version: 66.08
glider: 503
mission: 7
dive: 290
start: 12 19 110 4 24 11
data:
$ID,503
$MISSION,7
$DIVE,290
$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,-19854.426
$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,49
$R_STBD_OVSHOOT,38
$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
$GPS1,191210,041900,-7632.171,17907.955,34,1.2,40,119.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-74.8
$GPS2,191210,042343,-7632.203,17907.945,13,1.7,30,119.5
$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,275.2,22872,-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,15,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-93.32,0.000,2,0.000,0.000,173,2790,3512,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.6,-8.8,16,136,8.85,2.33,-7.10,0.000,4,0.216,0.046,2525,1374,3856,0,0,0,0,0,0
$GC,232,-0.84,-219.0,31.9,-16.4,36,239,0.00,2.30,0.00,0.000,6,0.000,0.044,2515,2776,3859,0,0,0,0,0,0
$GC,373,-0.84,-219.0,58.8,-20.4,61,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,514,-0.84,-219.0,87.4,-20.5,86,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3860,0,0,0,0,0,0
$GC,651,-0.84,-219.0,115.7,-21.0,104,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3860,0,0,0,0,0,0
$GC,779,-0.84,-219.0,142.6,-21.2,116,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3859,0,0,0,0,0,0
$GC,906,-0.84,-219.0,170.4,-22.4,128,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3860,0,0,0,0,0,0
$GC,1033,-0.84,-219.0,199.6,-22.6,140,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2776,3860,0,0,0,0,0,0
$GC,1161,-0.84,-219.0,226.0,-19.8,152,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3860,0,0,0,0,0,0
$GC,1293,-0.84,-219.0,250.8,-19.7,164,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2777,3860,0,0,0,0,0,0
$STATE,1414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1414,begin apogee
$GC,1419,-0.16,0.0,274.0,17.7,176,1597,0.70,0.00,171.70,0.900,4,0.132,0.000,2743,2690,2959,0,0,0,0,0,0
$STATE,1598,end apogee,CONTROL_FINISHED_OK
$STATE,1598,begin climb
$GC,1600,0.84,219.0,283.8,0.0,192,1796,1.00,2.35,187.18,0.849,4,0.081,0.034,3072,1309,2067,0,0,0,0,0,0
$GC,1889,0.97,326.6,264.6,8.9,217,2000,0.12,2.42,97.82,0.821,6,0.077,0.040,3128,2705,1627,0,0,0,0,0,0
$GC,2123,0.97,326.6,218.8,19.3,239,2127,0.00,1.77,0.00,0.000,4,0.000,0.047,3128,3760,1623,0,0,0,0,0,0
$GC,2150,0.97,326.6,213.0,20.6,241,2158,0.00,1.73,0.00,0.000,6,0.000,0.031,3136,2721,1622,0,0,1,0,0,0
$GC,2285,0.97,326.6,188.4,17.5,254,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2721,1620,0,0,0,0,0,0
$GC,2412,0.97,326.6,164.6,19.3,266,2415,0.00,1.73,0.00,0.000,4,0.000,0.048,3136,3762,1619,0,0,0,0,0,0
$GC,2450,0.97,326.6,155.7,23.6,269,2458,0.10,1.75,0.00,0.000,6,0.145,0.031,3112,2699,1619,0,0,0,0,0,0
$GC,2585,0.97,326.6,129.6,19.6,282,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2699,1619,0,0,0,0,0,0
$GC,2712,0.97,326.6,105.5,19.1,294,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2699,1618,0,0,0,0,0,0
$GC,2844,0.97,326.6,82.0,16.9,315,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2699,1618,0,0,0,0,0,0
$GC,2985,0.97,326.6,58.0,16.6,340,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2699,1618,0,0,0,0,0,0
$GC,3125,0.97,326.6,34.5,16.7,365,3132,0.00,1.75,0.00,0.000,4,0.000,0.047,3112,3779,1617,0,0,0,0,0,0
$GC,3176,0.97,326.6,24.8,19.2,374,3184,0.00,1.73,0.00,0.000,6,0.000,0.031,3120,2699,1618,0,0,0,0,0,0
$FREEZE,8.79,-1.161,-1.901,2,1,0
$FREEZE,7.91,-1.150,-1.901,2,1,0
$FREEZE,7.05,-1.188,-1.900,2,1,0
$FREEZE,5.97,-1.145,-1.900,2,1,0
$FREEZE,4.93,-1.158,-1.898,2,1,0
$FREEZE,3.95,-1.191,-1.899,2,1,0
$FREEZE,2.84,-1.143,-1.897,2,1,0
$STATE,3295,end climb,SURFACE_DEPTH_REACHED
$STATE,3295,begin surface coast
$FREEZE,1.74,-1.147,-1.897,2,1,0
$FREEZE,0.72,-1.140,-1.896,2,1,0
$FREEZE,-0.11,-1.147,-1.895,2,1,0
$FINISH,-0.1,1.027775
$STATE,3312,end surface coast,CONTROL_FINISHED_OK
$STATE,3312,begin surface
$SM_CCo,3388,0.00,0.000,0,0,1614,330.17
$SM_GC,0.84,7.72,0.00,0.00,0.043,0.000,0.000,170,2801,1614,-8.09,0.59,330.17
$IRIDIUM_FIX,-7545.40,17855.32,191210,030333
$TT8_MAMPS,0.026964
$HUMID,52.08
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.4
$ALTIM_BOTTOM_PING,250.8,37.2
$24V_AH,22.6,25.105
$10V_AH,10.0,10.260
$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,18.500,20.100,456.700,0.000,0.000,32.924,43.443,90.378,0.750,0.000,33.354,930.931,1272.032,479.731,904.494,98.678,0.000,923.987,0.000,663.609,0.000,7.136,0.000
$DEVICE_MAMPS,215.730,80.325,900.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,275.182,561.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267212
$DATA_FILE_SIZE,27029,398
$CAP_FILE_SIZE,54553,0
$CFSIZE,260165632,237371392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.327,186.0,1
$GPS,191210,052126,-7632.249,17909.209,11,1.3,11,119.5