version: 66.08
glider: 503
mission: 7
dive: 146
start: 12 10 110 22 12 25
data:
$ID,503
$MISSION,7
$DIVE,146
$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,-19670.312
$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,44
$R_STBD_OVSHOOT,38
$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
$GPS1,101210,220720,-7640.817,17316.445,22,1.3,23,128.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-58.7
$GPS2,101210,221156,-7640.787,17316.424,11,1.2,11,128.5
$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,338.2,175622,-18.2,-13.333
$D_GRID,459
$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,-219.0,0.0,0.0,0,170,0.00,0.00,-151.38,0.000,2,0.000,0.000,168,2796,3563,0,0,0,0,0,0
$GC,172,-0.84,-219.0,4.2,-10.5,25,194,8.85,1.60,-5.65,0.000,4,0.217,0.068,2517,3754,3856,0,0,0,0,0,0
$GC,359,-0.84,-219.0,50.6,-20.7,58,366,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2770,3859,0,0,0,0,0,0
$GC,498,-0.84,-219.0,77.6,-19.9,83,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,643,-0.84,-219.0,104.6,-18.3,107,647,0.00,2.17,0.00,0.000,4,0.000,0.032,2517,1378,3859,0,0,0,0,0,0
$GC,682,-0.84,-219.0,111.2,-15.9,110,687,0.00,2.25,0.00,0.000,6,0.000,0.044,2507,2771,3859,0,0,0,0,0,0
$GC,816,-0.84,-219.0,135.9,-18.7,122,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2771,3860,0,0,0,0,0,0
$GC,943,-0.84,-219.0,158.8,-18.3,134,947,0.00,1.60,0.00,0.000,4,0.000,0.052,2500,3763,3860,0,0,0,0,0,0
$GC,977,-0.84,-219.0,165.1,-20.0,137,982,0.08,1.52,0.00,0.000,6,0.147,0.032,2524,2789,3860,0,0,0,0,0,0
$GC,1116,-0.84,-219.0,188.7,-16.9,150,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2789,3860,0,0,0,0,0,0
$GC,1243,-0.84,-219.0,209.9,-16.6,162,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2789,3860,0,0,0,0,0,0
$GC,1371,-0.84,-219.0,231.1,-16.5,174,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2789,3860,0,0,0,0,0,0
$GC,1498,-0.84,-219.0,251.7,-16.2,186,1501,0.00,1.60,0.00,0.000,4,0.000,0.051,2518,3767,3859,0,0,0,0,0,0
$GC,1535,-0.84,-219.0,258.5,-17.6,189,1543,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2773,3859,0,0,0,0,0,0
$GC,1735,-0.84,-219.0,291.2,-17.0,208,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1925,-0.84,-219.0,322.8,-16.2,226,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3859,0,0,0,0,0,0
$GC,2117,-0.84,-219.0,354.8,-16.6,244,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,2307,-0.84,-219.0,386.4,-16.8,262,2311,0.00,1.60,0.00,0.000,4,0.000,0.051,2510,3758,3859,0,0,0,0,0,0
$GC,2344,-0.84,-219.0,393.2,-17.8,265,2352,0.00,1.50,0.00,0.000,6,0.000,0.031,2510,2792,3859,0,0,0,0,0,0
$GC,2543,-0.84,-219.0,426.6,-16.6,284,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2792,3860,0,0,0,0,0,0
$GC,2734,-0.84,-219.0,458.5,-16.4,302,2737,0.00,1.58,0.00,0.000,4,0.000,0.052,2502,3763,3860,0,0,0,0,0,0
$STATE,2744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2744,begin apogee
$GC,2750,-0.16,0.0,460.4,16.6,303,2932,0.73,0.00,176.45,1.012,4,0.129,0.000,2742,2698,2960,0,0,0,0,0,0
$STATE,2933,end apogee,CONTROL_FINISHED_OK
$STATE,2933,begin climb
$GC,2935,0.84,219.0,470.0,0.0,319,3134,1.00,2.40,190.55,0.958,4,0.078,0.034,3073,1291,2067,0,0,0,0,0,0
$GC,3274,0.84,219.0,435.3,15.2,350,3279,0.00,2.45,0.00,0.000,6,0.000,0.041,3073,2702,2055,0,0,0,0,0,0
$GC,3471,0.84,219.0,404.9,15.5,368,3476,0.00,2.33,0.00,0.000,4,0.000,0.035,3083,1299,2051,0,0,0,0,0,0
$GC,3649,0.84,219.0,379.0,14.2,383,3657,0.00,2.38,0.00,0.000,6,0.000,0.042,3083,2704,2050,0,0,1,0,0,0
$GC,3848,0.84,219.0,347.4,15.9,402,3851,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3771,2049,0,0,0,0,0,0
$GC,3896,0.84,219.0,338.4,18.3,406,3904,0.00,1.67,0.00,0.000,6,0.000,0.030,3092,2713,2047,0,0,1,0,0,0
$GC,4096,0.84,219.0,304.9,17.1,425,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2713,2047,0,0,0,0,0,0
$GC,4285,0.84,219.0,273.2,16.6,443,4289,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3768,2047,0,0,0,0,0,0
$GC,4368,0.84,219.0,257.5,18.7,450,4377,0.08,1.67,0.00,0.000,6,0.164,0.031,3075,2721,2047,0,0,0,0,0,0
$GC,4566,0.84,219.0,227.1,15.3,469,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2721,2047,0,0,0,0,0,0
$GC,4694,0.84,219.0,207.7,15.3,481,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2721,2046,0,0,0,0,0,0
$GC,4821,0.84,219.0,188.3,15.3,493,4825,0.00,1.67,0.00,0.000,4,0.000,0.049,3075,3771,2046,0,0,0,0,0,0
$GC,4866,0.84,219.0,180.8,16.9,497,4870,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2699,2046,0,0,0,0,0,0
$GC,5006,0.84,219.0,159.4,14.8,510,5010,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3767,2045,0,0,0,0,0,0
$GC,5055,0.84,219.0,150.7,17.0,514,5063,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2736,2045,0,0,0,0,0,0
$GC,5189,0.84,219.0,130.6,14.6,527,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2736,2045,0,0,0,0,0,0
$GC,5317,0.84,219.0,111.6,15.2,539,5321,0.00,1.65,0.00,0.000,4,0.000,0.050,3092,3773,2045,0,0,0,0,0,0
$GC,5362,0.84,219.0,103.9,17.2,543,5366,0.00,1.62,0.00,0.000,6,0.000,0.031,3100,2745,2045,0,0,0,0,0,0
$GC,5501,0.84,219.0,81.8,16.0,565,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2743,2046,0,0,0,0,0,0
$GC,5642,0.84,219.0,59.5,15.2,590,5649,0.00,1.65,0.00,0.000,4,0.000,0.050,3100,3755,2045,0,0,0,0,0,0
$GC,5690,0.84,219.0,51.6,17.5,598,5697,0.10,1.58,0.00,0.000,6,0.157,0.031,3075,2742,2045,0,0,1,0,0,0
$GC,5833,0.84,219.0,31.2,16.2,623,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2742,2045,0,0,0,0,0,0
$GC,5972,0.84,219.0,9.6,14.3,648,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2742,2045,0,0,0,0,0,0
$FREEZE,7.77,-1.662,-1.899,2,1,0
$FREEZE,7.03,-1.659,-1.899,2,1,0
$FREEZE,6.25,-1.658,-1.898,2,1,0
$FREEZE,5.42,-1.658,-1.897,2,1,0
$FREEZE,4.76,-1.654,-1.897,2,1,0
$FREEZE,4.36,-1.647,-1.896,2,1,0
$FREEZE,3.95,-1.649,-1.896,2,1,0
$FREEZE,3.43,-1.649,-1.896,2,1,0
$FREEZE,2.55,-1.657,-1.895,2,1,0
$STATE,6026,end climb,SURFACE_DEPTH_REACHED
$STATE,6027,begin surface coast
$FREEZE,1.30,-1.650,-1.894,2,1,0
$FREEZE,0.71,-1.646,-1.893,2,1,0
$FREEZE,-0.02,-1.645,-1.892,2,1,0
$FREEZE,0.02,-1.677,-1.257,2,1,0
$FINISH,0.0,1.018569
$STATE,6052,end surface coast,FINISH_DEPTH_REACHED
$STATE,6052,begin surface
$SM_CCo,6067,200.25,0.101,0,0,445,616.92
$SM_GC,0.53,0.00,0.00,200.25,0.000,0.000,0.101,197,2790,445,-8.13,0.28,616.92
$IRIDIUM_FIX,-7554.21,17239.75,101210,202057
$TT8_MAMPS,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,22.3,9.725
$10V_AH,10.0,4.251
$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,18.475,49.750,367.000,200.250,0.000,30.145,37.409,111.004,1.500,0.000,13.807,1628.002,2747.141,684.561,1363.704,134.893,0.000,1352.614,0.000,1110.659,0.000,11.188,0.000
$DEVICE_MAMPS,217.260,118.575,1012.095,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.575,804.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43651,662
$CAP_FILE_SIZE,89221,0
$CFSIZE,260165632,243200000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.153,328.7,1
$GPS,101210,235836,-7640.693,17319.084,53,1.3,65,128.4