version: 66.08
glider: 503
mission: 7
dive: 209
start: 12 15 110 0 37 42
data:
$ID,503
$MISSION,7
$DIVE,209
$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,-19750.537
$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,43
$R_STBD_OVSHOOT,35
$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
$GPS1,151210,003249,-7639.099,17610.590,17,1.4,28,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-73.5
$GPS2,151210,003714,-7639.103,17610.576,14,1.4,14,124.1
$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,301.3,100612,-18.2,-13.333
$D_GRID,436
$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,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-94.85,0.000,2,0.000,0.000,185,2789,3579,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.2,-10.5,16,137,8.88,1.60,-5.43,0.000,4,0.222,0.065,2515,3760,3856,0,0,0,0,0,0
$GC,365,-0.84,-219.0,61.1,-18.7,60,372,0.00,1.55,0.00,0.000,6,0.000,0.029,2515,2772,3859,0,0,0,0,0,0
$GC,507,-0.84,-219.0,86.1,-16.9,85,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2772,3859,0,0,0,0,0,0
$GC,644,-0.84,-219.0,110.1,-17.4,105,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2772,3859,0,0,0,0,0,0
$GC,771,-0.84,-219.0,132.5,-17.3,117,775,0.00,1.60,0.00,0.000,4,0.000,0.050,2507,3749,3859,0,0,0,0,0,0
$GC,806,-0.84,-219.0,138.8,-18.8,120,809,0.00,1.52,0.00,0.000,6,0.000,0.031,2508,2776,3859,0,0,0,0,0,0
$GC,945,-0.84,-219.0,164.6,-18.8,133,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2776,3859,0,0,0,0,0,0
$GC,1072,-0.84,-219.0,188.7,-18.6,145,1076,0.00,2.17,0.00,0.000,4,0.000,0.034,2507,1381,3859,0,0,0,0,0,0
$GC,1093,-0.84,-219.0,193.0,-18.3,146,1103,0.08,2.28,0.00,0.000,6,0.136,0.046,2524,2762,3860,0,0,0,0,0,0
$GC,1228,-0.84,-219.0,215.0,-17.2,159,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2762,3860,0,0,0,0,0,0
$GC,1356,-0.84,-219.0,236.8,-17.0,171,1360,0.00,1.60,0.00,0.000,4,0.000,0.052,2517,3755,3859,0,0,0,0,0,0
$GC,1402,-0.84,-219.0,245.0,-18.6,175,1406,0.00,1.52,0.00,0.000,6,0.000,0.031,2517,2775,3859,0,0,0,0,0,0
$GC,1541,-0.84,-219.0,269.9,-18.3,188,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2774,3859,0,0,0,0,0,0
$GC,1732,-0.84,-219.0,303.7,-17.0,206,1736,0.00,1.60,0.00,0.000,4,0.000,0.051,2509,3757,3860,0,0,0,0,0,0
$GC,1758,-0.84,-219.0,308.7,-18.0,208,1766,0.00,1.52,0.00,0.000,6,0.000,0.031,2509,2784,3860,0,0,0,0,0,0
$GC,1957,-0.84,-219.0,344.5,-18.0,227,1961,0.00,2.22,0.00,0.000,4,0.000,0.034,2509,1371,3859,0,0,0,0,0,0
$STATE,1993,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1993,begin apogee
$GC,2000,-0.16,0.0,350.4,17.3,230,2179,0.73,0.00,173.45,0.947,4,0.125,0.000,2741,2703,2960,0,0,0,0,0,0
$STATE,2180,end apogee,CONTROL_FINISHED_OK
$STATE,2180,begin climb
$GC,2182,0.84,219.0,360.1,0.0,246,2380,1.00,2.40,188.80,0.894,4,0.078,0.036,3072,1301,2067,0,0,1,0,0,0
$GC,2574,0.84,219.0,319.8,14.2,280,2582,0.00,2.45,0.00,0.000,6,0.000,0.042,3072,2692,2057,0,0,0,0,0,0
$GC,2773,0.84,219.0,290.7,14.2,299,2777,0.00,2.33,0.00,0.000,4,0.000,0.035,3083,1298,2055,0,0,0,0,0,0
$GC,2946,0.84,219.0,267.5,13.5,314,2954,0.00,2.38,0.00,0.000,6,0.000,0.043,3083,2714,2053,0,0,0,0,0,0
$GC,3143,0.84,219.0,239.1,14.6,333,3147,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3759,2052,0,0,0,0,0,0
$GC,3212,0.84,219.0,228.0,17.7,339,3216,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2702,2051,0,0,0,0,0,0
$GC,3351,0.84,219.0,205.9,16.2,352,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2701,2051,0,0,0,0,0,0
$GC,3479,0.84,219.0,185.4,16.0,364,3482,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3764,2051,0,0,0,0,0,0
$GC,3516,0.84,219.0,178.5,18.1,367,3524,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2729,2051,0,0,0,0,0,0
$GC,3651,0.84,219.0,156.4,16.5,380,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2729,2051,0,0,0,0,0,0
$GC,3778,0.84,219.0,134.6,17.2,392,3782,0.00,2.28,0.00,0.000,4,0.000,0.037,3111,1300,2051,0,0,0,0,0,0
$GC,3828,0.84,219.0,126.2,16.7,396,3833,0.15,2.33,0.00,0.000,6,0.155,0.045,3069,2725,2051,0,0,0,0,0,0
$GC,3962,0.84,219.0,105.9,14.9,408,3966,0.00,1.67,0.00,0.000,4,0.000,0.050,3069,3757,2050,0,0,0,0,0,0
$GC,3999,0.84,219.0,99.7,16.8,411,4007,0.00,1.60,0.00,0.000,6,0.000,0.031,3077,2731,2050,0,0,1,0,0,0
$GC,4141,0.84,219.0,78.7,14.2,436,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2731,2049,0,0,0,0,0,0
$GC,4280,0.84,219.0,58.4,14.1,461,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2731,2049,0,0,0,0,0,0
$GC,4422,0.84,219.0,38.3,14.5,486,4430,0.00,1.67,0.00,0.000,4,0.000,0.050,3077,3755,2050,0,0,0,0,0,0
$GC,4463,0.84,219.0,31.8,16.2,493,4470,0.00,1.60,0.00,0.000,6,0.000,0.031,3084,2727,2049,0,0,1,0,0,0
$GC,4607,0.84,219.0,10.7,14.8,518,4615,0.00,1.67,0.00,0.000,4,0.000,0.050,3085,3754,2050,0,0,0,0,0,0
$FREEZE,8.55,-1.193,-1.896,2,1,0
$FREEZE,7.77,-1.194,-1.896,2,1,0
$FREEZE,6.83,-1.211,-1.895,2,1,0
$FREEZE,6.08,-1.217,-1.895,2,1,0
$FREEZE,5.21,-1.172,-1.894,2,1,0
$FREEZE,4.40,-1.170,-1.893,2,1,0
$FREEZE,3.58,-1.163,-1.893,2,1,0
$FREEZE,2.73,-1.170,-1.892,2,1,0
$STATE,4657,end climb,SURFACE_DEPTH_REACHED
$STATE,4657,begin surface coast
$FREEZE,1.86,-1.158,-1.891,2,1,0
$FREEZE,1.01,-1.154,-1.891,2,1,0
$FREEZE,0.12,-1.142,-1.890,2,1,0
$FINISH,0.1,1.027699
$STATE,4675,end surface coast,CONTROL_FINISHED_OK
$STATE,4675,begin surface
$SM_CCo,4692,46.20,0.101,0,0,1655,320.11
$SM_GC,0.97,0.00,0.00,46.20,0.000,0.000,0.101,190,2771,1655,-8.16,-0.25,320.11
$IRIDIUM_FIX,-7554.21,17616.72,141210,232302
$TT8_MAMPS,0.027713
$HUMID,51.73
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.8
$ALTIM_BOTTOM_PING,350.4,14.6
$24V_AH,22.4,16.671
$10V_AH,9.9,7.132
$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,18.550,52.050,362.250,46.200,0.000,27.659,37.501,96.999,1.250,0.000,16.908,1316.793,1942.961,483.191,1160.088,116.207,0.000,1048.238,0.000,918.901,0.000,10.503,0.000
$DEVICE_MAMPS,221.850,65.025,947.070,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.845,695.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,33644,530
$CAP_FILE_SIZE,74418,0
$CFSIZE,260165632,240541696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.158,219.0,1
$GPS,151210,015757,-7639.199,17612.246,18,3.2,37,124.1