version: 66.08
glider: 503
mission: 7
dive: 117
start: 12 8 110 7 14 47
data:
$ID,503
$MISSION,7
$DIVE,117
$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,-19390.68
$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,30
$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
$GPS1,081210,070224,-7646.205,17058.703,49,1.4,67,132.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-47.3
$GPS2,081210,071419,-7646.157,17058.422,12,1.3,12,132.4
$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,287.1,236051,-18.2,-13.333
$D_GRID,758
$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,16,-0.84,-219.0,0.0,0.0,0,171,0.00,0.00,-151.80,0.000,2,0.000,0.000,140,2739,3566,0,0,0,0,0,0
$GC,174,-0.84,-219.0,3.1,-4.4,24,195,9.18,1.73,-6.45,0.000,4,0.226,0.070,2513,3761,3856,0,0,0,0,0,0
$GC,405,-0.84,-219.0,52.2,-20.5,65,412,0.00,1.55,0.00,0.000,6,0.000,0.031,2513,2774,3858,0,0,0,0,0,0
$GC,547,-0.84,-219.0,80.3,-19.9,90,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,686,-0.84,-219.0,109.0,-21.2,111,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,813,-0.84,-219.0,134.2,-19.0,123,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,940,-0.84,-219.0,158.6,-19.3,135,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,1068,-0.84,-219.0,181.8,-18.2,147,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,1195,-0.84,-219.0,204.7,-18.0,159,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2773,3859,0,0,0,0,0,0
$GC,1323,-0.84,-219.0,227.7,-18.4,171,1326,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3752,3859,0,0,0,0,0,0
$GC,1372,-0.84,-219.0,237.7,-20.5,175,1381,0.00,1.50,0.00,0.000,6,0.000,0.030,2506,2784,3859,0,0,0,0,0,0
$GC,1507,-0.84,-219.0,263.0,-18.7,188,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3858,0,0,0,0,0,0
$GC,1698,-0.84,-219.0,297.5,-17.8,206,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2783,3859,0,0,0,0,0,0
$GC,1890,-0.84,-219.0,332.8,-18.7,224,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2783,3859,0,0,0,0,0,0
$GC,2080,-0.84,-219.0,366.5,-17.3,242,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3859,0,0,0,0,0,0
$GC,2273,-0.84,-219.0,399.3,-17.3,260,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3859,0,0,0,0,0,0
$GC,2462,-0.84,-219.0,432.6,-17.5,278,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3859,0,0,0,0,0,0
$GC,2653,-0.84,-219.0,465.7,-17.0,296,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3859,0,0,0,0,0,0
$GC,2844,-0.84,-219.0,498.7,-16.9,314,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3858,0,0,0,0,0,0
$GC,3039,-0.84,-219.0,532.5,-17.4,321,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3859,0,0,0,0,0,0
$GC,3222,-0.84,-219.0,564.6,-17.4,327,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3859,0,0,0,0,0,0
$GC,3406,-0.84,-219.0,596.3,-17.2,333,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3859,0,0,0,0,0,0
$STATE,3438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3438,begin apogee
$GC,3443,-0.16,0.0,601.5,17.2,334,3632,0.73,0.00,179.15,1.092,4,0.131,0.000,2745,2683,2959,0,0,0,0,0,0
$STATE,3632,end apogee,CONTROL_FINISHED_OK
$STATE,3632,begin climb
$GC,3634,0.84,219.0,611.4,0.0,340,3838,1.00,2.35,194.77,1.037,4,0.076,0.033,3075,1303,2067,0,0,0,0,0,0
$GC,3917,0.84,219.0,584.0,14.7,349,3921,0.00,2.45,0.00,0.000,6,0.000,0.041,3075,2700,2058,0,0,1,0,0,0
$GC,4129,0.84,219.0,550.2,16.2,356,4133,0.00,2.35,0.00,0.000,4,0.000,0.034,3085,1307,2051,0,0,0,0,0,0
$GC,4291,0.84,219.0,525.5,15.1,360,4298,0.00,2.35,0.00,0.000,6,0.000,0.042,3085,2709,2050,0,0,1,0,0,0
$GC,4482,0.84,219.0,493.1,17.2,369,4485,0.00,1.73,0.00,0.000,4,0.000,0.048,3085,3765,2049,0,0,0,0,0,0
$GC,4542,0.84,219.0,481.3,20.1,374,4549,0.00,1.67,0.00,0.000,6,0.000,0.030,3094,2730,2048,0,0,0,0,0,0
$GC,4741,0.84,219.0,445.8,18.1,393,4745,0.00,1.67,0.00,0.000,4,0.000,0.050,3094,3762,2048,0,0,0,0,0,0
$GC,4790,0.84,219.0,435.5,19.8,397,4798,0.08,1.67,0.00,0.000,6,0.164,0.031,3078,2722,2047,0,0,0,0,0,0
$GC,4991,0.84,219.0,402.6,16.1,416,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2722,2047,0,0,0,0,0,0
$GC,5179,0.84,219.0,372.3,16.0,434,5183,0.00,1.67,0.00,0.000,4,0.000,0.048,3077,3763,2046,0,0,0,0,0,0
$GC,5217,0.84,219.0,365.5,17.4,437,5225,0.00,1.65,0.00,0.000,6,0.000,0.031,3085,2729,2046,0,0,0,0,0,0
$GC,5416,0.84,219.0,331.9,17.9,456,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2729,2046,0,0,0,0,0,0
$GC,5608,0.84,219.0,298.9,16.9,474,5611,0.00,1.65,0.00,0.000,4,0.000,0.049,3085,3762,2046,0,0,0,0,0,0
$GC,5676,0.84,219.0,286.1,18.7,480,5680,0.00,1.62,0.00,0.000,6,0.000,0.031,3093,2737,2046,0,0,0,0,0,0
$GC,5880,0.84,219.0,251.8,16.5,499,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2735,2046,0,0,0,0,0,0
$GC,6071,0.84,219.0,220.3,16.2,517,6074,0.00,1.65,0.00,0.000,4,0.000,0.051,3093,3768,2045,0,0,0,0,0,0
$GC,6117,0.84,219.0,212.3,18.7,521,6121,0.12,1.62,0.00,0.000,6,0.180,0.031,3068,2738,2045,0,0,0,0,0,0
$GC,6255,0.84,219.0,190.9,14.9,534,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2737,2045,0,0,0,0,0,0
$GC,6383,0.84,219.0,172.2,14.8,546,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2737,2045,0,0,0,0,0,0
$GC,6510,0.84,219.0,153.3,14.7,558,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2737,2045,0,0,0,0,0,0
$GC,6638,0.84,219.0,134.6,14.2,570,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2737,2045,0,0,0,0,0,0
$GC,6765,0.84,219.0,116.7,14.2,582,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2737,2045,0,0,0,0,0,0
$GC,6894,0.84,219.0,96.7,15.0,595,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2737,2045,0,0,0,0,0,0
$GC,7034,0.84,219.0,75.0,15.7,620,7041,0.00,1.67,0.00,0.000,4,0.000,0.050,3067,3766,2045,0,0,0,0,0,0
$GC,7120,0.84,219.0,60.2,18.4,635,7127,0.00,1.60,0.00,0.000,6,0.000,0.031,3074,2742,2045,0,0,0,0,0,0
$GC,7263,0.84,219.0,35.3,19.3,660,7270,0.00,1.65,0.00,0.000,4,0.000,0.050,3074,3760,2045,0,0,0,0,0,0
$GC,7315,0.84,219.0,26.7,16.2,669,7322,0.00,1.58,0.00,0.000,6,0.000,0.032,3082,2753,2045,0,0,0,0,0,0
$FREEZE,8.62,-1.841,-1.903,2,2,0
$FREEZE,7.41,-1.840,-1.902,2,2,0
$FREEZE,6.41,-1.840,-1.901,2,2,0
$FREEZE,5.09,-1.841,-1.900,2,2,0
$FREEZE,3.99,-1.841,-1.899,2,2,0
$GC,7456,0.84,219.0,4.0,22.0,694,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2753,2044,0,0,0,0,0,0
$FREEZE,1.56,-1.840,-1.897,2,2,0
$STATE,7468,end climb,SURFACE_DEPTH_REACHED
$STATE,7468,begin surface coast
$FREEZE,0.42,-1.839,-1.896,2,2,0
$FREEZE,0.16,-1.856,-1.560,2,2,0
$FINISH,0.2,1.022990
$STATE,7480,end surface coast,FINISH_DEPTH_REACHED
$STATE,7480,begin surface
$SM_CCo,7495,205.43,0.102,0,0,445,616.92
$SM_GC,0.81,0.00,0.00,205.43,0.000,0.000,0.102,176,2752,445,-8.15,-0.82,616.92
$IRIDIUM_FIX,-7603.11,17053.84,081210,070732
$TT8_MAMPS,0.027713
$HUMID,48.70
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$ALTIM_BOTTOM_PING,601.5,11.0
$24V_AH,22.1,6.389
$10V_AH,10.0,2.732
$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,18.600,39.100,373.925,205.425,0.000,82.600,106.873,239.841,2.500,0.000,14.929,1776.505,4045.997,687.738,1767.286,149.799,0.000,1400.764,0.000,1196.067,0.000,19.072,0.000
$DEVICE_MAMPS,225.675,84.150,1092.420,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,490.783,860.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258232
$DATA_FILE_SIZE,43660,698
$CAP_FILE_SIZE,100247,0
$CFSIZE,260165632,244539392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.156,198.1,1
$GPS,081210,092455,-7646.132,17102.344,69,1.2,69,132.3