version: 66.08
glider: 503
mission: 7
dive: 257
start: 12 17 110 11 50 20
data:
$ID,503
$MISSION,7
$DIVE,257
$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,-5
$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,-19810.881
$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,45
$R_STBD_OVSHOOT,27
$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
$GPS1,171210,114508,-7636.065,17802.301,12,1.8,12,121.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-72.8
$GPS2,171210,114920,-7636.042,17802.490,11,1.8,11,121.3
$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,321.9,52022,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-92.30,0.000,2,0.000,0.000,184,2742,3490,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.5,-8.1,16,135,8.75,2.25,-7.68,0.000,4,0.217,0.046,2520,1361,3855,0,0,0,0,0,0
$GC,374,-0.84,-219.0,55.8,-16.5,62,382,0.00,2.33,0.00,0.000,6,0.000,0.044,2510,2786,3859,0,0,0,0,0,0
$GC,517,-0.84,-219.0,82.8,-18.8,87,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2786,3859,0,0,0,0,0,0
$GC,661,-0.84,-219.0,111.0,-19.3,108,665,0.00,1.58,0.00,0.000,4,0.000,0.052,2502,3760,3859,0,0,0,0,0,0
$GC,699,-0.84,-219.0,119.1,-21.4,111,707,0.00,1.52,0.00,0.000,6,0.000,0.031,2502,2786,3859,0,0,0,0,0,0
$GC,834,-0.84,-219.0,145.8,-20.0,124,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2785,3859,0,0,0,0,0,0
$GC,961,-0.84,-219.0,171.3,-20.2,136,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2785,3860,0,0,0,0,0,0
$GC,1089,-0.84,-219.0,196.2,-19.1,148,1092,0.00,1.60,0.00,0.000,4,0.000,0.050,2494,3764,3859,0,0,0,0,0,0
$GC,1138,-0.84,-219.0,206.7,-20.2,152,1146,0.08,1.52,0.00,0.000,6,0.148,0.031,2521,2785,3860,0,0,0,0,0,0
$GC,1272,-0.84,-219.0,230.3,-17.6,165,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2784,3860,0,0,0,0,0,0
$GC,1400,-0.84,-219.0,252.2,-16.8,177,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2785,3860,0,0,0,0,0,0
$STATE,1570,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1570,begin apogee
$GC,1574,-0.16,0.0,281.8,17.5,193,1754,0.68,0.00,171.73,0.906,4,0.125,0.000,2746,2684,2959,0,0,0,0,0,0
$STATE,1755,end apogee,CONTROL_FINISHED_OK
$STATE,1755,begin climb
$GC,1756,0.84,219.0,289.5,0.0,209,1952,0.98,2.35,187.20,0.852,4,0.078,0.034,3070,1315,2067,0,0,0,0,0,0
$GC,2066,0.85,229.2,262.0,12.9,236,2081,0.00,2.38,9.82,0.757,6,0.000,0.041,3070,2701,2024,0,0,1,0,0,0
$GC,2281,0.85,229.2,231.7,14.3,256,2285,0.00,2.33,0.00,0.000,4,0.000,0.034,3081,1310,2019,0,0,0,0,0,0
$GC,2455,0.85,229.2,207.4,13.5,271,2460,0.00,2.33,0.00,0.000,6,0.000,0.041,3081,2706,2018,0,0,0,0,0,0
$GC,2589,0.85,229.2,187.8,14.4,283,2593,0.00,1.75,0.00,0.000,4,0.000,0.050,3081,3760,2018,0,0,0,0,0,0
$GC,2638,0.85,229.2,179.6,16.6,287,2647,0.00,1.67,0.00,0.000,6,0.000,0.031,3089,2725,2016,0,0,0,0,0,0
$GC,2773,0.85,229.2,159.9,14.5,300,2777,0.00,1.67,0.00,0.000,4,0.000,0.050,3089,3763,2016,0,0,0,0,0,0
$GC,2811,0.85,229.2,153.5,16.6,303,2820,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2730,2016,0,0,0,0,0,0
$GC,2946,0.85,229.2,133.2,15.1,316,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2731,2016,0,0,0,0,0,0
$GC,3073,0.85,229.2,113.5,15.7,328,3077,0.00,1.65,0.00,0.000,4,0.000,0.050,3097,3763,2016,0,0,0,0,0,0
$GC,3108,0.85,229.2,107.7,16.6,331,3112,0.12,1.65,0.00,0.000,6,0.176,0.033,3073,2704,2016,0,0,0,0,0,0
$GC,3245,0.85,229.2,88.7,13.3,351,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2704,2016,0,0,0,0,0,0
$GC,3389,0.85,229.2,69.4,13.9,376,3395,0.00,1.73,0.00,0.000,4,0.000,0.049,3072,3760,2016,0,0,0,0,0,0
$GC,3429,0.85,229.2,63.0,15.7,383,3437,0.00,1.62,0.00,0.000,6,0.000,0.032,3080,2733,2015,0,0,0,0,0,0
$GC,3574,0.85,229.2,41.3,15.2,408,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2733,2015,0,0,0,0,0,0
$GC,3716,0.85,229.2,20.2,14.9,433,3726,0.00,1.67,0.00,0.000,4,0.000,0.050,3080,3758,2015,0,0,0,0,0,0
$GC,3754,0.85,229.2,14.0,16.6,439,3762,0.00,1.58,0.00,0.000,6,0.000,0.032,3087,2759,2015,0,0,0,0,0,0
$FREEZE,8.75,-1.269,-1.896,2,1,0
$FREEZE,7.99,-1.269,-1.896,2,1,0
$FREEZE,7.27,-1.269,-1.895,2,1,0
$FREEZE,6.49,-1.269,-1.895,2,1,0
$FREEZE,5.73,-1.268,-1.894,2,1,0
$FREEZE,4.87,-1.267,-1.893,2,1,0
$FREEZE,4.18,-1.269,-1.893,2,1,0
$FREEZE,3.46,-1.270,-1.892,2,1,0
$FREEZE,2.55,-1.268,-1.892,2,1,0
$STATE,3831,end climb,SURFACE_DEPTH_REACHED
$STATE,3831,begin surface coast
$FREEZE,1.39,-1.266,-1.891,2,1,0
$FREEZE,0.75,-1.263,-1.890,2,1,0
$FREEZE,-0.05,-1.265,-1.890,2,1,0
$FINISH,-0.1,1.027701
$STATE,3850,end surface coast,CONTROL_FINISHED_OK
$STATE,3850,begin surface
$SM_CCo,3864,42.70,0.102,0,0,1655,320.11
$SM_GC,0.78,0.00,0.00,42.70,0.000,0.000,0.102,183,2757,1655,-8.18,-0.65,320.11
$IRIDIUM_FIX,-7545.40,17759.59,171210,101056
$TT8_MAMPS,0.027713
$HUMID,52.36
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,250.4,44.8
$24V_AH,22.6,21.603
$10V_AH,10.0,8.983
$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,18.250,36.925,368.750,42.700,0.000,31.093,37.296,87.777,1.000,0.000,14.179,1123.189,1477.255,474.693,1000.597,132.969,0.000,971.004,0.000,782.830,0.000,7.148,0.000
$DEVICE_MAMPS,217.260,81.855,905.760,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.251,643.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267304
$DATA_FILE_SIZE,30372,456
$CAP_FILE_SIZE,64072,0
$CFSIZE,260165632,238665728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.240, 54.5,1
$GPS,171210,125626,-7635.728,17806.500,20,1.5,20,121.2