version: 66.08
glider: 503
mission: 7
dive: 253
start: 12 17 110 7 5 0
data:
$ID,503
$MISSION,7
$DIVE,253
$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,-19805.85
$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,43
$R_STBD_OVSHOOT,49
$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
$GPS1,171210,070006,-7636.944,17746.412,38,1.0,38,121.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-74.1
$GPS2,171210,070432,-7636.954,17746.535,11,1.7,11,121.7
$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,291.1,59122,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.78,0.000,2,0.000,0.000,180,2806,3446,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.4,-7.2,15,138,8.85,2.33,-8.80,0.000,4,0.220,0.044,2525,1374,3857,0,0,0,0,0,0
$GC,389,-0.84,-219.0,56.8,-16.0,64,396,0.00,2.28,0.00,0.000,6,0.000,0.045,2515,2766,3860,0,0,0,0,0,0
$GC,529,-0.84,-219.0,83.1,-19.7,89,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3859,0,0,0,0,0,0
$GC,675,-0.84,-219.0,111.3,-19.2,110,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,802,-0.84,-219.0,136.0,-19.3,122,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,930,-0.84,-219.0,160.3,-18.6,134,934,0.00,1.60,0.00,0.000,4,0.000,0.051,2506,3760,3860,0,0,0,0,0,0
$GC,964,-0.84,-219.0,166.9,-19.2,137,968,0.00,1.55,0.00,0.000,6,0.000,0.031,2507,2773,3860,0,0,0,0,0,0
$GC,1104,-0.84,-219.0,193.7,-18.9,150,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3860,0,0,0,0,0,0
$GC,1231,-0.84,-219.0,218.2,-19.2,162,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3860,0,0,0,0,0,0
$GC,1359,-0.84,-219.0,242.2,-18.9,174,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3860,0,0,0,0,0,0
$GC,1486,-0.84,-219.0,266.1,-19.0,186,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2772,3860,0,0,0,0,0,0
$STATE,1548,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1548,begin apogee
$GC,1553,-0.16,0.0,277.9,18.4,192,1732,0.73,0.00,171.55,0.905,4,0.130,0.000,2745,2684,2960,0,0,0,0,0,0
$STATE,1733,end apogee,CONTROL_FINISHED_OK
$STATE,1733,begin climb
$GC,1735,0.84,219.0,287.3,0.0,208,1931,0.93,1.90,187.50,0.850,4,0.080,0.052,3067,3756,2066,0,0,1,0,0,0
$GC,2092,0.84,219.0,244.8,16.1,239,2100,0.00,1.73,0.00,0.000,6,0.000,0.028,3075,2718,2057,0,0,1,0,0,0
$GC,2227,0.84,219.0,225.0,14.5,252,2231,0.00,2.35,0.00,0.000,4,0.000,0.034,3085,1298,2056,0,0,0,0,0,0
$GC,2424,0.84,222.9,197.7,13.2,269,2428,0.00,2.35,0.00,0.000,6,0.000,0.041,3085,2708,2053,0,0,0,0,0,0
$GC,2558,0.84,222.9,177.6,15.4,281,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2708,2053,0,0,0,0,0,0
$GC,2686,0.84,222.9,158.2,15.2,293,2689,0.00,1.73,0.00,0.000,4,0.000,0.048,3085,3754,2052,0,0,0,0,0,0
$GC,2730,0.84,222.9,150.8,17.2,297,2734,0.00,1.62,0.00,0.000,6,0.000,0.031,3094,2701,2052,0,0,1,0,0,0
$GC,2870,0.84,222.9,129.3,14.8,310,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2700,2052,0,0,0,0,0,0
$GC,2998,0.84,222.9,109.7,15.4,322,3001,0.00,1.73,0.00,0.000,4,0.000,0.048,3094,3772,2051,0,0,0,0,0,0
$GC,3046,0.84,222.9,101.1,16.5,326,3055,0.08,1.65,0.00,0.000,6,0.158,0.031,3078,2719,2051,0,0,1,0,0,0
$GC,3189,0.84,222.9,81.2,14.2,350,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2718,2051,0,0,0,0,0,0
$GC,3328,0.84,222.9,61.6,13.9,375,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2719,2051,0,0,0,0,0,0
$GC,3468,0.84,222.9,42.4,13.7,400,3474,0.00,1.70,0.00,0.000,4,0.000,0.049,3078,3756,2051,0,0,0,0,0,0
$GC,3526,0.84,222.9,33.8,15.3,410,3532,0.00,1.62,0.00,0.000,6,0.000,0.031,3084,2725,2051,0,0,0,0,0,0
$GC,3668,0.84,222.9,13.1,14.2,435,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2725,2051,0,0,0,0,0,0
$FREEZE,8.78,-1.415,-1.897,2,1,0
$FREEZE,8.07,-1.416,-1.896,2,1,0
$FREEZE,7.40,-1.418,-1.896,2,1,0
$FREEZE,6.73,-1.413,-1.895,2,1,0
$FREEZE,5.98,-1.412,-1.895,2,1,0
$FREEZE,5.24,-1.417,-1.894,2,1,0
$FREEZE,4.62,-1.415,-1.894,2,1,0
$FREEZE,3.68,-1.413,-1.893,2,1,0
$FREEZE,3.04,-1.418,-1.892,2,1,0
$FREEZE,2.19,-1.425,-1.892,2,1,0
$STATE,3743,end climb,SURFACE_DEPTH_REACHED
$STATE,3743,begin surface coast
$FREEZE,1.46,-1.415,-1.891,2,1,0
$FREEZE,0.41,-1.417,-1.890,2,1,0
$FREEZE,-0.04,-1.428,-1.890,2,1,0
$FINISH,-0.0,1.027713
$STATE,3761,end surface coast,CONTROL_FINISHED_OK
$STATE,3761,begin surface
$SM_CCo,3777,46.70,0.101,0,0,1655,320.11
$SM_GC,0.93,0.00,0.00,46.70,0.000,0.000,0.101,178,2806,1655,-8.20,0.74,320.11
$IRIDIUM_FIX,-7554.21,17750.34,171210,050519
$TT8_MAMPS,0.027713
$HUMID,52.40
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.1
$ALTIM_BOTTOM_PING,250.4,41.6
$24V_AH,22.6,21.195
$10V_AH,10.0,8.830
$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,18.250,26.300,359.050,46.700,0.000,29.989,40.021,99.018,0.750,0.000,13.800,1110.781,1430.511,454.896,1007.312,103.843,0.000,935.117,0.000,773.284,0.000,7.145,0.000
$DEVICE_MAMPS,219.555,100.215,904.995,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.893,645.254,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26975,452
$CAP_FILE_SIZE,60920,0
$CFSIZE,260165632,238833664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.157,124.8,1
$GPS,171210,080952,-7636.811,17749.707,9,2.9,28,121.6