version: 66.08
glider: 503
mission: 7
dive: 271
start: 12 18 110 5 37 0
data:
$ID,503
$MISSION,7
$DIVE,271
$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,-19830.537
$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,42
$R_STBD_OVSHOOT,49
$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
$GPS1,181210,053207,-7634.288,17829.111,34,1.0,34,120.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-73.3
$GPS2,181210,053632,-7634.329,17829.158,12,1.0,12,120.5
$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,273.0,40084,-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,16,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-94.68,0.000,2,0.000,0.000,177,2808,3574,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.2,-10.6,16,138,8.85,2.35,-5.60,0.000,4,0.217,0.045,2525,1368,3856,0,0,0,0,0,0
$GC,325,-0.84,-219.0,50.2,-17.6,53,332,0.00,2.28,0.00,0.000,6,0.000,0.044,2516,2761,3860,0,0,0,0,0,0
$GC,468,-0.84,-219.0,77.9,-19.7,78,475,0.00,1.60,0.00,0.000,4,0.000,0.051,2508,3749,3860,0,0,0,0,0,0
$GC,500,-0.84,-219.0,84.5,-20.1,83,506,0.00,1.52,0.00,0.000,6,0.000,0.031,2508,2775,3860,0,0,0,0,0,0
$GC,643,-0.84,-219.0,113.0,-19.4,103,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2775,3860,0,0,0,0,0,0
$GC,771,-0.84,-219.0,137.1,-18.6,115,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2775,3860,0,0,0,0,0,0
$GC,898,-0.84,-219.0,160.6,-18.2,127,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2775,3860,0,0,0,0,0,0
$GC,1026,-0.84,-219.0,183.6,-18.0,139,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2775,3861,0,0,0,0,0,0
$GC,1154,-0.84,-219.0,207.2,-18.3,151,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2774,3861,0,0,0,0,0,0
$GC,1281,-0.84,-219.0,230.8,-18.4,163,1284,0.00,1.60,0.00,0.000,4,0.000,0.051,2500,3754,3860,0,0,0,0,0,0
$GC,1318,-0.84,-219.0,238.7,-19.6,166,1327,0.00,1.50,0.00,0.000,6,0.000,0.030,2500,2792,3860,0,0,0,0,0,0
$GC,1454,-0.84,-219.0,264.0,-19.5,179,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2792,3860,0,0,0,0,0,0
$STATE,1558,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1558,begin apogee
$GC,1562,-0.16,0.0,284.6,19.2,189,1742,0.75,0.00,171.93,0.910,4,0.131,0.000,2745,2691,2959,0,0,0,0,0,0
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1743,begin climb
$GC,1744,0.84,219.0,293.1,0.0,205,1940,0.95,1.88,187.43,0.855,4,0.080,0.051,3069,3750,2066,0,0,1,0,0,0
$GC,2096,0.84,219.0,251.6,17.8,236,2100,0.00,1.67,0.00,0.000,6,0.000,0.029,3076,2712,2057,0,0,1,0,0,0
$GC,2300,0.84,219.0,220.0,15.9,255,2304,0.00,1.75,0.00,0.000,4,0.000,0.048,3077,3762,2054,0,0,0,0,0,0
$GC,2558,0.84,219.0,173.5,18.6,278,2562,0.00,1.65,0.00,0.000,6,0.000,0.031,3085,2697,2053,0,0,1,0,0,0
$GC,2698,0.84,219.0,149.6,16.7,291,2702,0.00,1.73,0.00,0.000,4,0.000,0.048,3085,3763,2052,0,0,0,0,0,0
$GC,2725,0.84,219.0,144.2,18.4,293,2733,0.00,1.70,0.00,0.000,6,0.000,0.031,3094,2706,2052,0,0,0,0,0,0
$GC,2860,0.84,219.0,120.9,17.5,306,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2706,2052,0,0,0,0,0,0
$GC,2987,0.84,219.0,99.7,17.0,318,2995,0.00,1.75,0.00,0.000,4,0.000,0.050,3094,3760,2052,0,0,0,0,0,0
$GC,3034,0.84,219.0,91.0,19.1,326,3042,0.08,1.67,0.00,0.000,6,0.161,0.032,3067,2712,2051,0,0,0,0,0,0
$GC,3177,0.84,219.0,70.1,14.2,351,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2712,2051,0,0,0,0,0,0
$GC,3318,0.84,219.0,50.4,14.2,376,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2713,2051,0,0,0,0,0,0
$GC,3458,0.85,229.3,31.8,12.9,401,3472,0.00,0.00,7.25,0.722,6,0.000,0.000,3067,2713,2025,0,0,0,0,0,0
$GC,3606,0.86,238.9,12.2,12.9,427,3625,0.00,1.75,10.30,0.740,4,0.000,0.050,3066,3758,1985,0,0,0,0,0,0
$FREEZE,8.52,-1.127,-1.902,2,1,0
$FREEZE,7.61,-1.130,-1.901,2,1,0
$FREEZE,6.85,-1.128,-1.901,2,1,0
$FREEZE,6.04,-1.131,-1.900,2,1,0
$FREEZE,5.21,-1.122,-1.899,2,1,0
$GC,3655,0.86,238.9,5.2,15.7,435,3662,0.00,1.65,0.00,0.000,6,0.000,0.031,3074,2722,1984,0,0,0,0,0,0
$FREEZE,2.96,-1.120,-1.898,2,1,0
$STATE,3668,end climb,SURFACE_DEPTH_REACHED
$STATE,3668,begin surface coast
$FREEZE,2.18,-1.120,-1.897,2,1,0
$FREEZE,1.36,-1.123,-1.896,2,1,0
$FREEZE,0.47,-1.120,-1.896,2,1,0
$FREEZE,0.02,-1.128,-1.896,2,1,0
$FINISH,0.0,1.027784
$STATE,3691,end surface coast,CONTROL_FINISHED_OK
$STATE,3691,begin surface
$SM_CCo,3706,38.85,0.101,0,0,1654,320.11
$SM_GC,0.55,0.00,0.00,38.85,0.000,0.000,0.101,181,2803,1654,-8.19,0.65,320.11
$IRIDIUM_FIX,-7545.40,17827.36,181210,040450
$TT8_MAMPS,0.027713
$HUMID,51.96
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.5
$ALTIM_BOTTOM_PING,251.9,45.6
$24V_AH,22.6,23.092
$10V_AH,10.0,9.539
$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,18.300,28.250,376.900,38.850,0.000,33.150,38.014,94.884,0.750,0.000,15.077,1066.623,1406.176,469.802,983.287,102.435,0.000,947.097,0.000,754.997,0.000,7.156,0.000
$DEVICE_MAMPS,217.260,84.915,909.585,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.333,623.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267256
$DATA_FILE_SIZE,26999,441
$CAP_FILE_SIZE,60975,0
$CFSIZE,260165632,238112768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.357,164.3,1
$GPS,181210,064014,-7634.588,17831.035,10,1.0,10,120.5