version: 66.08
glider: 503
mission: 7
dive: 91
start: 12 5 110 23 29 48
data:
$ID,503
$MISSION,7
$DIVE,91
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,125
$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,0
$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,-19350.492
$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,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,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
$GPS1,051210,155920,-7703.562,17104.490,241,99.0,241,133.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-46.5
$GPS2,051210,155920,-7703.562,17104.490,241,99.0,241,133.3
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17100.000
$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,224.9,62187,-18.2,-13.333
$D_GRID,774
$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,-219.0,0.0,0.0,0,174,0.00,0.00,-155.07,0.000,2,0.000,0.000,190,2763,3472,0,0,0,0,0,0
$GC,177,-0.84,-219.0,3.1,-8.1,27,202,9.02,2.22,-8.40,0.000,4,0.228,0.045,2520,1361,3856,0,0,0,0,0,0
$GC,456,-0.84,-219.0,58.1,-18.9,76,463,0.00,2.33,0.00,0.000,6,0.000,0.044,2510,2782,3859,0,0,0,0,0,0
$GC,599,-0.84,-219.0,88.2,-20.5,101,605,0.00,2.22,0.00,0.000,4,0.000,0.032,2510,1368,3860,0,0,0,0,0,0
$GC,668,-0.84,-219.0,101.5,-17.6,113,673,0.00,2.28,0.00,0.000,6,0.000,0.045,2500,2774,3859,0,0,0,0,0,0
$GC,802,-0.84,-219.0,128.5,-21.0,125,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3859,0,0,0,0,0,0
$GC,929,-0.84,-219.0,155.5,-21.3,137,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3859,0,0,0,0,0,0
$GC,1057,-0.84,-219.0,181.8,-20.6,149,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2774,3860,0,0,0,0,0,0
$GC,1184,-0.84,-219.0,207.3,-19.5,161,1188,0.00,2.20,0.00,0.000,4,0.000,0.034,2500,1365,3860,0,0,0,0,0,0
$GC,1216,-0.84,-219.0,213.9,-18.8,163,1225,0.08,2.33,0.00,0.000,6,0.143,0.046,2522,2774,3859,0,0,0,0,0,0
$GC,1351,-0.84,-219.0,237.5,-18.3,176,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2774,3859,0,0,0,0,0,0
$GC,1478,-0.84,-219.0,260.1,-17.7,188,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2774,3860,0,0,0,0,0,0
$GC,1671,-0.84,-219.0,293.6,-17.6,206,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2773,3860,0,0,0,0,0,0
$GC,1861,-0.84,-219.0,326.2,-17.0,224,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2774,3860,0,0,0,0,0,0
$GC,2052,-0.84,-219.0,358.1,-16.7,242,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2774,3860,0,0,0,0,0,0
$GC,2245,-0.84,-219.0,390.0,-16.7,260,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2774,3859,0,0,0,0,0,0
$GC,2434,-0.84,-219.0,422.3,-17.2,278,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2774,3860,0,0,0,0,0,0
$GC,2625,-0.84,-219.0,455.1,-17.2,296,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2774,3859,0,0,0,0,0,0
$GC,2818,-0.84,-219.0,488.1,-16.8,314,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2774,3859,0,0,0,0,0,0
$STATE,2889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2889,begin apogee
$GC,2894,-0.16,0.0,500.5,17.3,321,3081,0.65,0.00,177.27,0.996,4,0.125,0.000,2743,2692,2959,0,0,0,0,0,0
$STATE,3082,end apogee,CONTROL_FINISHED_OK
$STATE,3082,begin climb
$GC,3084,0.84,219.0,510.4,0.0,327,3284,1.00,2.35,189.68,0.946,4,0.080,0.033,3071,1302,2067,0,0,0,0,0,0
$GC,3441,0.84,221.6,474.7,13.2,348,3446,0.00,2.42,0.00,0.000,6,0.000,0.042,3071,2702,2055,0,0,0,0,0,0
$GC,3639,0.84,221.6,445.2,15.4,366,3643,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1302,2050,0,0,0,0,0,0
$GC,3816,0.84,221.6,417.9,14.8,381,3824,0.00,2.40,0.00,0.000,6,0.000,0.042,3082,2702,2049,0,0,0,0,0,0
$GC,4015,0.84,221.6,384.8,16.9,400,4018,0.00,1.73,0.00,0.000,4,0.000,0.050,3082,3764,2048,0,0,0,0,0,0
$GC,4104,0.84,221.6,367.9,19.5,408,4108,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2709,2047,0,0,1,0,0,0
$GC,4308,0.84,221.6,332.5,17.3,427,4311,0.00,1.73,0.00,0.000,4,0.000,0.050,3091,3767,2047,0,0,0,0,0,0
$GC,4380,0.84,221.6,318.5,19.0,433,4387,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2706,2047,0,0,0,0,0,0
$GC,4578,0.84,221.6,285.2,16.5,452,4581,0.00,1.70,0.00,0.000,4,0.000,0.051,3099,3764,2047,0,0,0,0,0,0
$GC,4612,0.84,221.6,279.2,18.0,455,4616,0.12,1.65,0.00,0.000,6,0.180,0.031,3074,2700,2047,0,0,0,0,0,0
$GC,4815,0.84,221.6,249.7,14.1,474,4819,0.00,1.73,0.00,0.000,4,0.000,0.052,3074,3767,2046,0,0,0,0,0,0
$GC,4884,0.84,221.6,238.1,17.4,480,4888,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2742,2045,0,0,0,0,0,0
$GC,5023,0.84,221.6,214.9,17.3,493,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2740,2046,0,0,0,0,0,0
$GC,5150,0.84,221.6,193.5,16.6,505,5154,0.00,1.65,0.00,0.000,4,0.000,0.051,3081,3769,2045,0,0,0,0,0,0
$GC,5222,0.84,221.6,180.0,19.4,511,5229,0.00,1.60,0.00,0.000,6,0.000,0.031,3090,2752,2045,0,0,0,0,0,0
$GC,5356,0.84,221.6,157.0,17.3,524,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2752,2045,0,0,0,0,0,0
$GC,5484,0.84,221.6,134.6,17.5,536,5487,0.00,1.62,0.00,0.000,4,0.000,0.051,3090,3768,2045,0,0,0,0,0,0
$GC,5530,0.84,221.6,126.2,19.1,540,5534,0.00,1.60,0.00,0.000,6,0.000,0.031,3097,2752,2045,0,0,0,0,0,0
$GC,5670,0.84,221.6,101.6,17.7,553,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2752,2045,0,0,0,0,0,0
$GC,5804,0.84,221.6,79.6,15.5,576,5811,0.00,1.65,0.00,0.000,4,0.000,0.051,3097,3755,2045,0,0,0,0,0,0
$GC,5885,0.84,221.6,65.0,18.3,590,5892,0.10,1.55,0.00,0.000,6,0.152,0.032,3073,2769,2045,0,0,0,0,0,0
$GC,6029,0.84,221.6,43.3,13.8,615,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2769,2045,0,0,0,0,0,0
$GC,6171,0.84,221.6,24.6,14.4,640,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2769,2045,0,0,0,0,0,0
$FREEZE,8.90,-1.874,-1.903,2,1,0
$FREEZE,8.14,-1.875,-1.903,2,1,0
$FREEZE,7.61,-1.872,-1.902,2,1,0
$FREEZE,6.97,-1.873,-1.902,2,1,0
$FREEZE,6.33,-1.871,-1.901,2,1,0
$FREEZE,5.70,-1.870,-1.901,2,1,0
$FREEZE,4.91,-1.869,-1.900,2,1,0
$FREEZE,3.78,-1.870,-1.899,2,1,0
$GC,6312,0.88,256.1,5.7,11.9,665,6335,0.00,0.00,20.55,0.716,6,0.000,0.000,3072,2769,1914,0,0,0,0,0,0
$FREEZE,1.52,-1.867,-1.898,2,1,0
$STATE,6340,end climb,SURFACE_DEPTH_REACHED
$STATE,6341,begin surface coast
$FREEZE,0.94,-1.867,-1.897,2,1,0
$FREEZE,0.13,-1.862,-1.896,2,1,0
$FREEZE,0.11,-1.875,-1.897,2,1,0
$FREEZE,0.14,-1.864,-1.896,2,1,0
$FINISH,0.1,1.027812
$STATE,6364,end surface coast,CONTROL_FINISHED_OK
$STATE,6364,begin surface
$SM_CCo,6379,183.30,0.100,0,0,445,616.92
$SM_GC,0.55,0.00,0.00,183.30,0.000,0.000,0.100,190,2769,445,-8.16,-0.31,616.92
$IRIDIUM_FIX,-7612.11,17103.63,051210,232353
$TT8_MAMPS,0.027713
$HUMID,48.66
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,22.4,2.848
$10V_AH,10.0,1.203
$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,18.725,46.275,387.500,183.300,0.000,91.173,112.720,730.949,1.750,0.000,243.512,1612.084,3132.241,665.813,2441.802,262.873,0.000,1362.497,0.000,1162.801,0.000,12.910,0.000
$DEVICE_MAMPS,227.970,84.150,996.030,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.421,813.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258356
$DATA_FILE_SIZE,43780,673
$CAP_FILE_SIZE,106290,0
$CFSIZE,260165632,245817344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061210,012115,-7657.767,17057.256,64,5.7,83,133.1