version: 66.08
glider: 503
mission: 7
dive: 93
start: 12 6 110 3 48 33
data:
$ID,503
$MISSION,7
$DIVE,93
$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,-19353.102
$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,45
$R_STBD_OVSHOOT,27
$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
$GPS1,061210,033302,-7656.885,17056.111,26,1.9,27,133.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-38.2
$GPS2,061210,034807,-7656.807,17055.787,10,1.8,15,133.1
$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,229.0,49679,-18.2,-13.333
$D_GRID,775
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,186,0.00,0.00,-166.88,0.000,2,0.000,0.000,193,2779,3600,0,0,0,0,0,0
$GC,188,-0.84,-219.0,3.4,-10.9,29,209,9.18,2.33,-5.20,0.000,4,0.230,0.046,2523,1363,3855,0,0,0,0,0,0
$GC,462,-0.84,-219.0,58.5,-15.2,77,469,0.00,2.33,0.00,0.000,6,0.000,0.044,2512,2778,3858,0,0,0,0,0,0
$GC,605,-0.84,-219.0,86.3,-20.3,102,612,0.00,2.25,0.00,0.000,4,0.000,0.033,2512,1366,3859,0,0,0,0,0,0
$GC,663,-0.84,-219.0,97.0,-17.9,112,669,0.00,2.33,0.00,0.000,6,0.000,0.047,2502,2782,3858,0,0,0,0,0,0
$GC,798,-0.84,-219.0,124.2,-20.3,126,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2781,3859,0,0,0,0,0,0
$GC,926,-0.84,-219.0,150.2,-20.1,138,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3859,0,0,0,0,0,0
$GC,1053,-0.84,-219.0,176.3,-20.2,150,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3859,0,0,0,0,0,0
$GC,1181,-0.84,-219.0,201.6,-20.0,162,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3859,0,0,0,0,0,0
$GC,1308,-0.84,-219.0,225.8,-18.7,174,1312,0.00,2.20,0.00,0.000,4,0.000,0.032,2502,1372,3859,0,0,0,0,0,0
$GC,1340,-0.84,-219.0,232.2,-17.8,176,1349,0.08,2.33,0.00,0.000,6,0.142,0.045,2522,2777,3859,0,0,0,0,0,0
$GC,1475,-0.84,-219.0,253.9,-16.4,189,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2777,3859,0,0,0,0,0,0
$GC,1666,-0.84,-219.0,285.2,-16.9,207,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2777,3859,0,0,0,0,0,0
$GC,1857,-0.84,-219.0,318.1,-17.1,225,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2777,3859,0,0,0,0,0,0
$GC,2051,-0.84,-219.0,351.1,-17.4,243,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2777,3859,0,0,0,0,0,0
$GC,2239,-0.84,-219.0,384.1,-17.0,261,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2777,3859,0,0,0,0,0,0
$GC,2431,-0.84,-219.0,416.2,-16.5,279,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2777,3859,0,0,0,0,0,0
$GC,2622,-0.84,-219.0,447.7,-16.6,297,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2777,3859,0,0,0,0,0,0
$GC,2813,-0.84,-219.0,479.3,-16.3,315,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2777,3859,0,0,0,0,0,0
$STATE,2940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2940,begin apogee
$GC,2945,-0.16,0.0,500.1,16.0,327,3132,0.65,0.00,177.43,0.999,4,0.124,0.000,2743,2691,2958,0,0,0,0,0,0
$STATE,3133,end apogee,CONTROL_FINISHED_OK
$STATE,3133,begin climb
$GC,3135,0.84,219.0,509.3,0.0,333,3334,1.00,2.35,189.93,0.947,4,0.079,0.033,3073,1307,2067,0,0,0,0,0,0
$GC,3462,0.84,219.0,476.4,14.3,351,3470,0.00,2.45,0.00,0.000,6,0.000,0.041,3073,2700,2055,0,0,1,0,0,0
$GC,3660,0.84,219.0,446.4,15.2,370,3664,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1305,2050,0,0,0,0,0,0
$GC,3823,0.84,219.0,421.3,15.1,384,3827,0.00,2.35,0.00,0.000,6,0.000,0.042,3084,2714,2048,0,0,1,0,0,0
$GC,4020,0.84,219.0,387.6,17.1,402,4023,0.00,1.70,0.00,0.000,4,0.000,0.050,3084,3764,2048,0,0,0,0,0,0
$GC,4081,0.84,219.0,375.9,19.7,407,4088,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2732,2047,0,0,1,0,0,0
$GC,4278,0.84,219.0,341.3,17.4,426,4282,0.00,1.67,0.00,0.000,4,0.000,0.050,3092,3764,2047,0,0,0,0,0,0
$GC,4312,0.84,219.0,334.9,19.1,429,4316,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2710,2046,0,0,0,0,0,0
$GC,4517,0.84,219.0,298.6,17.3,448,4521,0.00,1.73,0.00,0.000,4,0.000,0.050,3100,3770,2046,0,0,0,0,0,0
$GC,4577,0.84,219.0,285.9,20.7,453,4586,0.10,1.65,0.00,0.000,6,0.156,0.031,3076,2741,2046,0,0,0,0,0,0
$GC,4777,0.84,219.0,254.8,15.3,472,4781,0.00,1.65,0.00,0.000,4,0.000,0.050,3075,3765,2046,0,0,0,0,0,0
$GC,4812,0.84,219.0,248.9,17.5,475,4815,0.00,1.60,0.00,0.000,6,0.000,0.031,3083,2752,2046,0,0,0,0,0,0
$GC,4951,0.84,219.0,225.6,16.7,488,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2752,2045,0,0,0,0,0,0
$GC,5079,0.84,219.0,204.2,16.8,500,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2751,2046,0,0,0,0,0,0
$GC,5206,0.84,219.0,183.2,16.4,512,5210,0.00,1.67,0.00,0.000,4,0.000,0.050,3083,3767,2045,0,0,0,0,0,0
$GC,5244,0.84,219.0,175.8,19.2,515,5251,0.00,1.60,0.00,0.000,6,0.000,0.031,3091,2749,2045,0,0,0,0,0,0
$GC,5378,0.84,219.0,153.0,17.1,528,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2749,2045,0,0,0,0,0,0
$GC,5505,0.84,219.0,131.6,16.9,540,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2749,2045,0,0,0,0,0,0
$GC,5633,0.84,219.0,110.0,17.2,552,5637,0.00,1.65,0.00,0.000,4,0.000,0.050,3091,3755,2045,0,0,0,0,0,0
$GC,5689,0.84,219.0,99.5,19.7,557,5696,0.00,1.55,0.00,0.000,6,0.000,0.031,3099,2767,2044,0,0,0,0,0,0
$GC,5832,0.84,219.0,74.9,16.7,582,5839,0.00,1.62,0.00,0.000,4,0.000,0.051,3099,3755,2044,0,0,0,0,0,0
$GC,5879,0.84,219.0,66.3,18.3,590,5886,0.10,1.52,0.00,0.000,6,0.155,0.031,3074,2789,2044,0,0,0,0,0,0
$GC,6024,0.84,219.0,43.7,14.5,615,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2788,2044,0,0,0,0,0,0
$GC,6165,0.84,219.0,23.0,14.5,640,6172,0.00,1.60,0.00,0.000,4,0.000,0.050,3074,3768,2044,0,0,0,0,0,0
$GC,6240,0.84,219.0,10.6,17.1,653,6247,0.00,1.52,0.00,0.000,6,0.000,0.031,3081,2794,2043,0,0,0,0,0,0
$FREEZE,8.48,-1.874,-1.902,2,1,0
$FREEZE,7.68,-1.874,-1.902,2,1,0
$FREEZE,6.95,-1.873,-1.901,2,1,0
$FREEZE,6.22,-1.873,-1.901,2,1,0
$FREEZE,5.52,-1.872,-1.900,2,1,0
$FREEZE,4.71,-1.872,-1.900,2,1,0
$FREEZE,3.94,-1.871,-1.899,2,1,0
$FREEZE,3.03,-1.871,-1.898,2,1,0
$FREEZE,2.10,-1.869,-1.897,2,1,0
$STATE,6293,end climb,SURFACE_DEPTH_REACHED
$STATE,6294,begin surface coast
$FREEZE,1.07,-1.867,-1.897,2,1,0
$FREEZE,0.35,-1.866,-1.896,2,1,0
$FREEZE,-0.06,-1.876,-1.896,2,1,0
$FINISH,-0.1,1.027814
$STATE,6312,end surface coast,CONTROL_FINISHED_OK
$STATE,6313,begin surface
$SM_CCo,6327,198.40,0.100,0,0,445,616.92
$SM_GC,0.54,0.00,0.00,198.40,0.000,0.000,0.100,190,2793,445,-8.16,0.37,616.92
$IRIDIUM_FIX,-7612.11,17054.21,061210,030309
$TT8_MAMPS,0.027713
$HUMID,47.95
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.8
$24V_AH,22.3,3.152
$10V_AH,10.0,1.327
$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,18.950,49.375,367.350,198.400,0.000,52.231,75.945,562.313,1.750,0.000,18.333,1589.517,3078.052,684.364,1885.555,204.755,0.000,1368.608,0.000,1132.282,0.000,12.907,0.000
$DEVICE_MAMPS,230.265,81.855,999.090,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.163,804.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258348
$DATA_FILE_SIZE,43672,666
$CAP_FILE_SIZE,99954,0
$CFSIZE,260165632,245739520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,061210,053906,-7656.230,17055.021,57,1.6,69,133.1