version: 66.08
glider: 503
mission: 7
dive: 101
start: 12 6 110 20 46 28
data:
$ID,503
$MISSION,7
$DIVE,101
$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,-19370.541
$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,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
$GPS1,061210,203606,-7650.133,17047.510,56,1.4,57,132.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-56.6
$GPS2,061210,204601,-7650.070,17047.236,12,1.6,29,132.9
$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,235.5,37576,-18.2,-13.333
$D_GRID,770
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.84,-219.0,0.0,0.0,0,168,0.00,0.00,-149.57,0.000,2,0.000,0.000,187,2751,3497,0,0,0,0,0,0
$GC,170,-0.84,-219.0,3.9,-9.3,26,196,9.00,2.22,-7.28,0.000,4,0.225,0.045,2524,1372,3857,0,0,0,0,0,0
$GC,449,-0.84,-219.0,59.9,-16.7,75,456,0.00,2.33,0.00,0.000,6,0.000,0.045,2515,2786,3859,0,0,0,0,0,0
$GC,592,-0.84,-219.0,86.7,-19.1,100,599,0.00,2.25,0.00,0.000,4,0.000,0.033,2515,1370,3859,0,0,0,0,0,0
$GC,644,-0.84,-219.0,96.5,-17.5,109,651,0.00,2.30,0.00,0.000,6,0.000,0.046,2504,2777,3859,0,0,0,0,0,0
$GC,786,-0.84,-219.0,124.4,-19.9,124,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3859,0,0,0,0,0,0
$GC,913,-0.84,-219.0,149.2,-19.2,136,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3860,0,0,0,0,0,0
$GC,1041,-0.84,-219.0,173.7,-19.1,148,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2777,3860,0,0,0,0,0,0
$GC,1168,-0.84,-219.0,198.3,-19.2,160,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3860,0,0,0,0,0,0
$GC,1296,-0.84,-219.0,223.6,-19.9,172,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3860,0,0,0,0,0,0
$GC,1423,-0.84,-219.0,249.1,-19.8,184,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2777,3860,0,0,0,0,0,0
$GC,1550,-0.84,-219.0,273.9,-19.4,196,1554,0.00,2.20,0.00,0.000,4,0.000,0.033,2505,1364,3860,0,0,0,0,0,0
$GC,1579,-0.84,-219.0,279.2,-19.4,198,1584,0.12,2.28,0.00,0.000,6,0.166,0.046,2529,2775,3860,0,0,0,0,0,0
$GC,1777,-0.84,-219.0,311.3,-15.8,216,1780,0.00,1.60,0.00,0.000,4,0.000,0.052,2522,3767,3860,0,0,0,0,0,0
$GC,1814,-0.84,-219.0,318.1,-17.2,219,1822,0.00,1.52,0.00,0.000,6,0.000,0.030,2522,2782,3860,0,0,0,0,0,0
$GC,2014,-0.84,-219.0,350.4,-16.6,238,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2781,3860,0,0,0,0,0,0
$GC,2206,-0.84,-219.0,380.9,-16.1,256,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2781,3860,0,0,0,0,0,0
$GC,2395,-0.84,-219.0,412.1,-16.2,274,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2781,3860,0,0,0,0,0,0
$GC,2586,-0.84,-219.0,443.6,-16.3,292,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2781,3860,0,0,0,0,0,0
$GC,2779,-0.84,-219.0,474.8,-16.2,310,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2781,3859,0,0,0,0,0,0
$STATE,2938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2938,begin apogee
$GC,2943,-0.16,0.0,500.8,16.4,325,3130,0.68,0.00,177.40,1.009,4,0.128,0.000,2745,2682,2959,0,0,0,0,0,0
$STATE,3131,end apogee,CONTROL_FINISHED_OK
$STATE,3131,begin climb
$GC,3133,0.84,219.0,510.0,0.0,331,3331,0.93,0.00,190.50,0.955,6,0.077,0.000,3063,2682,2066,0,0,0,0,0,0
$GC,3521,0.84,219.0,465.8,14.4,356,3525,0.00,1.85,0.00,0.000,4,0.000,0.048,3063,3760,2054,0,0,0,0,0,0
$GC,3594,0.84,219.0,453.8,17.0,362,3601,0.00,1.70,0.00,0.000,6,0.000,0.031,3071,2729,2053,0,0,1,0,0,0
$GC,3791,0.84,219.0,423.1,16.1,381,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2729,2050,0,0,0,0,0,0
$GC,3982,0.84,219.0,392.8,15.6,399,3986,0.00,1.73,0.00,0.000,4,0.000,0.049,3071,3771,2049,0,0,0,0,0,0
$GC,4038,0.84,219.0,382.9,17.6,404,4042,0.00,1.67,0.00,0.000,6,0.000,0.030,3079,2707,2049,0,0,0,0,0,0
$GC,4241,0.84,219.0,349.7,16.1,423,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2705,2048,0,0,0,0,0,0
$GC,4432,0.84,219.0,319.7,15.2,441,4436,0.00,1.75,0.00,0.000,4,0.000,0.050,3079,3754,2048,0,0,0,0,0,0
$GC,4499,0.84,219.0,308.3,17.1,447,4503,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2694,2047,0,0,0,0,0,0
$GC,4702,0.84,219.0,276.0,15.9,466,4706,0.00,1.73,0.00,0.000,4,0.000,0.050,3088,3763,2047,0,0,0,0,0,0
$GC,4736,0.84,219.0,270.1,16.9,469,4740,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2699,2047,0,0,0,0,0,0
$GC,4939,0.84,219.0,235.6,17.2,488,4943,0.00,1.75,0.00,0.000,4,0.000,0.049,3097,3759,2047,0,0,0,0,0,0
$GC,4988,0.84,219.0,225.8,20.0,492,4997,0.10,1.60,0.00,0.000,6,0.161,0.031,3073,2749,2047,0,0,0,0,0,0
$GC,5123,0.84,219.0,204.4,15.2,505,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2749,2047,0,0,0,0,0,0
$GC,5250,0.84,219.0,185.4,14.9,517,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2748,2047,0,0,0,0,0,0
$GC,5378,0.84,219.0,166.7,14.7,529,5381,0.00,1.62,0.00,0.000,4,0.000,0.050,3072,3767,2046,0,0,0,0,0,0
$GC,5404,0.84,219.0,162.2,16.3,531,5412,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2737,2046,0,0,0,0,0,0
$GC,5539,0.84,219.0,141.2,15.8,544,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2737,2046,0,0,0,0,0,0
$GC,5666,0.84,219.0,121.4,15.2,556,5670,0.00,1.65,0.00,0.000,4,0.000,0.050,3080,3772,2046,0,0,0,0,0,0
$GC,5704,0.84,219.0,114.6,18.0,559,5711,0.00,1.60,0.00,0.000,6,0.000,0.031,3088,2754,2046,0,0,0,0,0,0
$GC,5841,0.84,219.0,93.2,15.1,575,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2754,2046,0,0,0,0,0,0
$GC,5982,0.84,219.0,71.3,15.4,600,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2754,2046,0,0,0,0,0,0
$GC,6124,0.84,219.0,49.2,16.0,625,6130,0.00,1.65,0.00,0.000,4,0.000,0.051,3089,3762,2046,0,0,0,0,0,0
$GC,6159,0.84,219.0,43.0,18.5,631,6166,0.00,1.58,0.00,0.000,6,0.000,0.032,3097,2760,2046,0,0,0,0,0,0
$GC,6305,0.84,222.6,19.8,13.2,656,6312,0.00,1.62,0.00,0.000,4,0.000,0.051,3097,3754,2045,0,0,0,0,0,0
$GC,6352,0.84,222.6,10.5,18.1,664,6359,0.10,1.55,0.00,0.000,6,0.161,0.032,3072,2772,2046,0,0,0,0,0,0
$FREEZE,7.72,-1.858,-1.901,2,1,0
$FREEZE,6.71,-1.863,-1.900,2,1,0
$FREEZE,5.80,-1.861,-1.899,2,1,0
$FREEZE,4.95,-1.860,-1.899,2,1,0
$FREEZE,4.25,-1.860,-1.898,2,1,0
$FREEZE,3.57,-1.859,-1.898,2,1,0
$FREEZE,2.86,-1.856,-1.897,2,1,0
$STATE,6395,end climb,SURFACE_DEPTH_REACHED
$STATE,6396,begin surface coast
$FREEZE,2.15,-1.856,-1.896,2,1,0
$FREEZE,1.40,-1.855,-1.896,2,1,0
$FREEZE,0.60,-1.850,-1.895,2,1,0
$FREEZE,0.16,-1.846,-1.894,2,1,0
$FINISH,0.2,1.027785
$STATE,6419,end surface coast,CONTROL_FINISHED_OK
$STATE,6419,begin surface
$SM_CCo,6434,199.25,0.100,0,0,445,616.92
$SM_GC,0.71,0.00,0.00,199.25,0.000,0.000,0.100,189,2770,445,-8.16,-0.28,616.92
$IRIDIUM_FIX,-7603.11,17050.86,061210,202028
$TT8_MAMPS,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$24V_AH,22.3,4.319
$10V_AH,10.0,1.811
$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,18.575,46.775,367.900,199.250,0.000,52.149,86.322,253.092,1.750,0.000,32.306,1612.868,3181.106,676.579,1623.191,147.135,0.000,1359.738,0.000,1122.745,0.000,12.903,0.000
$DEVICE_MAMPS,224.910,84.915,1009.035,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.497,813.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258228
$DATA_FILE_SIZE,43714,676
$CAP_FILE_SIZE,96669,0
$CFSIZE,260165632,245350400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,061210,223828,-7649.042,17045.057,27,6.3,47,132.9