version: 66.08
glider: 503
mission: 7
dive: 102
start: 12 6 110 22 44 28
data:
$ID,503
$MISSION,7
$DIVE,102
$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,-19371.797
$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,49
$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
$GPS1,061210,223828,-7649.042,17045.057,27,6.3,47,132.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-59.3
$GPS2,061210,224402,-7649.019,17044.842,17,1.5,17,132.9
$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,237.6,35828,-18.2,-13.333
$D_GRID,768
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,162,0.00,0.00,-143.62,0.000,2,0.000,0.000,186,2770,3371,0,0,0,0,0,0
$GC,165,-0.84,-219.0,3.1,-6.0,25,191,8.90,1.67,-10.77,0.000,4,0.223,0.068,2514,3766,3857,0,0,0,0,0,0
$GC,444,-0.84,-219.0,63.9,-18.7,74,451,0.00,1.55,0.00,0.000,6,0.000,0.031,2513,2778,3859,0,0,0,0,0,0
$GC,586,-0.84,-219.0,90.3,-18.3,99,592,0.00,1.62,0.00,0.000,4,0.000,0.052,2506,3761,3859,0,0,0,0,0,0
$GC,621,-0.84,-219.0,97.0,-19.3,105,628,0.00,1.55,0.00,0.000,6,0.000,0.032,2506,2781,3859,0,0,0,0,0,0
$GC,756,-0.84,-219.0,122.3,-18.7,119,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,884,-0.84,-219.0,146.4,-18.8,131,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2781,3860,0,0,0,0,0,0
$GC,1011,-0.84,-219.0,169.8,-18.1,143,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1139,-0.84,-219.0,192.5,-18.2,155,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1266,-0.84,-219.0,215.6,-18.2,167,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1394,-0.84,-219.0,239.5,-19.0,179,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1521,-0.84,-219.0,263.6,-18.7,191,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1714,-0.84,-219.0,298.7,-17.9,209,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,1904,-0.84,-219.0,333.0,-17.9,227,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3859,0,0,0,0,0,0
$GC,2095,-0.84,-219.0,365.7,-16.7,245,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3860,0,0,0,0,0,0
$GC,2286,-0.84,-219.0,398.5,-17.4,263,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2780,3859,0,0,0,0,0,0
$GC,2477,-0.84,-219.0,433.1,-17.9,281,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2781,3859,0,0,0,0,0,0
$GC,2668,-0.84,-219.0,467.7,-18.0,299,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3859,0,0,0,0,0,0
$STATE,2860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2861,begin apogee
$GC,2866,-0.16,0.0,501.4,17.5,317,3053,0.70,0.00,177.15,1.009,4,0.130,0.000,2741,2683,2959,0,0,0,0,0,0
$STATE,3053,end apogee,CONTROL_FINISHED_OK
$STATE,3053,begin climb
$GC,3055,0.84,219.0,511.4,0.0,323,3255,1.00,2.35,190.55,0.957,4,0.079,0.034,3071,1303,2066,0,0,0,0,0,0
$GC,3371,0.84,219.0,480.2,14.3,340,3379,0.00,2.45,0.00,0.000,6,0.000,0.041,3071,2693,2056,0,0,1,0,0,0
$GC,3571,0.84,219.0,450.3,15.1,359,3575,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1312,2051,0,0,0,0,0,0
$GC,3738,0.84,219.0,425.9,14.0,373,3745,0.00,2.38,0.00,0.000,6,0.000,0.041,3081,2708,2050,0,0,1,0,0,0
$GC,3936,0.84,219.0,395.3,15.9,392,3939,0.00,1.73,0.00,0.000,4,0.000,0.050,3082,3768,2049,0,0,0,0,0,0
$GC,4015,0.84,219.0,380.9,18.6,399,4018,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2719,2048,0,0,1,0,0,0
$GC,4219,0.84,219.0,346.8,16.8,418,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,2047,0,0,0,0,0,0
$GC,4409,0.84,219.0,316.1,15.8,436,4412,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3766,2047,0,0,0,0,0,0
$GC,4488,0.84,219.0,302.2,18.1,443,4491,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2704,2046,0,0,0,0,0,0
$GC,4691,0.84,219.0,270.2,15.6,462,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2703,2046,0,0,0,0,0,0
$GC,4882,0.84,219.0,240.3,15.9,480,4886,0.00,1.75,0.00,0.000,4,0.000,0.050,3098,3759,2046,0,0,0,0,0,0
$GC,4961,0.84,219.0,226.0,18.9,487,4965,0.12,1.62,0.00,0.000,6,0.180,0.032,3074,2734,2046,0,0,0,0,0,0
$GC,5100,0.84,219.0,204.5,15.2,500,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,2046,0,0,0,0,0,0
$GC,5227,0.84,219.0,184.7,15.9,512,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,2046,0,0,0,0,0,0
$GC,5354,0.84,219.0,164.9,15.3,524,5358,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3767,2046,0,0,0,0,0,0
$GC,5393,0.84,219.0,158.4,16.7,527,5400,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2737,2045,0,0,0,0,0,0
$GC,5527,0.84,219.0,137.8,15.1,540,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2737,2045,0,0,0,0,0,0
$GC,5655,0.84,219.0,119.0,14.5,552,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2738,2045,0,0,0,0,0,0
$GC,5782,0.84,219.0,100.8,14.5,564,5786,0.00,1.70,0.00,0.000,4,0.000,0.051,3081,3768,2044,0,0,0,0,0,0
$GC,5833,0.84,219.0,92.5,16.8,572,5839,0.00,1.60,0.00,0.000,6,0.000,0.031,3089,2750,2044,0,0,0,0,0,0
$GC,5976,0.84,219.0,70.2,15.4,597,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2750,2044,0,0,0,0,0,0
$GC,6117,0.84,219.0,46.7,17.5,622,6124,0.00,1.65,0.00,0.000,4,0.000,0.050,3089,3760,2044,0,0,0,0,0,0
$GC,6192,0.84,219.0,34.2,18.8,635,6198,0.00,1.60,0.00,0.000,6,0.000,0.032,3097,2742,2043,0,0,0,0,0,0
$GC,6335,0.84,219.0,13.7,13.8,660,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2742,2044,0,0,0,0,0,0
$FREEZE,8.35,-1.846,-1.901,2,1,0
$FREEZE,7.18,-1.844,-1.901,2,1,0
$FREEZE,6.26,-1.843,-1.900,2,1,0
$FREEZE,5.27,-1.843,-1.899,2,1,0
$FREEZE,4.45,-1.843,-1.898,2,1,0
$FREEZE,3.46,-1.844,-1.898,2,1,0
$FREEZE,2.58,-1.842,-1.897,2,1,0
$STATE,6394,end climb,SURFACE_DEPTH_REACHED
$STATE,6395,begin surface coast
$FREEZE,1.80,-1.841,-1.896,2,1,0
$FREEZE,1.00,-1.839,-1.896,2,1,0
$FREEZE,0.40,-1.837,-1.895,2,1,0
$FINISH,0.4,1.027793
$STATE,6412,end surface coast,CONTROL_FINISHED_OK
$STATE,6412,begin surface
$SM_CCo,6428,201.20,0.101,0,0,445,616.92
$SM_GC,0.69,0.00,0.00,201.20,0.000,0.000,0.101,183,2786,445,-8.16,0.17,616.92
$IRIDIUM_FIX,-7603.11,17030.71,061210,202008
$TT8_MAMPS,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.4
$24V_AH,22.3,4.439
$10V_AH,10.0,1.865
$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,18.375,36.000,367.700,201.200,0.000,29.541,37.589,167.763,1.750,0.000,19.864,1605.337,3128.163,659.907,1454.505,127.176,0.000,1334.255,0.000,1136.217,0.000,12.903,0.000
$DEVICE_MAMPS,222.615,115.515,1009.035,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.586,816.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258384
$DATA_FILE_SIZE,43781,674
$CAP_FILE_SIZE,87833,0
$CFSIZE,260165632,245309440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,071210,003655,-7648.309,17043.400,78,1.1,79,132.9