version: 66.08
glider: 503
mission: 7
dive: 45
start: 12 2 110 5 52 33
data:
$ID,503
$MISSION,7
$DIVE,45
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,7
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,10
$T_DIVE,100
$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,0.050000001
$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,0
$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,10
$TGT_DEFAULT_LAT,-7700
$TGT_DEFAULT_LON,17100
$TGT_AUTO_DEFAULT,0
$SM_CC,616.91943
$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,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17686.783
$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,2820
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,150
$AH0_10V,100
$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
$GPS1,021210,035523,-7630.392,17043.447,0,10000.0,0,136.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.39
$_SM_ANGLEo,4.3
$GPS2,021210,035523,-7630.392,17043.447,0,10000.0,0,136.2
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7700.000,17100.000
$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,36.6,55267,-18.2,-13.333
$D_GRID,705
$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,-219.0,0.0,0.0,0,25,0.00,0.00,-8.60,0.000,2,0.000,0.000,2808,2497,3426,0,0,0,0,0,0
$GC,28,-0.84,-219.0,10.6,-0.0,1,43,0.73,2.05,-8.88,0.000,4,0.092,0.067,2547,3706,3856,0,0,0,0,0,0
$GC,198,-0.84,-219.0,31.7,-12.8,31,205,0.00,2.22,0.00,0.000,6,0.000,0.029,2547,2290,3859,0,0,0,0,0,0
$GC,337,-0.81,-219.0,54.4,-21.8,56,345,0.00,2.35,0.00,0.000,4,0.000,0.050,2547,3697,3860,0,0,0,0,0,0
$GC,390,-0.81,-219.0,65.6,-18.9,65,397,0.00,2.20,0.00,0.000,6,0.000,0.031,2547,2302,3860,0,0,0,0,0,0
$GC,528,-0.81,-219.0,88.9,-15.2,90,536,0.00,2.33,0.00,0.000,4,0.000,0.052,2547,3696,3860,0,0,0,0,0,0
$GC,620,-0.81,-219.0,103.0,-15.8,105,624,0.00,2.20,0.00,0.000,6,0.000,0.031,2547,2293,3860,0,0,0,0,0,0
$GC,757,-0.81,-219.0,124.5,-16.8,117,761,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3707,3861,0,0,0,0,0,0
$GC,840,-0.81,-219.0,138.3,-16.1,124,844,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2295,3861,0,0,0,0,0,0
$GC,975,-0.81,-219.0,159.4,-15.5,136,979,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3710,3861,0,0,0,0,0,0
$GC,1049,-0.81,-219.0,171.9,-15.9,142,1058,0.00,2.22,0.00,0.000,6,0.000,0.031,2547,2309,3861,0,0,0,0,0,0
$GC,1186,-0.81,-219.0,191.9,-15.0,155,1190,0.00,2.28,0.00,0.000,4,0.000,0.052,2546,3713,3861,0,0,0,0,0,0
$GC,1283,-0.81,-219.0,207.6,-15.0,163,1292,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2291,3860,0,0,0,0,0,0
$GC,1418,-0.81,-219.0,226.8,-14.3,176,1422,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3714,3861,0,0,0,0,0,0
$GC,1503,-0.81,-219.0,239.9,-14.6,183,1513,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2307,3860,0,0,0,0,0,0
$STATE,1589,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1589,begin apogee
$GC,1594,-0.16,0.0,251.4,14.2,191,1772,0.65,0.00,171.98,0.831,6,0.128,0.000,2763,2503,2959,0,0,0,0,0,0
$STATE,1773,end apogee,CONTROL_FINISHED_OK
$STATE,1773,begin climb
$GC,1775,0.84,219.0,262.1,0.0,207,1964,0.95,2.25,181.10,0.780,4,0.073,0.048,3090,3750,2065,0,0,0,0,0,0
$GC,1997,0.67,219.0,244.3,17.8,228,2006,0.20,2.10,0.00,0.000,6,0.140,0.031,3040,2513,2059,0,0,1,0,0,0
$GC,2134,0.69,251.7,227.3,12.0,241,2172,0.00,2.20,27.95,0.757,4,0.000,0.050,3040,3750,1932,0,0,1,0,0,0
$GC,2221,0.63,251.7,215.0,14.6,248,2229,0.00,2.10,0.00,0.000,6,0.000,0.031,3049,2500,1928,0,0,0,0,0,0
$GC,2358,0.60,251.7,196.7,14.0,261,2363,0.12,2.12,0.00,0.000,4,0.157,0.052,3015,3753,1926,0,0,1,0,0,0
$GC,2399,0.60,251.7,190.3,13.7,264,2409,0.00,2.08,0.00,0.000,6,0.000,0.031,3024,2505,1925,0,0,0,0,0,0
$GC,2537,0.64,285.6,174.0,11.9,277,2575,0.00,2.17,29.38,0.757,4,0.000,0.051,3024,3742,1796,0,0,0,0,0,0
$GC,2612,0.64,285.6,163.8,13.8,283,2622,0.00,2.08,0.00,0.000,6,0.000,0.031,3032,2502,1793,0,0,0,0,0,0
$GC,2749,0.68,313.6,146.6,12.2,296,2778,0.00,2.15,24.95,0.742,4,0.000,0.049,3032,3756,1682,0,0,0,0,0,0
$GC,2824,0.68,313.6,136.5,14.0,302,2828,0.00,2.05,0.00,0.000,6,0.000,0.032,3040,2502,1680,0,0,0,0,0,0
$GC,2959,0.70,313.6,118.5,13.4,314,2963,0.00,2.10,0.00,0.000,4,0.000,0.050,3040,3753,1677,0,0,1,0,0,0
$GC,2991,0.70,313.6,113.7,14.1,316,3000,0.00,2.08,0.00,0.000,6,0.000,0.032,3048,2499,1677,0,0,0,0,0,0
$GC,3125,0.70,313.6,95.1,13.9,332,3133,0.00,2.12,0.00,0.000,4,0.000,0.050,3048,3751,1677,0,0,0,0,0,0
$GC,3159,0.70,313.6,90.4,15.9,337,3166,0.00,2.03,0.00,0.000,6,0.000,0.031,3056,2489,1676,0,0,0,0,0,0
$GC,3296,0.70,313.6,69.7,16.1,362,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2489,1675,0,0,0,0,0,0
$GC,3436,0.70,313.6,46.9,18.1,387,3443,0.00,2.10,0.00,0.000,4,0.000,0.049,3056,3763,1674,0,0,0,0,0,0
$GC,3518,0.67,313.6,32.0,18.2,401,3525,0.12,2.00,0.00,0.000,6,0.168,0.031,3032,2500,1674,0,0,0,0,0,0
$FREEZE,8.97,-1.905,-1.905,2,20,0
$GC,3655,0.77,354.7,12.2,11.6,426,3680,0.10,0.00,22.23,0.704,2,0.103,0.000,3081,2499,1577,0,0,0,0,0,0
$STATE,3680,end climb,FINISH_DEPTH_REACHED
$STATE,3681,begin subsurface finish
$FINISH1,9.0,1.027841,-17
$GC,3686,-0.02,-16.7,9.0,-16.3,429,3741,0.80,2.12,-48.17,0.000,4,0.116,0.067,2818,3755,3032,0,0,1,0,0,0
$FINISH2,5.9
$STATE,3742,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3742,begin surface
$IRIDIUM_FIX,-7630.39,17043.45,021210,030323
$TT8_MAMPS,0.027713
$HUMID,49.96
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.6
$ALTIM_BOTTOM_PING,251.4,7.2
$24V_AH,23.1,43.270
$10V_AH,10.1,61.282
$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,3.675,67.600,457.575,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1022.400,1009.187,475.915,1207.359,79.335,0.000,1021.692,0.000,779.738,0.000,7.049,0.000
$DEVICE_MAMPS,168.300,67.320,830.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,303.344,639.745,829.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258928
$DATA_FILE_SIZE,30341,437
$CAP_FILE_SIZE,62550,0
$CFSIZE,260165632,248270848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,021210,035523,-7630.392,17043.447,0,10000.0,0,136.2