version: 66.08
glider: 503
mission: 7
dive: 259
start: 12 17 110 14 21 25
data:
$ID,503
$MISSION,7
$DIVE,259
$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,-19814.229
$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,49
$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
$GPS1,171210,141232,-7635.286,17810.426,7,1.6,7,121.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-73.6
$GPS2,171210,142056,-7635.191,17810.725,10,1.7,10,121.0
$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,341.1,48213,-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,-219.0,0.0,0.0,0,109,0.00,0.00,-91.70,0.000,2,0.000,0.000,178,2766,3487,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.6,-8.3,15,133,8.82,2.28,-7.62,0.000,4,0.216,0.055,2521,1377,3856,0,0,0,0,0,0
$GC,371,-0.84,-219.0,57.1,-16.7,61,379,0.00,2.30,0.00,0.000,6,0.000,0.044,2510,2785,3860,0,0,0,0,0,0
$GC,514,-0.84,-219.0,84.1,-19.2,86,520,0.00,1.60,0.00,0.000,4,0.000,0.051,2503,3766,3859,0,0,0,0,0,0
$GC,555,-0.84,-219.0,92.5,-20.0,93,562,0.00,1.52,0.00,0.000,6,0.000,0.031,2503,2794,3860,0,0,0,0,0,0
$GC,692,-0.84,-219.0,119.6,-19.6,109,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2794,3859,0,0,0,0,0,0
$GC,820,-0.84,-219.0,144.5,-20.0,121,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2794,3860,0,0,0,0,0,0
$GC,947,-0.84,-219.0,169.0,-19.4,133,950,0.00,1.58,0.00,0.000,4,0.000,0.050,2495,3757,3860,0,0,0,0,0,0
$GC,981,-0.84,-219.0,175.9,-20.7,136,985,0.08,1.50,0.00,0.000,6,0.148,0.031,2521,2794,3860,0,0,0,0,0,0
$GC,1121,-0.84,-219.0,200.7,-17.8,149,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2794,3860,0,0,0,0,0,0
$GC,1248,-0.84,-219.0,223.2,-17.6,161,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2794,3860,0,0,0,0,0,0
$GC,1376,-0.84,-219.0,246.0,-17.9,173,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2794,3860,0,0,0,0,0,0
$GC,1503,-0.84,-219.0,269.0,-18.7,185,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2793,3860,0,0,0,0,0,0
$STATE,1576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1576,begin apogee
$GC,1581,-0.16,0.0,282.5,17.9,192,1760,0.68,0.00,171.80,0.908,4,0.124,0.000,2747,2683,2959,0,0,0,0,0,0
$STATE,1761,end apogee,CONTROL_FINISHED_OK
$STATE,1761,begin climb
$GC,1763,0.84,219.0,291.1,0.0,208,1959,0.95,1.90,187.88,0.851,4,0.082,0.052,3066,3753,2066,0,0,1,0,0,0
$GC,2199,0.84,219.0,236.7,15.4,246,2208,0.00,1.70,0.00,0.000,6,0.000,0.028,3075,2712,2056,0,0,1,0,0,0
$GC,2334,0.84,219.0,216.9,14.9,259,2338,0.00,2.33,0.00,0.000,4,0.000,0.034,3086,1301,2055,0,0,0,0,0,0
$GC,2530,0.84,219.0,188.3,14.0,276,2534,0.00,2.33,0.00,0.000,6,0.000,0.042,3085,2715,2052,0,0,1,0,0,0
$GC,2664,0.84,219.0,167.9,15.3,288,2667,0.00,1.67,0.00,0.000,4,0.000,0.050,3085,3763,2052,0,0,0,0,0,0
$GC,2709,0.84,219.0,160.5,16.6,292,2713,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2708,2051,0,0,0,0,0,0
$GC,2849,0.84,219.0,139.3,14.7,305,2852,0.00,1.70,0.00,0.000,4,0.000,0.050,3094,3762,2051,0,0,0,0,0,0
$GC,2875,0.84,219.0,134.8,15.5,307,2884,0.08,1.65,0.00,0.000,6,0.155,0.031,3078,2726,2051,0,0,1,0,0,0
$GC,3010,0.87,241.0,117.0,12.4,320,3031,0.00,0.00,18.20,0.795,6,0.000,0.000,3078,2726,1976,0,0,0,0,0,0
$GC,3158,0.87,241.0,97.0,13.6,335,3165,0.00,1.73,0.00,0.000,4,0.000,0.049,3077,3764,1975,0,0,0,0,0,0
$GC,3199,0.87,241.0,90.7,15.6,342,3206,0.00,1.65,0.00,0.000,6,0.000,0.031,3084,2729,1974,0,0,0,0,0,0
$GC,3340,0.87,241.0,69.9,14.6,367,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2729,1973,0,0,0,0,0,0
$GC,3481,0.87,241.0,49.0,15.1,392,3488,0.00,1.70,0.00,0.000,4,0.000,0.050,3084,3760,1973,0,0,0,0,0,0
$GC,3517,0.87,241.0,43.1,16.7,398,3524,0.00,1.62,0.00,0.000,6,0.000,0.032,3092,2737,1973,0,0,0,0,0,0
$GC,3659,0.87,241.0,21.2,15.4,423,3666,0.00,1.67,0.00,0.000,4,0.000,0.050,3092,3759,1973,0,0,0,0,0,0
$GC,3718,0.87,241.0,10.9,17.6,433,3725,0.00,1.58,0.00,0.000,6,0.000,0.033,3100,2763,1973,0,0,0,0,0,0
$FREEZE,8.66,-1.247,-1.897,2,1,0
$FREEZE,7.79,-1.251,-1.897,2,1,0
$FREEZE,6.95,-1.252,-1.896,2,1,0
$FREEZE,6.11,-1.252,-1.895,2,1,0
$FREEZE,5.29,-1.248,-1.895,2,1,0
$FREEZE,4.43,-1.247,-1.894,2,1,0
$FREEZE,3.55,-1.247,-1.893,2,1,0
$FREEZE,2.76,-1.247,-1.893,2,1,0
$STATE,3767,end climb,SURFACE_DEPTH_REACHED
$STATE,3767,begin surface coast
$FREEZE,1.74,-1.247,-1.892,2,1,0
$FREEZE,0.85,-1.244,-1.891,2,1,0
$FREEZE,0.16,-1.243,-1.891,2,1,0
$FINISH,0.2,1.027715
$STATE,3785,end surface coast,CONTROL_FINISHED_OK
$STATE,3786,begin surface
$SM_CCo,3800,37.75,0.102,0,0,1655,320.11
$SM_GC,0.67,0.00,0.00,37.75,0.000,0.000,0.102,182,2761,1655,-8.18,-0.54,320.11
$IRIDIUM_FIX,-7554.21,17913.29,171210,141402
$TT8_MAMPS,0.027713
$HUMID,52.08
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.9,20.9
$ALTIM_BOTTOM_PING,251.8,44.5
$24V_AH,22.6,21.814
$10V_AH,9.9,9.062
$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,18.300,35.750,377.875,37.750,0.000,84.315,100.260,97.926,1.000,0.000,13.892,1089.470,1575.824,470.615,1115.190,107.980,0.000,957.523,0.000,769.541,0.000,7.155,0.000
$DEVICE_MAMPS,216.495,81.090,908.055,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.422,628.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267268
$DATA_FILE_SIZE,27014,445
$CAP_FILE_SIZE,64560,0
$CFSIZE,260165632,238587904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.276, 26.1,1
$GPS,171210,152631,-7634.797,17813.945,19,1.2,29,120.9