version: 66.08
glider: 503
mission: 7
dive: 201
start: 12 14 110 12 41 41
data:
$ID,503
$MISSION,7
$DIVE,201
$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,-19740.479
$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,48
$R_STBD_OVSHOOT,24
$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
$GPS1,141210,123632,-7639.986,17553.090,15,1.3,15,124.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.9
$GPS2,141210,124113,-7639.985,17553.150,11,1.6,28,124.6
$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,307.7,108313,-18.2,-13.333
$D_GRID,393
$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,-219.0,0.0,0.0,0,112,0.00,0.00,-94.20,0.000,2,0.000,0.000,188,2772,3543,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-9.9,16,136,8.82,2.28,-6.38,0.000,4,0.220,0.046,2526,1373,3856,0,0,0,0,0,0
$GC,381,-0.84,-219.0,55.9,-15.9,63,388,0.00,2.30,0.00,0.000,6,0.000,0.044,2516,2781,3860,0,0,0,0,0,0
$GC,521,-0.84,-219.0,81.7,-19.1,88,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2781,3859,0,0,0,0,0,0
$GC,667,-0.84,-219.0,108.6,-18.5,110,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2782,3859,0,0,0,0,0,0
$GC,794,-0.84,-219.0,131.9,-17.8,122,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2782,3859,0,0,0,0,0,0
$GC,922,-0.84,-219.0,154.8,-17.9,134,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2781,3860,0,0,0,0,0,0
$GC,1049,-0.84,-219.0,177.9,-18.4,146,1052,0.00,1.58,0.00,0.000,4,0.000,0.050,2508,3765,3860,0,0,0,0,0,0
$GC,1106,-0.84,-219.0,188.9,-19.2,151,1110,0.00,1.55,0.00,0.000,6,0.000,0.031,2508,2770,3860,0,0,0,0,0,0
$GC,1246,-0.84,-219.0,214.8,-18.5,164,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3860,0,0,0,0,0,0
$GC,1373,-0.84,-219.0,238.8,-18.7,176,1376,0.00,2.17,0.00,0.000,4,0.000,0.033,2508,1369,3860,0,0,0,0,0,0
$GC,1413,-0.84,-219.0,246.0,-17.2,179,1418,0.10,2.28,0.00,0.000,6,0.171,0.046,2525,2780,3860,0,0,0,0,0,0
$GC,1547,-0.84,-219.0,268.6,-16.6,191,1551,0.00,1.60,0.00,0.000,4,0.000,0.052,2518,3764,3860,0,0,0,0,0,0
$GC,1593,-0.84,-219.0,276.7,-17.0,195,1597,0.00,1.52,0.00,0.000,6,0.000,0.031,2518,2776,3860,0,0,0,0,0,0
$GC,1796,-0.84,-219.0,311.8,-16.9,214,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2776,3859,0,0,0,0,0,0
$GC,1987,-0.84,-219.0,344.2,-17.4,232,1991,0.00,1.60,0.00,0.000,4,0.000,0.052,2511,3762,3860,0,0,0,0,0,0
$GC,2024,-0.84,-219.0,350.2,-18.4,235,2028,0.00,1.50,0.00,0.000,6,0.000,0.032,2511,2794,3860,0,0,0,0,0,0
$STATE,2142,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2142,begin apogee
$GC,2147,-0.16,0.0,371.6,18.1,246,2327,0.70,0.00,173.68,0.962,4,0.125,0.000,2744,2690,2959,0,0,0,0,0,0
$STATE,2328,end apogee,CONTROL_FINISHED_OK
$STATE,2328,begin climb
$GC,2330,0.84,219.0,380.6,0.0,262,2532,0.98,2.35,189.50,0.908,4,0.075,0.034,3070,1311,2066,0,0,0,0,0,0
$GC,2646,0.84,223.4,352.4,13.2,290,2658,0.00,2.40,4.07,0.598,6,0.000,0.041,3070,2703,2049,0,0,1,0,0,0
$GC,2851,0.84,223.4,322.8,14.7,309,2855,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1313,2045,0,0,0,0,0,0
$GC,3016,0.84,223.4,298.9,14.2,323,3024,0.00,2.38,0.00,0.000,6,0.000,0.041,3081,2706,2043,0,0,0,0,0,0
$GC,3214,0.84,223.4,268.5,15.4,342,3218,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3763,2042,0,0,0,0,0,0
$GC,3304,0.84,223.4,253.1,17.3,350,3307,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2708,2042,0,0,0,0,0,0
$GC,3507,0.84,223.4,220.1,16.0,369,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2708,2041,0,0,0,0,0,0
$GC,3635,0.84,223.4,199.2,16.0,381,3636,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2708,2041,0,0,0,0,0,0
$GC,3762,0.84,223.4,178.9,15.4,393,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2707,2041,0,0,0,0,0,0
$GC,3889,0.84,223.4,159.1,15.5,405,3893,0.00,1.70,0.00,0.000,4,0.000,0.050,3089,3768,2041,0,0,0,0,0,0
$GC,3960,0.84,223.4,146.7,16.5,411,3967,0.00,1.67,0.00,0.000,6,0.000,0.030,3098,2710,2040,0,0,0,0,0,0
$GC,4094,0.84,223.4,125.3,16.0,424,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2710,2040,0,0,0,0,0,0
$GC,4221,0.84,223.4,104.9,16.1,436,4225,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3763,2040,0,0,0,0,0,0
$GC,4283,0.84,223.4,94.1,18.4,444,4292,0.10,1.65,0.00,0.000,6,0.151,0.032,3062,2725,2040,0,0,0,0,0,0
$GC,4427,0.85,231.6,74.2,13.0,469,4439,0.00,0.00,7.05,0.747,6,0.000,0.000,3062,2725,2016,0,0,0,0,0,0
$GC,4576,0.86,237.4,54.3,13.1,495,4590,0.00,0.00,6.80,0.724,6,0.000,0.000,3062,2725,1993,0,0,0,0,0,0
$GC,4725,0.86,237.4,34.0,14.2,521,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2725,1992,0,0,0,0,0,0
$GC,4865,0.86,237.4,14.4,13.6,546,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2725,1992,0,0,0,0,0,0
$FREEZE,8.36,-1.401,-1.898,2,1,0
$FREEZE,7.72,-1.398,-1.897,2,1,0
$FREEZE,7.15,-1.399,-1.897,2,1,0
$FREEZE,6.52,-1.397,-1.897,2,1,0
$FREEZE,5.82,-1.396,-1.896,2,1,0
$FREEZE,5.11,-1.395,-1.896,2,1,0
$FREEZE,4.45,-1.395,-1.895,2,1,0
$FREEZE,3.79,-1.389,-1.894,2,1,0
$FREEZE,3.08,-1.394,-1.894,2,1,0
$FREEZE,2.49,-1.396,-1.894,2,1,0
$STATE,4956,end climb,SURFACE_DEPTH_REACHED
$STATE,4956,begin surface coast
$FREEZE,1.65,-1.388,-1.893,2,1,0
$FREEZE,0.68,-1.390,-1.892,2,1,0
$FREEZE,0.11,-1.391,-1.892,2,1,0
$FREEZE,0.05,-1.430,-1.886,2,1,0
$FINISH,0.0,1.027652
$STATE,4981,end surface coast,CONTROL_FINISHED_OK
$STATE,4981,begin surface
$SM_CCo,4996,39.97,0.102,0,0,1655,320.11
$SM_GC,0.63,0.00,0.00,39.97,0.000,0.000,0.102,195,2805,1655,-8.15,0.74,320.11
$IRIDIUM_FIX,-7554.21,17538.94,141210,111134
$TT8_MAMPS,0.027713
$HUMID,52.04
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.3
$ALTIM_BOTTOM_PING,350.2,35.0
$24V_AH,22.4,15.790
$10V_AH,10.0,6.778
$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,18.325,38.075,381.100,39.975,0.000,28.923,38.115,98.634,1.250,0.000,31.360,1402.718,2121.259,474.034,1217.713,117.735,0.000,1055.616,0.000,962.081,0.000,10.561,0.000
$DEVICE_MAMPS,220.320,91.035,962.370,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.188,732.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37033,567
$CAP_FILE_SIZE,75134,0
$CFSIZE,260165632,240881664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.051,225.3,1
$GPS,141210,140650,-7639.833,17555.871,33,1.2,33,124.5