version: 66.08
glider: 503
mission: 7
dive: 254
start: 12 17 110 8 17 34
data:
$ID,503
$MISSION,7
$DIVE,254
$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,-19807.107
$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,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
$GPS1,171210,080952,-7636.811,17749.707,9,2.9,28,121.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-72.7
$GPS2,171210,081706,-7636.821,17749.922,12,1.1,28,121.6
$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,296.1,57639,-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,-90.57,0.000,2,0.000,0.000,178,2806,3426,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.1,-5.9,15,138,8.85,2.33,-9.40,0.000,4,0.219,0.045,2521,1375,3856,0,0,0,0,0,0
$GC,234,-0.84,-219.0,30.0,-16.3,36,241,0.00,2.28,0.00,0.000,6,0.000,0.044,2512,2766,3858,0,0,0,0,0,0
$GC,377,-0.84,-219.0,56.5,-19.2,61,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2766,3859,0,0,0,0,0,0
$GC,520,-0.84,-219.0,83.0,-18.8,86,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2766,3859,0,0,0,0,0,0
$GC,664,-0.84,-219.0,110.7,-19.6,107,668,0.00,1.62,0.00,0.000,4,0.000,0.051,2504,3766,3859,0,0,0,0,0,0
$GC,713,-0.84,-219.0,120.9,-20.3,111,720,0.00,1.52,0.00,0.000,6,0.000,0.030,2504,2790,3859,0,0,0,0,0,0
$GC,847,-0.84,-219.0,147.5,-20.0,124,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2790,3859,0,0,0,0,0,0
$GC,974,-0.84,-219.0,173.2,-20.2,136,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2790,3859,0,0,0,0,0,0
$GC,1102,-0.84,-219.0,198.9,-20.3,148,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2790,3859,0,0,0,0,0,0
$GC,1229,-0.84,-219.0,224.0,-19.6,160,1233,0.00,2.20,0.00,0.000,4,0.000,0.032,2504,1371,3860,0,0,0,0,0,0
$GC,1258,-0.84,-219.0,229.5,-19.2,162,1263,0.12,2.28,0.00,0.000,6,0.164,0.045,2530,2781,3859,0,0,0,0,0,0
$GC,1393,-0.84,-219.0,253.0,-17.0,174,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2781,3859,0,0,0,0,0,0
$STATE,1539,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1539,begin apogee
$GC,1544,-0.16,0.0,277.9,17.0,188,1724,0.62,0.00,171.52,0.905,4,0.123,0.000,2741,2688,2959,0,0,0,0,0,0
$STATE,1724,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1726,0.84,219.0,287.5,0.0,204,1922,1.00,2.35,187.25,0.853,4,0.080,0.033,3072,1307,2067,0,0,0,0,0,0
$GC,2129,0.85,227.6,248.9,13.0,239,2142,0.00,2.40,7.65,0.736,6,0.000,0.041,3072,2706,2031,0,0,0,0,0,0
$GC,2271,0.85,227.6,228.2,15.3,252,2275,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1312,2028,0,0,0,0,0,0
$GC,2444,0.85,227.6,203.2,13.7,267,2448,0.00,2.33,0.00,0.000,6,0.000,0.042,3083,2703,2027,0,0,0,0,0,0
$GC,2584,0.85,227.6,181.5,16.0,280,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2703,2027,0,0,0,0,0,0
$GC,2712,0.85,227.6,161.8,15.4,292,2715,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3764,2026,0,0,0,0,0,0
$GC,2750,0.85,227.6,155.2,17.2,295,2758,0.00,1.67,0.00,0.000,6,0.000,0.031,3091,2715,2026,0,0,0,0,0,0
$GC,2884,0.85,227.6,134.2,15.6,308,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2715,2026,0,0,0,0,0,0
$GC,3012,0.85,227.6,114.3,15.4,320,3016,0.00,1.73,0.00,0.000,4,0.000,0.049,3091,3758,2025,0,0,0,0,0,0
$GC,3050,0.85,227.6,107.4,17.7,323,3058,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2719,2025,0,0,0,0,0,0
$GC,3188,0.85,227.6,85.4,15.7,344,3195,0.00,1.73,0.00,0.000,4,0.000,0.049,3099,3763,2025,0,0,0,0,0,0
$GC,3218,0.85,227.6,80.3,17.6,349,3225,0.08,1.65,0.00,0.000,6,0.150,0.032,3081,2728,2024,0,0,0,0,0,0
$GC,3360,0.85,227.6,59.7,14.0,374,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2728,2024,0,0,0,0,0,0
$GC,3502,0.85,227.6,39.3,15.2,399,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2728,2024,0,0,0,0,0,0
$GC,3646,0.85,227.6,19.6,13.5,424,3653,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3765,2024,0,0,0,0,0,0
$GC,3698,0.85,227.6,11.0,16.2,433,3705,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2721,2024,0,0,0,0,0,0
$FREEZE,8.96,-1.408,-1.897,2,1,0
$FREEZE,8.15,-1.396,-1.896,2,1,0
$FREEZE,7.53,-1.394,-1.896,2,1,0
$FREEZE,6.65,-1.393,-1.895,2,1,0
$FREEZE,5.86,-1.390,-1.894,2,1,0
$FREEZE,5.16,-1.393,-1.894,2,1,0
$FREEZE,4.40,-1.393,-1.893,2,1,0
$FREEZE,3.62,-1.393,-1.893,2,1,0
$FREEZE,2.88,-1.388,-1.892,2,1,0
$STATE,3753,end climb,SURFACE_DEPTH_REACHED
$STATE,3753,begin surface coast
$FREEZE,2.07,-1.389,-1.892,2,1,0
$FREEZE,1.15,-1.396,-1.891,2,1,0
$FREEZE,0.40,-1.396,-1.890,2,1,0
$FREEZE,-0.09,-1.401,-1.890,2,1,0
$FINISH,-0.1,1.027713
$STATE,3777,end surface coast,CONTROL_FINISHED_OK
$STATE,3777,begin surface
$SM_CCo,3792,43.38,0.101,0,0,1654,320.11
$SM_GC,0.87,0.00,0.00,43.38,0.000,0.000,0.101,177,2806,1654,-8.19,0.74,320.11
$IRIDIUM_FIX,-7554.21,17750.34,171210,080814
$TT8_MAMPS,0.027713
$HUMID,51.77
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.9
$ALTIM_BOTTOM_PING,251.1,41.1
$24V_AH,22.6,21.299
$10V_AH,9.9,8.869
$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,18.325,35.300,366.425,43.375,0.000,55.373,111.322,92.631,1.000,0.000,31.066,1094.645,1497.684,472.535,1114.333,108.245,0.000,962.497,0.000,774.293,0.000,7.144,0.000
$DEVICE_MAMPS,218.790,85.680,904.995,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.829,631.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,27102,447
$CAP_FILE_SIZE,64179,0
$CFSIZE,260165632,238792704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189, 93.2,1
$GPS,171210,092220,-7636.603,17753.691,11,1.2,11,121.5