version: 66.08
glider: 503
mission: 7
dive: 206
start: 12 14 110 20 14 53
data:
$ID,503
$MISSION,7
$DIVE,206
$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,-19746.77
$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,37
$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
$GPS1,141210,201004,-7638.852,17606.072,22,4.1,41,124.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.7
$GPS2,141210,201425,-7638.846,17605.939,9,1.9,9,124.2
$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,335.8,102512,-18.2,-13.333
$D_GRID,434
$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,15,-0.84,-219.0,0.0,0.0,0,109,0.00,0.00,-91.65,0.000,2,0.000,0.000,188,2794,3481,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.5,-7.6,15,134,8.88,2.33,-7.93,0.000,4,0.223,0.047,2525,1375,3856,0,0,0,0,0,0
$GC,383,-0.84,-219.0,56.3,-16.1,63,390,0.00,2.28,0.00,0.000,6,0.000,0.045,2515,2769,3860,0,0,0,0,0,0
$GC,524,-0.84,-219.0,82.6,-17.8,88,531,0.00,2.22,0.00,0.000,4,0.000,0.034,2515,1374,3859,0,0,0,0,0,0
$GC,565,-0.84,-219.0,89.9,-16.9,95,572,0.00,2.30,0.00,0.000,6,0.000,0.046,2505,2781,3859,0,0,0,0,0,0
$GC,707,-0.84,-219.0,116.6,-19.6,113,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2781,3859,0,0,0,0,0,0
$GC,835,-0.84,-219.0,141.0,-19.0,125,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2781,3859,0,0,0,0,0,0
$GC,962,-0.84,-219.0,165.2,-18.6,137,965,0.00,1.58,0.00,0.000,4,0.000,0.051,2497,3757,3860,0,0,0,0,0,0
$GC,999,-0.84,-219.0,173.0,-19.9,140,1008,0.08,1.52,0.00,0.000,6,0.146,0.031,2522,2782,3859,0,0,0,0,0,0
$GC,1134,-0.84,-219.0,195.7,-16.7,153,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2782,3860,0,0,0,0,0,0
$GC,1261,-0.84,-219.0,216.5,-16.3,165,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2782,3860,0,0,0,0,0,0
$GC,1389,-0.84,-219.0,237.6,-17.2,177,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2782,3860,0,0,0,0,0,0
$GC,1517,-0.84,-219.0,259.5,-17.2,189,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2782,3860,0,0,0,0,0,0
$GC,1708,-0.84,-219.0,292.7,-17.1,207,1711,0.00,1.60,0.00,0.000,4,0.000,0.052,2515,3764,3860,0,0,0,0,0,0
$GC,1756,-0.84,-219.0,302.0,-18.8,211,1764,0.00,1.50,0.00,0.000,6,0.000,0.031,2515,2796,3860,0,0,0,0,0,0
$GC,1957,-0.84,-219.0,336.8,-17.1,230,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2796,3860,0,0,0,0,0,0
$STATE,2133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2133,begin apogee
$GC,2138,-0.16,0.0,368.4,17.7,247,2317,0.68,0.00,173.52,0.961,4,0.125,0.000,2741,2696,2960,0,0,0,0,0,0
$STATE,2318,end apogee,CONTROL_FINISHED_OK
$STATE,2318,begin climb
$GC,2320,0.84,219.0,376.9,0.0,263,2521,1.00,2.40,188.95,0.907,4,0.080,0.034,3072,1304,2067,0,0,0,0,0,0
$GC,2695,0.84,219.2,341.6,13.3,296,2702,0.00,2.45,0.00,0.000,6,0.000,0.042,3071,2698,2058,0,0,0,0,0,0
$GC,2893,0.84,219.2,314.0,14.3,315,2897,0.00,2.33,0.00,0.000,4,0.000,0.035,3082,1304,2055,0,0,0,0,0,0
$GC,3059,0.84,219.2,289.8,14.1,329,3066,0.00,2.38,0.00,0.000,6,0.000,0.042,3082,2701,2054,0,0,0,0,0,0
$GC,3257,0.84,219.2,259.3,15.7,348,3261,0.00,1.73,0.00,0.000,4,0.000,0.050,3082,3770,2053,0,0,0,0,0,0
$GC,3317,0.84,219.2,248.7,18.0,353,3325,0.00,1.67,0.00,0.000,6,0.000,0.030,3090,2715,2052,0,0,1,0,0,0
$GC,3452,0.84,219.2,227.4,15.8,366,3455,0.00,1.70,0.00,0.000,4,0.000,0.050,3090,3764,2052,0,0,0,0,0,0
$GC,3478,0.84,219.2,222.4,17.4,368,3486,0.00,1.67,0.00,0.000,6,0.000,0.031,3098,2724,2052,0,0,0,0,0,0
$GC,3613,0.84,219.2,200.3,16.7,381,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2723,2052,0,0,0,0,0,0
$GC,3741,0.84,219.2,179.7,16.1,393,3744,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3764,2052,0,0,0,0,0,0
$GC,3778,0.84,219.2,172.8,17.2,396,3787,0.10,1.62,0.00,0.000,6,0.153,0.031,3075,2735,2052,0,0,1,0,0,0
$GC,3913,0.84,219.2,154.1,13.8,409,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2734,2051,0,0,0,0,0,0
$GC,4041,0.84,219.2,136.8,13.5,421,4045,0.00,1.70,0.00,0.000,4,0.000,0.050,3075,3766,2051,0,0,0,0,0,0
$GC,4067,0.84,219.2,132.8,14.5,423,4075,0.00,1.60,0.00,0.000,6,0.000,0.031,3082,2744,2051,0,0,1,0,0,0
$GC,4202,0.84,219.2,113.8,14.2,436,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2744,2051,0,0,0,0,0,0
$GC,4331,0.84,219.2,95.5,14.7,450,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2744,2051,0,0,0,0,0,0
$GC,4473,0.84,219.2,75.7,13.9,475,4479,0.00,2.30,0.00,0.000,4,0.000,0.035,3093,1297,2050,0,0,0,0,0,0
$GC,4502,0.84,219.2,71.6,14.0,480,4509,0.00,2.35,0.00,0.000,6,0.000,0.044,3094,2745,2050,0,0,0,0,0,0
$GC,4644,0.84,219.2,51.0,14.5,505,4651,0.00,1.65,0.00,0.000,4,0.000,0.051,3094,3763,2050,0,0,0,0,0,0
$GC,4685,0.84,219.2,44.2,16.5,512,4692,0.08,1.60,0.00,0.000,6,0.157,0.032,3076,2751,2050,0,0,0,0,0,0
$GC,4828,0.84,220.7,24.2,13.3,537,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2751,2050,0,0,0,0,0,0
$FREEZE,8.99,-1.297,-1.897,2,1,0
$FREEZE,8.34,-1.218,-1.896,2,1,0
$FREEZE,7.58,-1.226,-1.896,2,1,0
$FREEZE,6.86,-1.193,-1.895,2,1,0
$FREEZE,6.15,-1.188,-1.895,2,1,0
$FREEZE,5.50,-1.185,-1.894,2,1,0
$FREEZE,4.62,-1.165,-1.894,2,1,0
$GC,4967,0.84,220.7,4.6,13.8,562,4974,0.00,1.65,0.00,0.000,4,0.000,0.050,3076,3762,2050,0,0,0,0,0,0
$FREEZE,2.49,-1.163,-1.892,2,1,0
$STATE,4980,end climb,SURFACE_DEPTH_REACHED
$STATE,4980,begin surface coast
$FREEZE,1.68,-1.156,-1.892,2,1,0
$FREEZE,0.93,-1.157,-1.891,2,1,0
$FREEZE,0.12,-1.155,-1.891,2,1,0
$FREEZE,0.00,-1.152,-1.890,2,1,0
$FINISH,0.0,1.027700
$STATE,5004,end surface coast,CONTROL_FINISHED_OK
$STATE,5004,begin surface
$SM_CCo,5021,46.05,0.101,0,0,1655,320.11
$SM_GC,1.04,0.00,0.00,46.05,0.000,0.000,0.101,190,2781,1655,-8.16,0.03,320.11
$IRIDIUM_FIX,-7554.21,17607.45,141210,181829
$TT8_MAMPS,0.027713
$HUMID,52.12
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,20.1
$ALTIM_BOTTOM_PING,351.5,30.7
$24V_AH,22.4,16.339
$10V_AH,9.9,7.002
$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,18.450,49.450,362.475,46.050,0.000,23.337,38.739,104.497,1.500,0.000,12.012,1400.676,2140.143,497.816,1187.853,117.220,0.000,1077.679,0.000,949.203,0.000,10.547,0.000
$DEVICE_MAMPS,222.615,82.620,960.840,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.308,737.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,37064,568
$CAP_FILE_SIZE,76872,0
$CFSIZE,260165632,240664576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.127,282.8,1
$GPS,141210,214014,-7638.907,17607.582,16,1.1,16,124.2