version: 66.08
glider: 503
mission: 7
dive: 145
start: 12 10 110 20 23 5
data:
$ID,503
$MISSION,7
$DIVE,145
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,180
$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,2
$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,9
$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,-19669.053
$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,47
$R_STBD_OVSHOOT,22
$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,49
$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
$GPS1,101210,201726,-7640.996,17313.539,26,1.8,27,128.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-66.8
$GPS2,101210,202236,-7640.973,17313.414,14,0.9,30,128.6
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA3
$TGT_LATLONG,-7630.000,18000.000
$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,333.8,176954,-18.2,-13.333
$D_GRID,464
$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,15,-0.84,-219.0,0.0,0.0,0,165,0.00,0.00,-147.77,0.000,2,0.000,0.000,152,2776,3436,0,0,0,0,0,0
$GC,169,-0.84,-219.0,3.3,-6.6,24,196,8.95,1.62,-8.95,0.000,4,0.220,0.070,2514,3764,3857,0,0,1,0,0,0
$GC,293,-0.84,-219.0,34.6,-21.6,45,300,0.00,1.55,0.00,0.000,6,0.000,0.031,2514,2782,3859,0,0,0,0,0,0
$GC,436,-0.84,-219.0,62.9,-20.1,70,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2781,3859,0,0,0,0,0,0
$GC,576,-0.84,-219.0,89.9,-18.9,95,583,0.00,2.22,0.00,0.000,4,0.000,0.033,2514,1371,3859,0,0,0,0,0,0
$GC,628,-0.84,-219.0,99.4,-17.6,104,636,0.00,2.30,0.00,0.000,6,0.000,0.045,2504,2781,3859,0,0,0,0,0,0
$GC,762,-0.84,-219.0,124.6,-19.4,117,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3859,0,0,0,0,0,0
$GC,890,-0.84,-219.0,149.5,-20.2,129,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3860,0,0,0,0,0,0
$GC,1017,-0.84,-219.0,174.4,-19.2,141,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3861,0,0,0,0,0,0
$GC,1145,-0.84,-219.0,197.9,-18.6,153,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3860,0,0,0,0,0,0
$GC,1272,-0.84,-219.0,222.1,-19.3,165,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3860,0,0,0,0,0,0
$GC,1400,-0.84,-219.0,246.4,-18.9,177,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3860,0,0,0,0,0,0
$GC,1527,-0.84,-219.0,270.6,-18.9,189,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$GC,1718,-0.84,-219.0,307.0,-18.8,207,1721,0.00,1.58,0.00,0.000,4,0.000,0.052,2496,3761,3859,0,0,0,0,0,0
$GC,1752,-0.84,-219.0,313.8,-19.4,210,1756,0.08,1.55,0.00,0.000,6,0.149,0.032,2536,2769,3859,0,0,0,0,0,0
$GC,1956,-0.84,-219.0,346.0,-15.4,229,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2769,3860,0,0,0,0,0,0
$GC,2145,-0.84,-219.0,375.0,-15.2,247,2149,0.00,1.62,0.00,0.000,4,0.000,0.052,2530,3793,3860,0,0,0,0,0,0
$GC,2191,-0.84,-219.0,382.1,-15.2,251,2195,0.00,1.58,0.00,0.000,6,0.000,0.031,2530,2774,3859,0,0,0,0,0,0
$GC,2393,-0.84,-219.0,414.0,-16.0,270,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2774,3859,0,0,0,0,0,0
$GC,2585,-0.84,-219.0,443.4,-15.2,288,2588,0.00,1.60,0.00,0.000,4,0.000,0.052,2522,3758,3859,0,0,0,0,0,0
$GC,2634,-0.84,-219.0,451.8,-16.2,292,2643,0.00,1.52,0.00,0.000,6,0.000,0.031,2522,2777,3859,0,0,0,0,0,0
$STATE,2714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2714,begin apogee
$GC,2718,-0.16,0.0,464.4,16.1,300,2901,0.65,0.00,176.55,1.014,4,0.127,0.000,2739,2699,2959,0,0,0,0,0,0
$STATE,2901,end apogee,CONTROL_FINISHED_OK
$STATE,2902,begin climb
$GC,2903,0.84,219.0,473.0,0.0,316,3104,1.00,2.40,190.52,0.959,4,0.079,0.033,3069,1297,2066,0,0,0,0,0,0
$GC,3238,0.84,219.0,440.1,13.8,346,3245,0.00,2.47,0.00,0.000,6,0.000,0.041,3069,2695,2056,0,0,0,0,0,0
$GC,3436,0.84,219.0,410.1,15.9,365,3440,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1308,2052,0,0,0,0,0,0
$GC,3625,0.84,219.0,382.4,14.3,381,3633,0.00,2.33,0.00,0.000,6,0.000,0.042,3080,2712,2050,0,0,1,0,0,0
$GC,3823,0.84,219.0,351.1,16.0,400,3826,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3764,2049,0,0,0,0,0,0
$GC,3868,0.84,219.0,343.1,18.0,404,3872,0.00,1.70,0.00,0.000,6,0.000,0.031,3088,2713,2048,0,0,0,0,0,0
$GC,4071,0.84,219.0,308.8,16.8,423,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2713,2048,0,0,0,0,0,0
$GC,4262,0.84,219.0,276.0,17.3,441,4265,0.00,1.70,0.00,0.000,4,0.000,0.049,3088,3762,2048,0,0,0,0,0,0
$GC,4299,0.84,219.0,268.5,19.1,444,4307,0.00,1.67,0.00,0.000,6,0.000,0.031,3097,2713,2047,0,0,0,0,0,0
$GC,4498,0.84,219.0,234.3,17.7,463,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2713,2047,0,0,0,0,0,0
$GC,4625,0.84,219.0,212.7,16.7,475,4629,0.00,1.73,0.00,0.000,4,0.000,0.050,3096,3761,2047,0,0,0,0,0,0
$GC,4670,0.84,219.0,204.5,18.7,479,4674,0.12,1.65,0.00,0.000,6,0.184,0.032,3073,2698,2046,0,0,0,0,0,0
$GC,4809,0.84,219.0,183.2,14.7,492,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2697,2046,0,0,0,0,0,0
$GC,4936,0.84,219.0,164.1,15.2,504,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2697,2046,0,0,0,0,0,0
$GC,5063,0.84,219.0,144.7,15.3,516,5067,0.00,1.70,0.00,0.000,4,0.000,0.048,3071,3764,2046,0,0,0,0,0,0
$GC,5097,0.84,219.0,138.8,17.7,519,5101,0.00,1.65,0.00,0.000,6,0.000,0.031,3081,2693,2047,0,0,0,0,0,0
$GC,5237,0.84,219.0,116.7,15.7,532,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2692,2045,0,0,0,0,0,0
$GC,5365,0.84,219.0,96.8,15.3,545,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2692,2046,0,0,0,0,0,0
$GC,5508,0.84,219.0,74.7,15.5,570,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2692,2045,0,0,0,0,0,0
$GC,5649,0.84,219.0,52.7,15.1,595,5655,0.00,1.75,0.00,0.000,4,0.000,0.050,3080,3784,2046,0,0,0,0,0,0
$GC,5695,0.84,219.0,44.6,18.1,603,5702,0.00,1.67,0.00,0.000,6,0.000,0.032,3087,2722,2045,0,0,0,0,0,0
$GC,5839,0.84,219.0,21.7,15.7,628,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2722,2045,0,0,0,0,0,0
$FREEZE,8.28,-1.678,-1.899,2,1,0
$FREEZE,7.60,-1.678,-1.899,2,1,0
$FREEZE,6.93,-1.683,-1.898,2,1,0
$FREEZE,5.98,-1.679,-1.898,2,1,0
$FREEZE,4.91,-1.689,-1.897,2,1,0
$FREEZE,4.26,-1.687,-1.896,2,1,0
$FREEZE,3.43,-1.681,-1.896,2,1,0
$FREEZE,2.42,-1.682,-1.895,2,1,0
$STATE,5960,end climb,SURFACE_DEPTH_REACHED
$STATE,5960,begin surface coast
$FREEZE,1.50,-1.682,-1.894,2,1,0
$FREEZE,0.58,-1.675,-1.893,2,1,0
$FREEZE,-0.03,-1.675,-1.893,2,1,0
$FINISH,-0.0,1.027761
$STATE,5977,end surface coast,CONTROL_FINISHED_OK
$STATE,5977,begin surface
$SM_CCo,5993,199.98,0.101,0,0,445,616.92
$SM_GC,0.50,0.00,0.00,199.98,0.000,0.000,0.101,188,2796,445,-8.16,0.45,616.92
$IRIDIUM_FIX,-7554.21,17316.86,101210,181853
$TT8_MAMPS,0.027713
$HUMID,49.44
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.6
$24V_AH,22.3,9.608
$10V_AH,9.9,4.199
$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,18.500,43.775,367.075,199.975,0.000,30.924,41.821,116.132,1.500,0.000,33.533,1596.404,2742.387,682.884,1365.779,130.485,0.000,1335.850,0.000,1078.428,0.000,11.193,0.000
$DEVICE_MAMPS,219.555,98.685,1014.390,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.152,784.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,43761,653
$CAP_FILE_SIZE,86344,0
$CFSIZE,260165632,243245056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.151,327.6,1
$GPS,101210,220720,-7640.817,17316.445,22,1.3,23,128.5