version: 66.08
glider: 503
mission: 7
dive: 204
start: 12 14 110 17 18 59
data:
$ID,503
$MISSION,7
$DIVE,204
$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,-2
$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,-19744.256
$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,44
$R_STBD_OVSHOOT,47
$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
$GPS1,141210,171407,-7639.172,17601.082,40,1.2,40,124.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.2
$GPS2,141210,171831,-7639.158,17601.045,13,1.3,13,124.3
$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,330.4,104693,-18.2,-13.333
$D_GRID,425
$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,-219.0,0.0,0.0,0,112,0.00,0.00,-95.32,0.000,2,0.000,0.000,192,2807,3584,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.2,-11.0,16,136,8.75,2.35,-5.35,0.000,4,0.219,0.044,2524,1368,3857,0,0,0,0,0,0
$GC,387,-0.84,-219.0,60.5,-17.2,64,394,0.00,2.28,0.00,0.000,6,0.000,0.044,2514,2762,3860,0,0,0,0,0,0
$GC,528,-0.84,-219.0,88.2,-20.1,89,535,0.00,2.20,0.00,0.000,4,0.000,0.033,2514,1373,3860,0,0,0,0,0,0
$GC,586,-0.84,-219.0,99.0,-17.9,99,593,0.00,2.30,0.00,0.000,6,0.000,0.045,2504,2782,3860,0,0,0,0,0,0
$GC,720,-0.84,-219.0,125.6,-19.7,112,723,0.00,1.60,0.00,0.000,4,0.000,0.052,2496,3767,3859,0,0,0,0,0,0
$GC,757,-0.84,-219.0,133.9,-21.8,115,765,0.08,1.55,0.00,0.000,6,0.151,0.031,2521,2774,3860,0,0,0,0,0,0
$GC,892,-0.84,-219.0,158.1,-17.7,128,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2773,3860,0,0,0,0,0,0
$GC,1019,-0.84,-219.0,181.1,-17.9,140,1022,0.00,1.62,0.00,0.000,4,0.000,0.051,2514,3764,3860,0,0,0,0,0,0
$GC,1046,-0.84,-219.0,186.6,-19.2,142,1054,0.00,1.52,0.00,0.000,6,0.000,0.031,2514,2793,3861,0,0,0,0,0,0
$GC,1181,-0.84,-219.0,211.2,-18.4,155,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2793,3861,0,0,0,0,0,0
$GC,1308,-0.84,-219.0,234.4,-17.9,167,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2793,3860,0,0,0,0,0,0
$GC,1436,-0.84,-219.0,257.6,-18.2,179,1439,0.00,1.58,0.00,0.000,4,0.000,0.050,2507,3759,3860,0,0,0,0,0,0
$GC,1473,-0.84,-219.0,265.4,-19.5,182,1482,0.00,1.52,0.00,0.000,6,0.000,0.031,2507,2779,3860,0,0,0,0,0,0
$GC,1674,-0.84,-219.0,301.7,-18.3,201,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2779,3860,0,0,0,0,0,0
$GC,1863,-0.84,-219.0,336.3,-18.0,219,1867,0.00,1.60,0.00,0.000,4,0.000,0.051,2499,3764,3860,0,0,0,0,0,0
$GC,1901,-0.84,-219.0,344.1,-19.3,222,1910,0.00,1.52,0.00,0.000,6,0.000,0.031,2498,2788,3860,0,0,0,0,0,0
$STATE,2066,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2066,begin apogee
$GC,2071,-0.16,0.0,374.9,19.3,238,2251,0.73,0.00,173.93,0.965,4,0.129,0.000,2739,2691,2960,0,0,0,0,0,0
$STATE,2251,end apogee,CONTROL_FINISHED_OK
$STATE,2251,begin climb
$GC,2253,0.84,219.0,384.9,0.0,254,2456,1.00,2.38,189.55,0.911,4,0.082,0.034,3067,1305,2066,0,0,0,0,0,0
$GC,2469,0.87,241.3,370.6,12.4,273,2496,0.00,2.50,21.50,0.851,6,0.000,0.041,3067,2702,1975,0,0,1,0,0,0
$GC,2688,0.87,241.3,338.3,14.8,293,2692,0.00,1.77,0.00,0.000,4,0.000,0.048,3067,3763,1968,0,0,0,0,0,0
$GC,2737,0.87,241.3,330.1,16.5,297,2745,0.00,1.73,0.00,0.000,6,0.000,0.031,3076,2718,1967,0,0,1,0,0,0
$GC,2935,0.87,241.3,300.7,14.6,316,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2718,1965,0,0,0,0,0,0
$GC,3128,0.87,241.3,271.9,15.1,334,3131,0.00,1.73,0.00,0.000,4,0.000,0.049,3076,3771,1964,0,0,0,0,0,0
$GC,3199,0.87,241.3,259.5,17.2,340,3207,0.00,1.70,0.00,0.000,6,0.000,0.029,3084,2705,1963,0,0,1,0,0,0
$GC,3397,0.87,241.3,229.3,14.8,359,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2705,1963,0,0,0,0,0,0
$GC,3524,0.87,241.3,209.6,15.8,371,3528,0.00,1.70,0.00,0.000,4,0.000,0.049,3084,3765,1963,0,0,0,0,0,0
$GC,3561,0.87,241.3,202.9,17.8,374,3569,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2729,1963,0,0,0,0,0,0
$GC,3696,0.87,241.3,181.0,16.3,387,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2729,1962,0,0,0,0,0,0
$GC,3823,0.87,241.3,160.9,15.8,399,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2729,1963,0,0,0,0,0,0
$GC,3951,0.87,241.3,141.4,15.1,411,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2729,1962,0,0,0,0,0,0
$GC,4078,0.87,241.3,122.4,14.8,423,4082,0.00,1.70,0.00,0.000,4,0.000,0.050,3093,3763,1962,0,0,0,0,0,0
$GC,4123,0.87,241.3,115.2,16.9,427,4127,0.00,1.62,0.00,0.000,6,0.000,0.032,3101,2740,1962,0,0,0,0,0,0
$GC,4259,0.87,241.3,93.5,15.9,443,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2739,1962,0,0,0,0,0,0
$GC,4398,0.87,241.3,70.4,16.9,468,4406,0.00,1.67,0.00,0.000,4,0.000,0.050,3101,3760,1961,0,0,0,0,0,0
$GC,4439,0.87,241.3,62.9,18.6,475,4447,0.08,1.62,0.00,0.000,6,0.156,0.033,3084,2738,1962,0,0,0,0,0,0
$GC,4582,0.87,241.3,41.4,15.1,500,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2738,1962,0,0,0,0,0,0
$GC,4724,0.87,241.3,19.9,15.4,525,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2738,1962,0,0,0,0,0,0
$FREEZE,8.67,-1.408,-1.897,2,1,0
$FREEZE,7.91,-1.400,-1.897,2,1,0
$FREEZE,7.14,-1.306,-1.895,2,1,0
$FREEZE,6.39,-1.320,-1.895,2,1,0
$FREEZE,5.65,-1.253,-1.894,2,1,0
$FREEZE,4.92,-1.251,-1.894,2,1,0
$FREEZE,4.18,-1.255,-1.894,2,1,0
$FREEZE,3.42,-1.251,-1.893,2,1,0
$FREEZE,2.69,-1.252,-1.893,2,1,0
$STATE,4840,end climb,SURFACE_DEPTH_REACHED
$STATE,4840,begin surface coast
$FREEZE,1.48,-1.249,-1.892,2,1,0
$FREEZE,0.62,-1.247,-1.891,2,1,0
$FREEZE,-0.02,-1.248,-1.891,2,1,0
$FREEZE,0.07,-1.245,-1.891,2,1,0
$FINISH,0.1,1.027716
$STATE,4863,end surface coast,CONTROL_FINISHED_OK
$STATE,4863,begin surface
$SM_CCo,4879,35.92,0.101,0,0,1655,320.11
$SM_GC,0.69,0.00,0.00,35.92,0.000,0.000,0.101,182,2794,1655,-8.18,0.40,320.11
$IRIDIUM_FIX,-7554.21,17548.22,141210,151514
$TT8_MAMPS,0.027713
$HUMID,52.28
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$ALTIM_BOTTOM_PING,350.9,38.6
$24V_AH,22.4,16.124
$10V_AH,10.0,6.913
$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,18.275,43.600,384.975,35.925,0.000,30.572,36.049,97.550,1.250,0.000,16.011,1345.082,2101.771,497.827,1134.949,114.569,0.000,1058.631,0.000,900.167,0.000,10.568,0.000
$DEVICE_MAMPS,218.790,111.690,964.665,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.493,708.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,33645,550
$CAP_FILE_SIZE,74592,0
$CFSIZE,260165632,240750592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.134,316.8,1
$GPS,141210,184202,-7638.948,17603.562,29,1.7,29,124.3