version: 66.08
glider: 503
mission: 7
dive: 66
start: 12 3 110 20 52 1
data:
$ID,503
$MISSION,7
$DIVE,66
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$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,4
$SURFACE_URGENCY_TRY,3
$SURFACE_URGENCY_FORCE,6
$T_DIVE,200
$T_MISSION,300
$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,0.02
$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,-17689.391
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,38
$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
$GPS1,031210,100027,-7702.673,17053.551,39,3.0,58,133.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.68
$_SM_ANGLEo,6.8
$GPS2,031210,100027,-7702.673,17053.551,39,3.0,58,133.5
$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,255.0,5633,-18.2,-13.333
$D_GRID,773
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,26,0.00,0.00,-9.45,0.000,2,0.000,0.000,2799,2640,3542,0,0,0,0,0,0
$GC,29,-0.84,-219.0,14.6,-0.0,1,45,0.75,1.83,-5.53,0.000,4,0.091,0.069,2528,3743,3857,0,0,0,0,0,0
$GC,125,-0.75,-219.0,28.9,-16.4,16,135,0.00,1.80,0.00,0.000,6,0.000,0.030,2528,2595,3858,0,0,0,0,0,0
$GC,283,-0.67,-219.0,61.0,-18.8,41,291,0.17,1.90,0.00,0.000,4,0.158,0.051,2570,3740,3859,0,0,0,0,0,0
$GC,361,-0.67,-219.0,72.8,-16.3,53,367,0.00,1.80,0.00,0.000,6,0.000,0.030,2570,2594,3859,0,0,0,0,0,0
$GC,514,-0.67,-219.0,95.3,-14.6,78,523,0.00,1.90,0.00,0.000,4,0.000,0.053,2563,3749,3858,0,0,0,0,0,0
$GC,557,-0.67,-219.0,101.1,-14.7,84,560,0.00,1.75,0.00,0.000,6,0.000,0.030,2564,2600,3859,0,0,0,0,0,0
$GC,698,-0.67,-219.0,122.5,-14.9,97,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2600,3859,0,0,0,0,0,0
$GC,826,-0.67,-219.0,141.5,-14.9,109,829,0.00,1.85,0.00,0.000,4,0.000,0.054,2563,3755,3858,0,0,1,0,0,0
$GC,912,-0.67,-219.0,154.3,-14.3,116,916,0.00,1.75,0.00,0.000,6,0.000,0.030,2564,2599,3859,0,0,0,0,0,0
$GC,1054,-0.67,-219.0,174.2,-13.5,129,1057,0.00,1.85,0.00,0.000,4,0.000,0.052,2563,3754,3858,0,0,0,0,0,0
$GC,1104,-0.67,-219.0,181.2,-14.0,133,1108,0.00,1.75,0.00,0.000,6,0.000,0.030,2563,2599,3858,0,0,0,0,0,0
$GC,1247,-0.67,-219.0,200.5,-13.6,146,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2599,3858,0,0,0,0,0,0
$GC,1383,-0.67,-219.0,219.7,-14.4,159,1387,0.00,1.83,0.00,0.000,4,0.000,0.053,2563,3750,3858,0,0,0,0,0,0
$GC,1482,-0.67,-219.0,234.6,-15.0,167,1485,0.00,1.75,0.00,0.000,6,0.000,0.030,2563,2593,3859,0,0,0,0,0,0
$STATE,1594,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1594,begin apogee
$GC,1599,-0.16,0.0,250.3,13.9,177,1776,0.52,0.00,171.45,0.832,6,0.126,0.000,2742,2648,2959,0,0,0,0,0,0
$STATE,1777,end apogee,CONTROL_FINISHED_OK
$STATE,1777,begin climb
$GC,1779,0.84,219.0,260.2,0.0,193,1974,0.98,2.45,180.52,0.783,4,0.083,0.035,3080,1270,2065,0,0,1,0,0,0
$GC,2002,0.76,219.0,242.8,14.9,213,2007,0.15,2.38,0.00,0.000,6,0.157,0.042,3042,2639,2060,0,0,1,0,0,0
$GC,2139,0.69,219.0,223.3,14.1,225,2143,0.00,1.92,0.00,0.000,4,0.000,0.050,3042,3754,2055,0,0,0,0,0,0
$GC,2203,0.60,219.0,212.7,15.7,230,2214,0.17,1.77,0.00,0.000,6,0.134,0.030,2995,2670,2053,0,0,1,0,0,0
$GC,2341,0.73,311.4,198.8,9.5,243,2428,0.12,1.95,78.88,0.756,4,0.088,0.050,3046,3764,1690,0,0,1,0,0,0
$GC,2463,0.69,311.4,181.5,16.1,252,2474,0.10,1.88,0.00,0.000,6,0.131,0.030,3023,2656,1686,0,0,0,0,0,0
$GC,2602,0.80,366.3,165.7,11.1,265,2652,0.10,0.00,47.38,0.735,6,0.103,0.000,3073,2656,1466,0,0,0,0,0,0
$GC,2779,0.77,366.3,138.1,16.6,282,2782,0.00,1.88,0.00,0.000,4,0.000,0.048,3073,3764,1463,0,0,0,0,0,0
$GC,2844,0.72,366.3,125.5,19.0,287,2854,0.15,1.85,0.00,0.000,6,0.125,0.030,3033,2655,1462,0,0,0,0,0,0
$GC,2982,0.82,399.6,108.3,12.0,300,3012,0.00,0.00,28.02,0.721,6,0.000,0.000,3033,2655,1330,0,0,0,0,0,0
$GC,3151,0.95,444.1,88.2,11.5,323,3196,0.20,1.95,37.80,0.705,4,0.069,0.050,3114,3760,1148,0,0,1,0,0,0
$GC,3237,0.86,444.1,72.2,22.2,335,3244,0.17,1.83,0.00,0.000,6,0.147,0.031,3075,2649,1149,0,0,0,0,0,0
$GC,3391,0.86,444.1,42.4,20.3,360,3401,0.00,1.90,0.00,0.000,4,0.000,0.051,3074,3753,1148,0,0,0,0,0,0
$GC,3428,0.86,444.1,35.6,19.2,365,3435,0.00,1.80,0.00,0.000,6,0.000,0.031,3081,2638,1147,0,0,0,0,0,0
$FREEZE,7.82,-1.901,-1.903,2,5,0
$STATE,3569,end climb,FINISH_DEPTH_REACHED
$STATE,3569,begin subsurface finish
$FINISH1,7.8,1.027829,-16
$GC,3575,-0.02,-16.1,7.8,-19.3,388,3647,0.88,1.90,-62.83,0.000,4,0.113,0.071,2792,3754,3028,0,0,1,0,0,0
$FINISH2,4.3
$STATE,3648,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3649,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,101013
$TT8_MAMPS,0.027713
$HUMID,49.80
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,20.2
$ALTIM_BOTTOM_PING,250.3,7.8
$24V_AH,23.1,46.072
$10V_AH,10.1,63.103
$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,4.475,47.275,544.050,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,894.782,768.714,481.131,1464.414,90.750,0.000,1041.858,0.000,696.770,0.000,7.051,0.000
$DEVICE_MAMPS,158.355,113.985,832.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,275.030,580.251,1140.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23632,398
$CAP_FILE_SIZE,71854,0
$CFSIZE,260165632,247169024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,031210,100027,-7702.673,17053.551,39,3.0,58,133.5