0.219,0.044,2526,1370,3856,0,0,0,0,0,0
$GC,344,-0.84,-219.0,51.1,-18.2,56,351,0.00,2.30,0.00,0.000,6,0.000,0.044,2516,2775,3859,0,0,0,0,0,0
$GC,486,-0.84,-219.0,78.7,-19.5,81,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3859,0,0,0,0,0,0
$GC,631,-0.84,-219.0,106.8,-18.8,104,634,0.00,1.60,0.00,0.000,4,0.000,0.050,2508,3765,3858,0,0,0,0,0,0
$GC,689,-0.84,-219.0,118.0,-19.3,109,692,0.00,1.55,0.00,0.000,6,0.000,0.031,2508,2773,3859,0,0,0,0,0,0
$GC,829,-0.84,-219.0,145.2,-19.3,122,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3859,0,0,0,0,0,0
$GC,955,-0.84,-219.0,169.7,-19.0,134,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2773,3859,0,0,0,0,0,0
$GC,1083,-0.84,-219.0,193.7,-18.8,146,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3858,0,0,0,0,0,0
$GC,1211,-0.84,-219.0,216.9,-17.9,158,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3859,0,0,0,0,0,0
$GC,1338,-0.84,-219.0,239.2,-17.6,170,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3859,0,0,0,0,0,0
$GC,1465,-0.84,-219.0,261.9,-17.8,182,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2773,3859,0,0,0,0,0,0
$STATE,1559,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1559,begin apogee
$GC,1564,-0.16,0.0,278.6,17.7,191,1743,0.70,0.00,171.27,0.906,4,0.126,0.000,2740,2689,2959,0,0,0,0,0,0
$STATE,1744,end apogee,CONTROL_FINISHED_OK
$STATE,1744,begin climb
$GC,1746,0.84,219.0,287.7,0.0,207,1941,1.00,2.38,187.02,0.853,4,0.082,0.033,3069,1301,2067,0,0,0,0,0,0
$GC,1946,0.84,219.0,274.1,13.4,224,1954,0.00,2.53,0.00,0.000,6,0.000,0.041,3069,2701,2065,0,0,1,0,0,0
$GC,2144,0.84,219.0,245.0,15.1,243,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2700,2057,0,0,0,0,0,0
$GC,2271,0.84,219.0,226.7,14.2,255,2275,0.00,1.75,0.00,0.000,4,0.000,0.049,3069,3763,2056,0,0,0,0,0,0
$GC,2306,0.84,219.0,221.3,15.9,258,2310,0.00,1.65,0.00,0.000,6,0.000,0.031,3077,2715,2055,0,0,1,0,0,0
$GC,2446,0.84,219.0,199.5,15.5,271,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2713,2054,0,0,0,0,0,0
$GC,2573,0.84,219.0,180.2,15.0,283,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2713,2054,0,0,0,0,0,0
$GC,2701,0.84,219.0,161.0,15.4,295,2704,0.00,1.70,0.00,0.000,4,0.000,0.049,3077,3764,2053,0,0,0,0,0,0
$GC,2738,0.84,219.0,154.6,16.4,298,2746,0.00,1.70,0.00,0.000,6,0.000,0.031,3085,2706,2052,0,0,0,0,0,0
$GC,2873,0.84,219.0,133.8,15.3,311,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2706,2053,0,0,0,0,0,0
$GC,3000,0.84,219.0,115.2,14.1,323,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2706,2052,0,0,0,0,0,0
$GC,3128,0.84,219.0,97.5,13.9,336,3135,0.00,1.75,0.00,0.000,4,0.000,0.050,3085,3788,2052,0,0,0,0,0,0
$GC,3179,0.84,219.0,89.5,16.8,345,3187,0.00,1.70,0.00,0.000,6,0.000,0.031,3093,2721,2052,0,0,0,0,0,0
$GC,3323,0.84,219.0,68.5,14.9,370,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2721,2052,0,0,0,0,0,0
$GC,3463,0.84,219.0,47.6,14.3,395,3470,0.00,1.70,0.00,0.000,4,0.000,0.049,3093,3756,2051,0,0,0,0,0,0
$GC,3515,0.84,219.0,39.0,17.2,404,3523,0.08,1.65,0.00,0.000,6,0.158,0.032,3077,2719,2051,0,0,0,0,0,0
$GC,3656,0.84,219.0,18.7,14.3,429,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2719,2051,0,0,0,0,0,0
$FREEZE,8.29,-1.421,-1.897,2,1,0
$FREEZE,7.54,-1.432,-1.896,2,1,0
$FREEZE,6.74,-1.421,-1.896,2,1,0
$FREEZE,6.08,-1.415,-1.895,2,1,0
$FREEZE,5.31,-1.417,-1.894,2,1,0
$FREEZE,4.59,-1.408,-1.894,2,1,0
$FREEZE,3.73,-1.396,-1.893,2,1,0
$FREEZE,2.93,-1.397,-1.893,2,1,0
$STATE,3768,end climb,SURFACE_DEPTH_REACHED
$STATE,3769,begin surface coast
$FREEZE,1.71,-1.401,-1.892,2,1,0
$FREEZE,0.93,-1.399,-1.891,2,1,0
$FREEZE,0.10,-1.398,-1.890,2,1,0
$FREEZE,-0.12,-1.437,-1.786,2,1,0
$FINISH,-0.1,1.026240
$STATE,3791,end surface coast,CONTROL_FINISHED_OK
$STATE,3792,begin surface
$SM_CCo,3807,46.30,0.100,0,0,1655,320.11
$SM_GC,0.91,0.00,0.00,46.30,0.000,0.000,0.100,181,2805,1655,-8.19,0.74,320.11
$IRIDIUM_FIX,-7554.21,17653.85,171210,040401
$TT8_MAMPS,0.027713
$HUMID,52.12
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.0
$ALTIM_BOTTOM_PING,250.5,41.7
$24V_AH,22.6,21.097
$10V_AH,10.0,8.792
$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,18.250,26.450,358.300,46.300,0.000,29.489,36.206,90.651,0.750,0.000,14.299,1100.819,1518.790,456.455,943.488,103.574,0.000,920.347,0.000,727.516,0.000,7.987,0.000
$DEVICE_MAMPS,218.790,101.745,905.760,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.453,640.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,27066,453
$CAP_FILE_SIZE,60510,0
$CFSIZE,260165632,238870528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.169,134.6,1
$GPS,171210,070006,-7636.944,17746.412,38,1.0,38,121.7