version: 66.08
glider: 503
mission: 7
dive: 113
start: 12 7 110 21 12 24
data:
$ID,503
$MISSION,7
$DIVE,113
$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,616.91943
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-19385.641
$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,26
$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
$GPS1,071210,210631,-7646.649,17040.459,53,1.5,54,132.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-55.8
$GPS2,071210,211156,-7646.615,17040.213,9,1.7,9,132.9
$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,292.6,243967,-18.2,-13.333
$D_GRID,761
$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,-219.0,0.0,0.0,0,154,0.00,0.00,-135.55,0.000,2,0.000,0.000,161,2757,3263,0,0,0,0,0,0
$GC,157,-0.84,-219.0,3.3,-6.3,22,185,8.90,1.70,-13.82,0.000,4,0.218,0.071,2515,3773,3856,0,0,1,0,0,0
$GC,417,-0.84,-219.0,54.3,-18.7,68,425,0.00,1.58,0.00,0.000,6,0.000,0.029,2515,2772,3859,0,0,0,0,0,0
$GC,560,-0.84,-219.0,77.4,-16.3,93,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2772,3860,0,0,0,0,0,0
$GC,701,-0.84,-219.0,100.9,-17.8,118,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2772,3860,0,0,0,0,0,0
$GC,828,-0.84,-219.0,123.3,-17.5,130,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2772,3860,0,0,0,0,0,0
$GC,955,-0.84,-219.0,146.3,-18.0,142,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2772,3860,0,0,0,0,0,0
$GC,1083,-0.84,-219.0,168.5,-17.1,154,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2772,3860,0,0,0,0,0,0
$GC,1210,-0.84,-219.0,190.3,-17.2,166,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2772,3860,0,0,0,0,0,0
$GC,1338,-0.84,-219.0,213.5,-18.9,178,1341,0.00,1.62,0.00,0.000,4,0.000,0.050,2507,3793,3860,0,0,0,0,0,0
$GC,1383,-0.84,-219.0,222.4,-19.3,182,1386,0.00,1.58,0.00,0.000,6,0.000,0.031,2507,2781,3859,0,0,0,0,0,0
$GC,1522,-0.84,-219.0,248.8,-18.9,195,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2780,3860,0,0,0,0,0,0
$GC,1651,-0.84,-219.0,272.1,-18.2,207,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2780,3860,0,0,0,0,0,0
$GC,1841,-0.84,-219.0,306.9,-18.6,225,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2780,3860,0,0,0,0,0,0
$GC,2032,-0.84,-219.0,341.8,-18.7,243,2035,0.00,1.60,0.00,0.000,4,0.000,0.052,2500,3763,3860,0,0,1,0,0,0
$GC,2078,-0.84,-219.0,350.7,-19.2,247,2082,0.00,1.52,0.00,0.000,6,0.000,0.031,2500,2781,3859,0,0,0,0,0,0
$GC,2280,-0.84,-219.0,389.6,-18.8,266,2282,0.10,0.00,0.00,0.000,6,0.182,0.000,2525,2780,3859,0,0,0,0,0,0
$GC,2472,-0.84,-219.0,421.5,-16.5,284,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2780,3859,0,0,0,0,0,0
$GC,2663,-0.84,-219.0,453.6,-16.8,302,2666,0.00,1.60,0.00,0.000,4,0.000,0.052,2518,3763,3859,0,0,1,0,0,0
$GC,2707,-0.84,-219.0,461.5,-17.1,306,2711,0.00,1.50,0.00,0.000,6,0.000,0.031,2518,2796,3859,0,0,0,0,0,0
$GC,2911,-0.84,-219.0,496.6,-16.6,325,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2796,3860,0,0,0,0,0,0
$GC,3116,-0.84,-219.0,530.9,-16.5,333,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2796,3859,0,0,0,0,0,0
$GC,3299,-0.84,-219.0,560.6,-16.0,339,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2796,3859,0,0,0,0,0,0
$GC,3483,-0.84,-219.0,589.1,-15.5,345,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2796,3859,0,0,0,0,0,0
$GC,3667,-0.84,-219.0,617.1,-15.1,351,3670,0.00,1.55,0.00,0.000,4,0.000,0.051,2511,3754,3859,0,0,0,0,0,0
$GC,3710,-0.84,-219.0,624.3,-15.7,352,3715,0.00,1.50,0.00,0.000,6,0.000,0.030,2511,2781,3859,0,0,0,0,0,0
$STATE,3890,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3890,begin apogee
$GC,3894,-0.16,0.0,651.9,15.8,358,4082,0.70,0.00,180.32,1.117,4,0.128,0.000,2744,2699,2960,0,0,0,0,0,0
$STATE,4083,end apogee,CONTROL_FINISHED_OK
$STATE,4083,begin climb
$GC,4085,0.84,219.0,660.9,0.0,364,4289,0.98,2.40,195.73,1.063,4,0.075,0.033,3067,1295,2067,0,0,0,0,0,0
$GC,4378,0.84,219.0,631.6,14.5,373,4382,0.00,2.50,0.00,0.000,6,0.000,0.041,3067,2692,2057,0,0,0,0,0,0
$GC,4586,0.84,219.0,597.8,16.5,380,4590,0.00,2.33,0.00,0.000,4,0.000,0.034,3078,1303,2052,0,0,0,0,0,0
$GC,4752,0.84,219.0,572.0,14.9,385,4756,0.00,2.38,0.00,0.000,6,0.000,0.042,3078,2700,2050,0,0,1,0,0,0
$GC,4966,0.84,219.0,536.9,16.7,392,4969,0.00,1.73,0.00,0.000,4,0.000,0.049,3078,3764,2049,0,0,0,0,0,0
$GC,5025,0.84,219.0,525.4,18.8,393,5033,0.00,1.70,0.00,0.000,6,0.000,0.030,3087,2713,2048,0,0,0,0,0,0
$GC,5217,0.84,219.0,492.8,16.8,402,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2713,2047,0,0,0,0,0,0
$GC,5409,0.84,219.0,459.7,17.7,420,5412,0.00,1.70,0.00,0.000,4,0.000,0.050,3087,3764,2047,0,0,0,0,0,0
$GC,5469,0.84,219.0,447.7,20.1,425,5476,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2719,2047,0,0,1,0,0,0
$GC,5667,0.84,219.0,411.8,17.7,444,5671,0.00,1.67,0.00,0.000,4,0.000,0.049,3095,3764,2047,0,0,0,0,0,0
$GC,5701,0.84,219.0,405.2,19.5,447,5705,0.12,1.65,0.00,0.000,6,0.184,0.031,3072,2700,2047,0,0,0,0,0,0
$GC,5903,0.84,219.0,373.0,15.7,466,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2700,2046,0,0,0,0,0,0
$GC,6094,0.84,219.0,343.4,15.3,484,6098,0.00,1.70,0.00,0.000,4,0.000,0.050,3072,3764,2046,0,0,0,0,0,0
$GC,6151,0.84,219.0,333.7,17.5,489,6155,0.00,1.62,0.00,0.000,6,0.000,0.032,3079,2737,2046,0,0,0,0,0,0
$GC,6354,0.84,219.0,300.9,15.9,508,6358,0.00,1.65,0.00,0.000,4,0.000,0.050,3079,3768,2046,0,0,0,0,0,0
$GC,6403,0.84,219.0,291.8,18.6,512,6412,0.00,1.62,0.00,0.000,6,0.000,0.031,3087,2740,2045,0,0,0,0,0,0
$GC,6601,0.84,219.0,258.0,17.4,531,6605,0.00,1.62,0.00,0.000,4,0.000,0.050,3087,3764,2046,0,0,0,0,0,0
$GC,6635,0.84,219.0,251.5,19.9,534,6638,0.00,1.60,0.00,0.000,6,0.000,0.032,3095,2749,2045,0,0,0,0,0,0
$GC,6838,0.84,219.0,216.7,16.9,553,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2749,2046,0,0,0,0,0,0
$GC,6965,0.84,219.0,194.6,17.3,565,6969,0.00,1.65,0.00,0.000,4,0.000,0.050,3095,3759,2045,0,0,0,0,0,0
$GC,7000,0.84,219.0,188.1,20.2,568,7004,0.08,1.58,0.00,0.000,6,0.165,0.032,3078,2760,2045,0,0,0,0,0,0
$GC,7139,0.84,219.0,165.1,16.1,581,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2760,2045,0,0,0,0,0,0
$GC,7266,0.84,219.0,145.3,15.6,593,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2760,2045,0,0,0,0,0,0
$GC,7394,0.84,219.0,126.3,14.7,605,7397,0.00,1.62,0.00,0.000,4,0.000,0.050,3077,3754,2045,0,0,0,0,0,0
$GC,7431,0.84,219.0,119.6,16.3,608,7440,0.00,1.55,0.00,0.000,6,0.000,0.031,3085,2757,2045,0,0,0,0,0,0
$GC,7566,0.84,219.0,98.3,16.4,621,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2758,2045,0,0,0,0,0,0
$GC,7707,0.84,219.0,75.1,17.0,646,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2758,2045,0,0,0,0,0,0
$GC,7847,0.84,219.0,53.1,14.8,671,7854,0.00,1.62,0.00,0.000,4,0.000,0.051,3085,3755,2044,0,0,0,0,0,0
$GC,7943,0.84,219.0,36.6,19.5,688,7951,0.00,1.55,0.00,0.000,6,0.000,0.031,3093,2764,2044,0,0,0,0,0,0
$GC,8086,0.89,257.6,15.7,11.8,713,8124,0.00,1.65,30.27,0.750,4,0.000,0.051,3093,3764,1909,0,0,1,0,0,0
$FREEZE,8.02,-1.811,-1.902,2,1,0
$FREEZE,6.86,-1.810,-1.901,2,1,0
$FREEZE,5.47,-1.809,-1.900,2,1,0
$FREEZE,4.11,-1.809,-1.899,2,1,0
$FREEZE,3.50,-1.806,-1.898,2,1,0
$FREEZE,2.81,-1.806,-1.898,2,1,0
$STATE,8163,end climb,SURFACE_DEPTH_REACHED
$STATE,8163,begin surface coast
$FREEZE,1.93,-1.805,-1.897,2,1,0
$FREEZE,0.87,-1.802,-1.896,2,1,0
$FINISH,0.9,1.027798
$STATE,8175,end surface coast,CONTROL_FINISHED_OK
$STATE,8175,begin surface
$SM_CCo,8191,192.60,0.102,0,0,444,616.92
$SM_GC,0.81,0.00,0.00,192.60,0.000,0.000,0.102,191,2780,444,-8.14,0.00,616.92
$IRIDIUM_FIX,-7603.11,17032.26,071210,181800
$TT8_MAMPS,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.2
$ALTIM_BOTTOM_PING,651.9,6.9
$24V_AH,22.0,5.829
$10V_AH,10.0,2.486
$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,18.650,58.150,406.325,192.600,0.000,31.465,37.565,158.133,3.000,0.000,12.207,1872.782,4390.439,696.327,1610.303,151.328,0.000,1474.313,0.000,1296.405,0.000,23.365,0.000
$DEVICE_MAMPS,218.025,100.980,1116.900,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.915,905.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258236
$DATA_FILE_SIZE,47097,728
$CAP_FILE_SIZE,106128,0
$CFSIZE,260165632,244756480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.075,216.7,1
$GPS,071210,233514,-7646.364,17044.555,127,3.0,146,132.7