version: 66.08
glider: 503
mission: 7
dive: 99
start: 12 6 110 16 34 32
data:
$ID,503
$MISSION,7
$DIVE,99
$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,-19368.021
$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,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
$GPS1,061210,161407,-7652.690,17051.529,51,1.2,52,133.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-28.5
$GPS2,061210,163406,-7652.505,17051.100,9,1.6,25,133.0
$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,232.3,41857,-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,-219.0,0.0,0.0,0,191,0.00,0.00,-172.75,0.000,2,0.000,0.000,187,2758,3757,0,0,0,0,0,0
$GC,193,-0.84,-219.0,4.0,-12.9,30,213,9.00,2.25,-2.03,0.000,4,0.223,0.044,2521,1365,3857,0,0,0,0,0,0
$GC,466,-0.84,-219.0,63.5,-19.2,78,473,0.00,2.33,0.00,0.000,6,0.000,0.045,2512,2778,3859,0,0,0,0,0,0
$GC,609,-0.84,-219.0,91.8,-19.9,103,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3859,0,0,0,0,0,0
$GC,750,-0.84,-219.0,119.1,-18.5,120,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2778,3860,0,0,0,0,0,0
$GC,878,-0.84,-219.0,143.3,-18.6,132,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,1005,-0.84,-219.0,166.1,-17.6,144,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,1133,-0.84,-219.0,188.7,-18.1,156,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,1260,-0.84,-219.0,211.7,-18.1,168,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,1387,-0.84,-219.0,234.5,-18.1,180,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,1515,-0.84,-219.0,256.4,-17.3,192,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,1706,-0.84,-219.0,289.9,-17.5,210,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,1897,-0.84,-219.0,323.4,-17.7,228,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,2088,-0.84,-219.0,357.4,-17.9,246,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,2281,-0.84,-219.0,391.5,-17.8,264,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2778,3860,0,0,0,0,0,0
$GC,2471,-0.84,-219.0,424.6,-16.8,282,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2778,3860,0,0,0,0,0,0
$GC,2662,-0.84,-219.0,456.3,-16.2,300,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$GC,2855,-0.84,-219.0,487.4,-16.1,318,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2778,3860,0,0,0,0,0,0
$STATE,2938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2938,begin apogee
$GC,2942,-0.16,0.0,501.5,16.5,326,3130,0.70,0.00,177.68,1.005,4,0.127,0.000,2746,2691,2958,0,0,0,0,0,0
$STATE,3131,end apogee,CONTROL_FINISHED_OK
$STATE,3131,begin climb
$GC,3132,0.84,219.0,510.3,0.0,332,3331,0.93,0.00,190.68,0.954,6,0.073,0.000,3066,2690,2066,0,0,0,0,0,0
$GC,3521,0.84,219.0,464.3,15.7,357,3525,0.00,1.85,0.00,0.000,4,0.000,0.047,3066,3768,2055,0,0,0,0,0,0
$GC,3581,0.84,219.0,453.6,17.0,362,3589,0.00,1.73,0.00,0.000,6,0.000,0.029,3074,2718,2053,0,0,1,0,0,0
$GC,3781,0.84,219.0,422.6,15.1,381,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2718,2051,0,0,0,0,0,0
$GC,3971,0.84,219.0,393.9,15.1,399,3974,0.00,1.73,0.00,0.000,4,0.000,0.049,3074,3765,2049,0,0,0,0,0,0
$GC,4030,0.84,219.0,383.5,17.4,404,4038,0.00,1.67,0.00,0.000,6,0.000,0.030,3083,2715,2049,0,0,1,0,0,0
$GC,4230,0.84,219.0,351.7,16.0,423,4234,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3773,2048,0,0,0,0,0,0
$GC,4276,0.84,219.0,343.4,18.6,427,4279,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2719,2048,0,0,0,0,0,0
$GC,4479,0.84,219.0,309.2,17.1,446,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2717,2048,0,0,0,0,0,0
$GC,4670,0.84,219.0,277.1,16.9,464,4673,0.00,1.70,0.00,0.000,4,0.000,0.050,3091,3766,2047,0,0,0,0,0,0
$GC,4704,0.84,219.0,270.9,18.4,467,4707,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2703,2047,0,0,0,0,0,0
$GC,4907,0.84,219.0,236.6,16.3,486,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2701,2047,0,0,0,0,0,0
$GC,5034,0.84,219.0,215.4,16.9,498,5038,0.00,1.75,0.00,0.000,4,0.000,0.050,3099,3764,2047,0,0,0,0,0,0
$GC,5091,0.84,219.0,204.6,19.0,503,5095,0.15,1.62,0.00,0.000,6,0.172,0.031,3067,2736,2046,0,0,0,0,0,0
$GC,5230,0.84,219.0,183.7,14.5,516,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2736,2046,0,0,0,0,0,0
$GC,5357,0.84,219.0,165.7,14.4,528,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2736,2046,0,0,0,0,0,0
$GC,5484,0.84,219.0,147.4,14.2,540,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2736,2046,0,0,0,0,0,0
$GC,5612,0.84,219.0,128.0,15.5,552,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2736,2046,0,0,0,0,0,0
$GC,5740,0.84,219.0,108.4,14.9,564,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2736,2046,0,0,0,0,0,0
$GC,5870,0.84,219.0,89.1,14.4,582,5877,0.00,1.67,0.00,0.000,4,0.000,0.050,3066,3760,2046,0,0,0,0,0,0
$GC,5912,0.84,219.0,82.9,15.9,589,5918,0.00,1.62,0.00,0.000,6,0.000,0.032,3074,2726,2046,0,0,0,0,0,0
$GC,6055,0.84,219.0,62.2,14.9,614,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2726,2045,0,0,0,0,0,0
$GC,6197,0.84,219.0,40.4,15.0,639,6203,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3766,2046,0,0,0,0,0,0
$GC,6267,0.84,219.0,29.0,16.9,651,6274,0.00,1.62,0.00,0.000,6,0.000,0.031,3082,2729,2045,0,0,0,0,0,0
$FREEZE,8.98,-1.881,-1.903,2,1,0
$FREEZE,8.36,-1.881,-1.902,2,1,0
$FREEZE,7.72,-1.880,-1.902,2,1,0
$FREEZE,7.19,-1.880,-1.901,2,1,0
$FREEZE,6.40,-1.876,-1.901,2,1,0
$FREEZE,5.39,-1.880,-1.900,2,1,0
$GC,6409,0.87,244.2,7.2,12.3,676,6432,0.00,1.73,18.33,0.737,4,0.000,0.052,3082,3765,1963,0,0,1,0,0,0
$FREEZE,2.77,-1.878,-1.898,2,1,0
$STATE,6438,end climb,SURFACE_DEPTH_REACHED
$STATE,6438,begin surface coast
$FREEZE,1.79,-1.877,-1.897,2,1,0
$FREEZE,1.02,-1.879,-1.897,2,1,0
$FREEZE,0.33,-1.877,-1.896,2,1,0
$FREEZE,0.09,-1.881,-1.896,2,1,0
$FINISH,0.1,1.027812
$STATE,6462,end surface coast,CONTROL_FINISHED_OK
$STATE,6463,begin surface
$SM_CCo,6479,188.23,0.100,0,0,444,616.92
$SM_GC,0.51,0.00,0.00,188.23,0.000,0.000,0.100,191,2773,444,-8.15,-0.20,616.92
$IRIDIUM_FIX,-7603.11,17117.39,061210,161620
$TT8_MAMPS,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.5
$24V_AH,22.3,4.037
$10V_AH,10.0,1.692
$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,18.575,31.675,386.675,188.225,0.000,84.080,130.350,640.011,1.750,0.000,29.267,1607.189,3298.479,671.813,2058.495,240.916,0.000,1341.170,0.000,1109.004,0.000,12.904,0.000
$DEVICE_MAMPS,223.380,81.855,1005.210,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.126,831.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258292
$DATA_FILE_SIZE,43670,684
$CAP_FILE_SIZE,101719,0
$CFSIZE,260165632,245444608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,061210,182720,-7651.322,17049.383,48,1.3,63,132.9