version: 66.08
glider: 503
mission: 7
dive: 208
start: 12 14 110 23 13 35
data:
$ID,503
$MISSION,7
$DIVE,208
$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,-19749.279
$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,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
$GPS1,141210,230837,-7638.960,17609.064,38,1.0,38,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-73.5
$GPS2,141210,231307,-7638.956,17609.062,9,1.2,14,124.1
$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,315.6,101212,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.25,0.000,2,0.000,0.000,183,2778,3434,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.1,-6.1,15,138,8.88,1.65,-9.27,0.000,4,0.218,0.069,2518,3764,3856,0,0,0,0,0,0
$GC,350,-0.84,-219.0,55.8,-20.1,57,358,0.00,1.58,0.00,0.000,6,0.000,0.030,2519,2770,3859,0,0,0,0,0,0
$GC,495,-0.84,-219.0,83.9,-19.9,82,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2770,3859,0,0,0,0,0,0
$GC,633,-0.84,-219.0,110.3,-18.6,102,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2770,3859,0,0,0,0,0,0
$GC,760,-0.84,-219.0,133.5,-17.9,114,764,0.00,1.62,0.00,0.000,4,0.000,0.051,2510,3786,3859,0,0,0,0,0,0
$GC,799,-0.84,-219.0,141.1,-19.2,117,807,0.00,1.58,0.00,0.000,6,0.000,0.031,2510,2784,3859,0,0,0,0,0,0
$GC,933,-0.84,-219.0,165.0,-17.8,130,937,0.00,2.20,0.00,0.000,4,0.000,0.034,2510,1381,3859,0,0,0,0,0,0
$GC,965,-0.84,-219.0,171.0,-16.0,132,973,0.00,2.30,0.00,0.000,6,0.000,0.046,2500,2776,3859,0,0,0,0,0,0
$GC,1100,-0.84,-219.0,195.6,-18.9,145,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2776,3859,0,0,0,0,0,0
$GC,1227,-0.84,-219.0,218.9,-18.1,157,1231,0.00,1.60,0.00,0.000,4,0.000,0.051,2492,3764,3859,0,0,0,0,0,0
$GC,1264,-0.84,-219.0,226.4,-19.3,160,1273,0.08,1.52,0.00,0.000,6,0.147,0.031,2518,2793,3859,0,0,0,0,0,0
$GC,1399,-0.84,-219.0,249.4,-17.5,173,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2793,3859,0,0,0,0,0,0
$GC,1526,-0.84,-219.0,271.6,-17.4,185,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2793,3859,0,0,0,0,0,0
$GC,1718,-0.84,-219.0,305.3,-17.2,203,1722,0.00,1.58,0.00,0.000,4,0.000,0.050,2511,3758,3860,0,0,0,0,0,0
$GC,1767,-0.84,-219.0,314.6,-18.0,207,1775,0.00,1.50,0.00,0.000,6,0.000,0.031,2511,2796,3859,0,0,0,0,0,0
$GC,1967,-0.84,-219.0,349.3,-17.5,226,1974,0.00,2.22,0.00,0.000,4,0.000,0.034,2511,1367,3859,0,0,0,0,0,0
$STATE,2001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2002,begin apogee
$GC,2008,-0.16,0.0,356.0,17.8,229,2187,0.73,0.00,173.35,0.954,4,0.124,0.000,2743,2710,2960,0,0,0,0,0,0
$STATE,2188,end apogee,CONTROL_FINISHED_OK
$STATE,2188,begin climb
$GC,2190,0.84,219.0,366.2,0.0,245,2388,0.95,1.85,189.30,0.898,4,0.079,0.052,3069,3749,2066,0,0,0,0,0,0
$GC,2594,0.84,219.0,313.8,16.8,280,2602,0.00,1.73,0.00,0.000,6,0.000,0.028,3078,2706,2057,0,0,1,0,0,0
$GC,2795,0.84,219.0,283.6,15.5,299,2798,0.00,1.75,0.00,0.000,4,0.000,0.048,3078,3761,2054,0,0,0,0,0,0
$GC,3054,0.84,219.0,240.0,16.4,322,3058,0.00,1.67,0.00,0.000,6,0.000,0.030,3086,2697,2053,0,0,0,0,0,0
$GC,3193,0.84,219.0,219.2,14.5,335,3197,0.00,1.77,0.00,0.000,4,0.000,0.049,3086,3759,2053,0,0,0,0,0,0
$GC,3238,0.84,219.0,212.0,16.5,339,3242,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2695,2052,0,0,1,0,0,0
$GC,3377,0.84,219.0,190.8,15.1,352,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2695,2052,0,0,0,0,0,0
$GC,3505,0.84,219.0,171.9,14.9,364,3508,0.00,1.73,0.00,0.000,4,0.000,0.049,3095,3765,2052,0,0,0,0,0,0
$GC,3552,0.84,219.0,164.2,17.3,368,3556,0.12,1.65,0.00,0.000,6,0.174,0.031,3070,2706,2052,0,0,0,0,0,0
$GC,3691,0.86,236.7,145.3,12.6,381,3715,0.00,2.35,14.12,0.816,4,0.000,0.036,3080,1296,1995,0,0,0,0,0,0
$GC,3742,0.89,259.0,138.5,12.4,385,3773,0.00,2.33,21.58,0.800,6,0.000,0.043,3080,2705,1902,0,0,0,0,0,0
$GC,3899,0.89,259.0,116.4,14.3,400,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2705,1900,0,0,0,0,0,0
$GC,4027,0.89,259.0,98.2,14.9,413,4035,0.00,1.73,0.00,0.000,4,0.000,0.050,3080,3758,1898,0,0,0,0,0,0
$GC,4063,0.89,259.0,92.6,16.2,419,4070,0.00,1.67,0.00,0.000,6,0.000,0.031,3087,2700,1898,0,0,1,0,0,0
$GC,4205,0.89,259.0,70.6,15.6,444,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2700,1897,0,0,0,0,0,0
$GC,4345,0.89,259.0,48.5,16.6,469,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2700,1897,0,0,0,0,0,0
$GC,4488,0.89,259.0,25.4,16.8,494,4494,0.00,1.75,0.00,0.000,4,0.000,0.050,3087,3784,1897,0,0,0,0,0,0
$GC,4517,0.89,259.0,20.3,18.2,499,4527,0.00,1.73,0.00,0.000,6,0.000,0.032,3096,2703,1896,0,0,0,0,0,0
$FREEZE,8.21,-1.201,-1.897,2,1,0
$FREEZE,7.28,-1.167,-1.896,2,1,0
$FREEZE,6.51,-1.163,-1.895,2,1,0
$FREEZE,5.75,-1.158,-1.895,2,1,0
$FREEZE,4.80,-1.157,-1.894,2,1,0
$FREEZE,3.96,-1.115,-1.893,2,1,0
$FREEZE,3.23,-1.122,-1.893,2,1,0
$FREEZE,2.21,-1.037,-1.891,2,1,0
$STATE,4626,end climb,SURFACE_DEPTH_REACHED
$STATE,4626,begin surface coast
$FREEZE,1.23,-1.082,-1.891,2,1,0
$FREEZE,0.49,-1.055,-1.890,2,1,0
$FREEZE,0.01,-1.076,-1.892,2,1,0
$FINISH,0.0,1.027728
$STATE,4643,end surface coast,CONTROL_FINISHED_OK
$STATE,4643,begin surface
$SM_CCo,4658,28.23,0.103,0,0,1655,320.11
$SM_GC,1.12,0.00,0.00,28.23,0.000,0.000,0.103,186,2788,1655,-8.17,0.23,320.11
$IRIDIUM_FIX,-7554.21,17616.12,141210,212141
$TT8_MAMPS,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.3
$ALTIM_BOTTOM_PING,350.7,19.5
$24V_AH,22.4,16.567
$10V_AH,10.0,7.089
$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,18.525,47.050,398.350,28.225,0.000,29.729,37.210,102.854,1.250,0.000,16.879,1284.812,1912.452,500.189,1157.143,117.841,0.000,1071.710,0.000,915.481,0.000,10.508,0.000
$DEVICE_MAMPS,218.025,87.210,953.955,103.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.844,685.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,33701,521
$CAP_FILE_SIZE,73930,0
$CFSIZE,260165632,240582656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.163,227.4,1
$GPS,151210,003249,-7639.099,17610.590,17,1.4,28,124.1