version: 66.08
glider: 503
mission: 7
dive: 261
start: 12 17 110 16 44 12
data:
$ID,503
$MISSION,7
$DIVE,261
$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,-19816.746
$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,47
$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
$GPS1,171210,163644,-7634.341,17816.652,11,1.7,11,120.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.7
$GPS2,171210,164343,-7634.254,17816.824,12,1.7,29,120.8
$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,4.2,45297,-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,14,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-90.07,0.000,2,0.000,0.000,181,2772,3432,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.1,-6.6,15,137,8.82,1.62,-9.23,0.000,4,0.217,0.067,2514,3758,3856,0,0,1,0,0,0
$GC,387,-0.84,-219.0,64.2,-19.9,64,394,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2772,3859,0,0,0,0,0,0
$GC,529,-0.84,-219.0,91.8,-18.9,89,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2771,3859,0,0,0,0,0,0
$GC,666,-0.84,-219.0,118.7,-19.3,105,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3858,0,0,0,0,0,0
$GC,794,-0.84,-219.0,143.9,-19.6,117,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,921,-0.84,-219.0,168.1,-18.8,129,925,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3753,3859,0,0,0,0,0,0
$GC,955,-0.84,-219.0,174.7,-19.3,132,959,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2779,3859,0,0,0,0,0,0
$GC,1095,-0.84,-219.0,201.5,-19.6,145,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3859,0,0,0,0,0,0
$GC,1222,-0.84,-219.0,224.8,-18.1,157,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3859,0,0,0,0,0,0
$GC,1349,-0.84,-219.0,248.7,-19.3,169,1353,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3758,3859,0,0,0,0,0,0
$GC,1388,-0.84,-219.0,256.8,-19.6,172,1396,0.08,1.52,0.00,0.000,6,0.146,0.031,2523,2783,3859,0,0,0,0,0,0
$GC,1588,-0.84,-219.0,291.2,-16.3,191,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2782,3859,0,0,0,0,0,0
$GC,1778,-0.84,-219.0,298.8,-0.1,209,1781,0.00,1.60,0.00,0.000,4,0.000,0.055,2522,3759,3859,0,0,0,0,0,0
$STATE,1792,end dive,NO_VERTICAL_VELOCITY
$STATE,1792,begin apogee
$GC,1798,-0.16,0.0,298.8,0.0,210,1980,0.60,0.00,171.88,0.912,4,0.074,0.000,2749,2700,2959,0,0,0,0,0,0
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1981,begin climb
$GC,1983,0.84,219.0,298.6,0.0,227,2178,0.95,1.85,187.32,0.859,4,0.082,0.052,3071,3750,2067,0,0,1,0,0,0
$GC,2263,0.84,219.0,270.8,16.9,251,2269,0.00,1.73,0.00,0.000,6,0.000,0.029,3080,2701,2060,0,0,1,0,0,0
$GC,2461,0.84,219.0,239.8,14.2,270,2464,0.00,1.77,0.00,0.000,4,0.000,0.048,3080,3761,2056,0,0,0,0,0,0
$GC,2498,0.84,219.0,233.0,17.5,273,2507,0.00,1.73,0.00,0.000,6,0.000,0.031,3087,2707,2055,0,0,1,0,0,0
$GC,2634,0.84,219.0,212.2,15.8,286,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2706,2055,0,0,0,0,0,0
$GC,2761,0.84,219.0,193.0,15.3,298,2764,0.00,1.73,0.00,0.000,4,0.000,0.049,3087,3762,2054,0,0,0,0,0,0
$GC,2798,0.84,219.0,186.4,17.6,301,2807,0.00,1.70,0.00,0.000,6,0.000,0.031,3096,2711,2054,0,0,0,0,0,0
$GC,2934,0.84,219.0,165.4,15.4,314,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2711,2053,0,0,0,0,0,0
$GC,3061,0.84,219.0,145.1,16.0,326,3065,0.00,1.75,0.00,0.000,4,0.000,0.050,3096,3764,2053,0,0,0,0,0,0
$GC,3106,0.84,219.0,137.1,18.1,330,3110,0.12,1.65,0.00,0.000,6,0.173,0.032,3071,2707,2052,0,0,0,0,0,0
$GC,3246,0.84,219.0,116.3,14.4,343,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2706,2052,0,0,0,0,0,0
$GC,3373,0.84,219.0,98.4,13.7,356,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2706,2052,0,0,0,0,0,0
$GC,3516,0.85,227.5,79.4,13.0,381,3530,0.00,1.75,6.28,0.714,4,0.000,0.050,3070,3755,2032,0,0,0,0,0,0
$GC,3564,0.85,227.5,72.3,15.3,389,3572,0.00,1.62,0.00,0.000,6,0.000,0.031,3078,2732,2031,0,0,0,0,0,0
$GC,3706,0.85,227.5,53.1,13.4,414,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2732,2031,0,0,0,0,0,0
$GC,3848,0.85,227.5,33.2,13.9,439,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2732,2031,0,0,0,0,0,0
$GC,3989,0.88,251.8,13.8,12.3,464,4021,0.00,1.70,22.95,0.756,4,0.000,0.050,3078,3757,1932,0,0,1,0,0,0
$FREEZE,8.23,-1.306,-1.902,2,1,0
$FREEZE,7.53,-1.305,-1.901,2,1,0
$FREEZE,6.69,-1.299,-1.900,2,1,0
$FREEZE,5.89,-1.300,-1.899,2,1,0
$FREEZE,4.98,-1.301,-1.899,2,1,0
$FREEZE,4.09,-1.300,-1.898,2,1,0
$FREEZE,3.23,-1.300,-1.897,2,1,0
$FREEZE,2.25,-1.298,-1.897,2,1,0
$STATE,4070,end climb,SURFACE_DEPTH_REACHED
$STATE,4070,begin surface coast
$FREEZE,1.10,-1.291,-1.896,2,1,0
$FREEZE,0.27,-1.289,-1.895,2,1,0
$FINISH,0.3,1.027774
$STATE,4082,end surface coast,CONTROL_FINISHED_OK
$STATE,4082,begin surface
$SM_CCo,4098,33.62,0.102,0,0,1655,320.11
$SM_GC,0.93,0.00,0.00,33.62,0.000,0.000,0.102,180,2772,1655,-8.19,-0.20,320.11
$IRIDIUM_FIX,-7545.40,17818.10,171210,161607
$TT8_MAMPS,0.027713
$HUMID,51.57
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,20.3
$24V_AH,22.6,22.028
$10V_AH,9.9,9.140
$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,18.275,33.250,388.425,33.625,0.000,57.259,90.247,93.947,0.750,0.000,31.719,1155.314,1710.079,482.470,1112.559,109.504,0.000,982.821,0.000,787.608,0.000,4.326,0.000
$DEVICE_MAMPS,217.260,67.320,911.880,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.762,659.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267284
$DATA_FILE_SIZE,30325,480
$CAP_FILE_SIZE,65756,0
$CFSIZE,260165632,238501888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.244,357.3,1
$GPS,171210,175424,-7634.052,17818.797,23,1.1,41,120.8