version: 66.08
glider: 503
mission: 7
dive: 296
start: 12 19 110 10 58 30
data:
$ID,503
$MISSION,7
$DIVE,296
$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,-19861.973
$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,44
$R_STBD_OVSHOOT,46
$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,48
$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
$GPS1,191210,105401,-7631.862,17921.271,12,1.3,29,119.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-75.0
$GPS2,191210,105802,-7631.875,17921.463,13,1.1,13,119.2
$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,302.9,17019,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-94.65,0.000,2,0.000,0.000,177,2801,3553,0,0,0,0,0,0
$GC,115,-0.84,-219.0,3.9,-10.6,16,136,8.85,2.35,-6.05,0.000,4,0.216,0.044,2524,1369,3856,0,0,0,0,0,0
$GC,259,-0.84,-219.0,38.1,-17.4,41,266,0.00,2.30,0.00,0.000,6,0.000,0.051,2514,2769,3859,0,0,0,0,0,0
$GC,401,-0.84,-219.0,64.7,-18.8,66,409,0.00,2.22,0.00,0.000,4,0.000,0.033,2514,1372,3860,0,0,0,0,0,0
$GC,439,-0.84,-219.0,71.7,-18.3,72,446,0.00,2.30,0.00,0.000,6,0.000,0.046,2503,2776,3860,0,0,0,0,0,0
$GC,580,-0.84,-219.0,100.0,-19.9,97,587,0.00,1.60,0.00,0.000,4,0.000,0.050,2495,3766,3860,0,0,0,0,0,0
$GC,626,-0.84,-219.0,109.9,-21.5,102,631,0.08,1.55,0.00,0.000,6,0.149,0.031,2535,2774,3860,0,0,0,0,0,0
$GC,766,-0.84,-219.0,132.9,-16.0,115,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2774,3860,0,0,0,0,0,0
$GC,894,-0.84,-219.0,153.3,-16.3,127,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2774,3860,0,0,0,0,0,0
$GC,1021,-0.84,-219.0,174.1,-16.4,139,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2774,3860,0,0,0,0,0,0
$GC,1148,-0.84,-219.0,194.9,-16.1,151,1152,0.00,1.62,0.00,0.000,4,0.000,0.050,2528,3796,3860,0,0,0,0,0,0
$GC,1193,-0.84,-219.0,202.7,-17.9,155,1197,0.00,1.58,0.00,0.000,6,0.000,0.030,2528,2782,3860,0,0,0,0,0,0
$GC,1333,-0.84,-219.0,227.2,-17.5,168,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2782,3860,0,0,0,0,0,0
$GC,1461,-0.84,-219.0,249.7,-17.8,180,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2782,3860,0,0,0,0,0,0
$STATE,1522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1522,begin apogee
$GC,1527,-0.16,0.0,260.4,16.6,186,1705,0.65,0.00,171.23,0.896,4,0.129,0.000,2742,2698,2960,0,0,0,0,0,0
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1706,begin climb
$GC,1708,0.84,219.0,272.5,0.0,202,1904,1.00,2.38,187.00,0.841,4,0.081,0.033,3070,1303,2067,0,0,0,0,0,0
$GC,2070,0.84,221.8,240.8,13.2,234,2079,0.00,2.45,0.00,0.000,6,0.000,0.041,3070,2702,2058,0,0,0,0,0,0
$GC,2206,0.84,221.8,223.0,13.5,247,2210,0.00,2.33,0.00,0.000,4,0.000,0.036,3081,1310,2055,0,0,0,0,0,0
$GC,2377,0.84,221.8,200.3,13.4,262,2381,0.00,2.33,0.00,0.000,6,0.000,0.042,3081,2716,2054,0,0,1,0,0,0
$GC,2511,0.84,221.8,181.9,13.9,274,2515,0.00,1.73,0.00,0.000,4,0.000,0.049,3081,3757,2053,0,0,0,0,0,0
$GC,2556,0.84,221.8,175.0,15.2,278,2560,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2703,2052,0,0,0,0,0,0
$GC,2696,0.84,221.8,154.3,14.6,291,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2703,2052,0,0,0,0,0,0
$GC,2823,0.84,221.8,135.2,14.6,303,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2703,2052,0,0,0,0,0,0
$GC,2951,0.84,221.8,117.1,14.1,315,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2703,2052,0,0,0,0,0,0
$GC,3078,0.84,221.8,99.0,14.1,327,3085,0.00,1.75,0.00,0.000,4,0.000,0.048,3089,3763,2051,0,0,0,0,0,0
$GC,3120,0.84,221.8,92.4,16.0,334,3128,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2722,2051,0,0,0,0,0,0
$GC,3264,0.84,221.8,70.7,14.8,359,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2722,2051,0,0,0,0,0,0
$GC,3406,0.84,221.8,49.4,14.4,384,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2722,2050,0,0,0,0,0,0
$GC,3544,0.84,221.8,29.0,15.2,409,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2722,2051,0,0,0,0,0,0
$FREEZE,8.35,-1.244,-1.900,2,1,0
$GC,3688,0.84,221.8,8.3,14.7,434,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2722,2050,0,0,0,0,0,0
$FREEZE,5.92,-1.224,-1.898,2,1,0
$FREEZE,5.21,-1.248,-1.898,2,1,0
$FREEZE,4.39,-1.252,-1.897,2,1,0
$FREEZE,3.61,-1.249,-1.897,2,1,0
$FREEZE,3.00,-1.247,-1.896,2,1,0
$STATE,3721,end climb,SURFACE_DEPTH_REACHED
$STATE,3721,begin surface coast
$FREEZE,2.04,-1.246,-1.896,2,1,0
$FREEZE,1.13,-1.251,-1.895,2,1,0
$FREEZE,0.42,-1.245,-1.894,2,1,0
$FREEZE,-0.13,-1.260,-0.593,2,1,0
$FINISH,-0.1,1.008673
$STATE,3746,end surface coast,FINISH_DEPTH_REACHED
$STATE,3747,begin surface
$SM_CCo,3762,46.53,0.101,0,0,1654,320.11
$SM_GC,0.94,0.00,0.00,46.53,0.000,0.000,0.101,177,2796,1654,-8.20,0.45,320.11
$IRIDIUM_FIX,-7545.40,17913.92,191210,090948
$TT8_MAMPS,0.027713
$HUMID,52.04
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,20.1
$ALTIM_BOTTOM_PING,251.4,23.5
$24V_AH,22.6,25.713
$10V_AH,10.0,10.477
$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,18.250,31.950,358.225,46.525,0.000,30.463,35.495,80.400,1.000,0.000,15.697,1085.911,1446.987,460.825,967.026,107.928,0.000,941.256,0.000,758.938,0.000,7.097,0.000
$DEVICE_MAMPS,216.495,97.155,895.815,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.952,639.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267228
$DATA_FILE_SIZE,27103,444
$CAP_FILE_SIZE,61535,0
$CFSIZE,260165632,237158400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.235, 78.8,1
$GPS,191210,120249,-7631.547,17925.719,6,1.3,11,119.0