version: 66.08
glider: 503
mission: 7
dive: 100
start: 12 6 110 18 45 46
data:
$ID,503
$MISSION,7
$DIVE,100
$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,-19369.281
$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,50
$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
$GPS1,061210,182720,-7651.322,17049.383,48,1.3,63,132.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-49.2
$GPS2,061210,184520,-7651.154,17048.982,14,1.2,14,132.9
$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,234.0,39466,-18.2,-13.333
$D_GRID,772
$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,-219.0,0.0,0.0,0,163,0.00,0.00,-143.60,0.000,2,0.000,0.000,190,2774,3271,0,0,0,0,0,0
$GC,166,-0.84,-219.0,3.2,-7.3,25,197,9.10,1.65,-13.85,0.000,4,0.226,0.072,2515,3765,3856,0,0,1,0,0,0
$GC,417,-0.84,-219.0,55.6,-19.4,69,424,0.00,1.55,0.00,0.000,6,0.000,0.031,2514,2785,3859,0,0,0,0,0,0
$GC,559,-0.84,-219.0,83.2,-18.5,94,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2785,3859,0,0,0,0,0,0
$GC,698,-0.84,-219.0,108.5,-17.4,115,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2784,3859,0,0,0,0,0,0
$GC,826,-0.84,-219.0,132.3,-19.5,127,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2785,3860,0,0,0,0,0,0
$GC,953,-0.84,-219.0,157.7,-19.5,139,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2785,3859,0,0,0,0,0,0
$GC,1081,-0.84,-219.0,182.3,-19.3,151,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,1208,-0.84,-219.0,206.6,-19.2,163,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,1336,-0.84,-219.0,231.9,-19.9,175,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2785,3859,0,0,0,0,0,0
$GC,1463,-0.84,-219.0,257.1,-19.2,187,1467,0.00,2.20,0.00,0.000,4,0.000,0.033,2514,1370,3859,0,0,0,0,0,0
$GC,1495,-0.84,-219.0,263.6,-18.3,189,1503,0.00,2.33,0.00,0.000,6,0.000,0.045,2504,2779,3859,0,0,0,0,0,0
$GC,1696,-0.84,-219.0,301.7,-19.7,208,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$GC,1885,-0.84,-219.0,339.1,-19.6,226,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3859,0,0,0,0,0,0
$GC,2076,-0.84,-219.0,375.4,-19.0,244,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$GC,2267,-0.84,-219.0,410.7,-18.7,262,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$GC,2460,-0.84,-219.0,445.9,-18.3,280,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2780,3859,0,0,0,0,0,0
$GC,2649,-0.84,-219.0,481.1,-18.4,298,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2779,3859,0,0,0,0,0,0
$STATE,2755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2755,begin apogee
$GC,2760,-0.16,0.0,500.1,17.7,308,2947,0.73,0.00,177.23,1.009,4,0.132,0.000,2742,2693,2958,0,0,0,0,0,0
$STATE,2948,end apogee,CONTROL_FINISHED_OK
$STATE,2948,begin climb
$GC,2950,0.84,219.0,508.6,0.0,314,3150,1.00,2.35,190.77,0.954,4,0.082,0.033,3069,1306,2066,0,0,0,0,0,0
$GC,3335,0.84,219.0,466.3,13.7,339,3342,0.00,2.40,0.00,0.000,6,0.000,0.041,3069,2702,2054,0,0,0,0,0,0
$GC,3533,0.84,219.0,436.1,15.5,358,3537,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1300,2050,0,0,0,0,0,0
$GC,3699,0.84,219.0,410.7,15.6,372,3707,0.00,2.38,0.00,0.000,6,0.000,0.042,3080,2704,2048,0,0,1,0,0,0
$GC,3899,0.84,219.0,378.4,16.7,391,3903,0.00,1.73,0.00,0.000,4,0.000,0.050,3080,3768,2048,0,0,0,0,0,0
$GC,3945,0.84,219.0,370.0,19.2,395,3948,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2718,2047,0,0,1,0,0,0
$GC,4147,0.84,219.0,336.4,15.8,414,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2718,2046,0,0,0,0,0,0
$GC,4338,0.84,219.0,306.0,15.7,432,4342,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3762,2046,0,0,0,0,0,0
$GC,4376,0.84,219.0,299.3,17.3,435,4384,0.00,1.67,0.00,0.000,6,0.000,0.031,3097,2713,2046,0,0,0,0,0,0
$GC,4576,0.84,219.0,266.7,16.2,454,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2713,2046,0,0,0,0,0,0
$GC,4766,0.84,219.0,235.1,16.1,472,4769,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3770,2046,0,0,0,0,0,0
$GC,4833,0.84,219.0,222.4,19.0,478,4838,0.12,1.62,0.00,0.000,6,0.181,0.031,3072,2702,2045,0,0,1,0,0,0
$GC,4973,0.84,219.0,201.6,14.5,491,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2702,2045,0,0,0,0,0,0
$GC,5100,0.84,219.0,183.1,14.5,503,5104,0.00,1.70,0.00,0.000,4,0.000,0.050,3071,3765,2045,0,0,0,0,0,0
$GC,5134,0.84,219.0,177.5,16.6,506,5138,0.00,1.62,0.00,0.000,6,0.000,0.031,3079,2736,2045,0,0,0,0,0,0
$GC,5273,0.84,219.0,156.2,14.6,519,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2734,2044,0,0,0,0,0,0
$GC,5401,0.84,219.0,137.3,15.1,531,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2734,2044,0,0,0,0,0,0
$GC,5528,0.84,219.0,118.8,14.5,543,5531,0.00,1.65,0.00,0.000,4,0.000,0.050,3080,3768,2044,0,0,0,0,0,0
$GC,5562,0.84,219.0,113.4,16.4,546,5565,0.00,1.62,0.00,0.000,6,0.000,0.032,3088,2739,2044,0,0,0,0,0,0
$GC,5698,0.84,219.0,92.8,14.8,562,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2738,2044,0,0,0,0,0,0
$GC,5840,0.84,219.0,71.9,15.8,587,5847,0.00,1.67,0.00,0.000,4,0.000,0.051,3088,3761,2044,0,0,0,0,0,0
$GC,5909,0.84,219.0,60.3,16.5,599,5916,0.00,1.60,0.00,0.000,6,0.000,0.032,3096,2741,2044,0,0,0,0,0,0
$GC,6053,0.84,219.0,38.6,14.1,624,6059,0.00,1.67,0.00,0.000,4,0.000,0.050,3096,3766,2044,0,0,0,0,0,0
$GC,6094,0.84,219.0,31.9,16.1,631,6101,0.10,1.60,0.00,0.000,6,0.161,0.032,3071,2751,2044,0,0,0,0,0,0
$GC,6235,0.84,219.0,11.6,14.7,656,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2750,2044,0,0,0,0,0,0
$FREEZE,8.80,-1.868,-1.902,2,1,0
$FREEZE,8.20,-1.866,-1.902,2,1,0
$FREEZE,7.49,-1.867,-1.901,2,1,0
$FREEZE,6.90,-1.865,-1.901,2,1,0
$FREEZE,6.20,-1.864,-1.900,2,1,0
$FREEZE,5.31,-1.865,-1.899,2,1,0
$FREEZE,4.53,-1.863,-1.899,2,1,0
$FREEZE,3.61,-1.862,-1.898,2,1,0
$FREEZE,2.78,-1.860,-1.897,2,1,0
$STATE,6293,end climb,SURFACE_DEPTH_REACHED
$STATE,6294,begin surface coast
$FREEZE,1.95,-1.856,-1.897,2,1,0
$FREEZE,1.27,-1.854,-1.896,2,1,0
$FREEZE,0.72,-1.854,-1.896,2,1,0
$FINISH,0.7,1.027795
$STATE,6311,end surface coast,CONTROL_FINISHED_OK
$STATE,6311,begin surface
$SM_CCo,6326,198.38,0.101,0,0,445,616.92
$SM_GC,0.70,0.00,0.00,198.38,0.000,0.000,0.101,187,2750,445,-8.16,-0.85,616.92
$IRIDIUM_FIX,-7603.11,17041.56,061210,181807
$TT8_MAMPS,0.027713
$HUMID,48.18
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,22.3,4.191
$10V_AH,10.0,1.754
$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,18.725,40.500,368.000,198.375,0.000,53.480,81.250,669.212,1.750,0.000,16.692,1597.171,3089.346,668.381,2020.980,240.004,0.000,1347.484,0.000,1135.900,0.000,12.902,0.000
$DEVICE_MAMPS,226.440,83.385,1009.035,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.229,815.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43814,670
$CAP_FILE_SIZE,99903,0
$CFSIZE,260165632,245395456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,061210,203606,-7650.133,17047.510,56,1.4,57,132.9