version: 66.08
glider: 503
mission: 7
dive: 82
start: 12 5 110 6 25 39
data:
$ID,503
$MISSION,7
$DIVE,82
$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,10
$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,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18430.605
$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,0.02
$PITCH_ADJ_DBAND,1
$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,46
$R_STBD_OVSHOOT,23
$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
$GPS1,051210,012058,-7659.960,17055.094,16,6.1,35,133.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.78
$_SM_ANGLEo,8.2
$GPS2,051210,012058,-7659.960,17055.094,16,6.1,35,133.3
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7700.000,17100.000
$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,318.7,2045,-23.4,-13.333
$D_GRID,775
$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,-0.90,-134.4,0.0,0.0,0,25,0.00,0.00,-7.57,0.000,2,0.000,0.000,2799,3785,3370,0,0,0,0,0,0
$GC,27,-1.00,-219.0,10.2,-0.0,1,47,0.90,3.85,-10.70,0.000,4,0.089,0.041,2479,1377,3857,0,0,0,0,0,0
$GC,166,-0.97,-219.0,30.7,-21.3,25,172,0.00,2.30,0.00,0.000,6,0.000,0.048,2469,2782,3859,0,0,0,0,0,0
$GC,309,-0.90,-219.0,66.5,-26.5,50,316,0.15,0.00,0.00,0.000,6,0.179,0.000,2509,2783,3859,0,0,0,0,0,0
$GC,452,-0.90,-219.0,90.9,-15.3,75,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3860,0,0,0,0,0,0
$GC,589,-0.90,-219.0,113.7,-18.5,93,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3860,0,0,0,0,0,0
$GC,717,-0.90,-219.0,137.8,-19.8,105,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3860,0,0,0,0,0,0
$GC,844,-0.90,-219.0,161.8,-18.4,117,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3861,0,0,0,0,0,0
$GC,971,-0.90,-219.0,185.2,-18.4,129,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2782,3860,0,0,0,0,0,0
$GC,1099,-0.90,-219.0,209.5,-19.3,141,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3861,0,0,0,0,0,0
$GC,1226,-0.90,-219.0,234.0,-19.0,153,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3860,0,0,0,0,0,0
$GC,1355,-0.92,-219.0,257.5,-18.2,165,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2783,3861,0,0,0,0,0,0
$GC,1545,-0.92,-219.0,290.9,-17.5,183,1549,0.00,2.20,0.00,0.000,4,0.000,0.034,2509,1362,3861,0,0,0,0,0,0
$GC,1585,-0.97,-219.0,297.6,-16.3,186,1589,0.00,2.30,0.00,0.000,6,0.000,0.047,2499,2794,3861,0,0,0,0,0,0
$GC,1783,-0.97,-219.0,333.9,-18.4,204,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2794,3861,0,0,0,0,0,0
$GC,1973,-0.97,-219.0,369.2,-18.0,222,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2794,3860,0,0,0,0,0,0
$GC,2165,-0.97,-219.0,403.9,-18.2,240,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2793,3860,0,0,0,0,0,0
$GC,2356,-0.97,-219.0,439.4,-18.4,258,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2794,3860,0,0,0,0,0,0
$GC,2547,-0.97,-219.0,473.5,-17.6,276,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2793,3860,0,0,0,0,0,0
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2710,-0.16,0.0,500.9,16.7,291,2897,0.75,0.00,176.10,0.991,4,0.132,0.000,2745,2692,2958,0,0,0,0,0,0
$STATE,2897,end apogee,CONTROL_FINISHED_OK
$STATE,2897,begin climb
$GC,2899,1.00,219.0,509.4,0.0,297,3099,1.08,0.00,189.25,0.939,6,0.069,0.000,3118,2692,2065,0,0,0,0,0,0
$GC,3289,0.91,219.0,452.3,19.9,324,3293,0.00,1.83,0.00,0.000,4,0.000,0.047,3118,3769,2056,0,0,0,0,0,0
$GC,3372,0.77,219.0,433.4,22.1,331,3380,0.25,1.73,0.00,0.000,6,0.139,0.030,3051,2722,2054,0,0,1,0,0,0
$GC,3571,0.81,219.0,404.0,14.4,350,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2722,2051,0,0,0,0,0,0
$GC,3762,0.84,219.0,377.4,14.2,368,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2722,2051,0,0,0,0,0,0
$GC,3954,0.88,219.0,350.6,13.9,386,3958,0.00,1.70,0.00,0.000,4,0.000,0.048,3050,3767,2050,0,0,0,0,0,0
$GC,3988,0.88,219.0,345.2,15.4,389,3992,0.00,1.67,0.00,0.000,6,0.000,0.031,3058,2706,2050,0,0,0,0,0,0
$GC,4192,0.90,219.0,316.6,13.9,408,4195,0.00,1.73,0.00,0.000,4,0.000,0.049,3058,3764,2049,0,0,0,0,0,0
$GC,4230,0.88,219.0,310.4,15.7,411,4237,0.00,1.65,0.00,0.000,6,0.000,0.031,3066,2731,2050,0,0,0,0,0,0
$GC,4429,0.88,219.0,280.2,16.0,430,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2730,2049,0,0,0,0,0,0
$GC,4619,0.88,219.0,248.9,15.8,448,4622,0.00,1.67,0.00,0.000,4,0.000,0.050,3066,3770,2049,0,0,0,0,0,0
$GC,4665,0.84,219.0,241.3,16.9,452,4668,0.00,1.65,0.00,0.000,6,0.000,0.031,3074,2701,2049,0,0,0,0,0,0
$GC,4804,0.84,219.0,219.5,15.3,465,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2699,2048,0,0,0,0,0,0
$GC,4931,0.84,219.0,199.9,15.1,477,4935,0.00,1.70,0.00,0.000,4,0.000,0.049,3074,3766,2048,0,0,0,0,0,0
$GC,4977,0.79,219.0,192.1,17.5,481,4981,0.00,1.62,0.00,0.000,6,0.000,0.031,3082,2738,2048,0,0,0,0,0,0
$GC,5117,0.79,219.0,169.4,15.7,494,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2736,2048,0,0,0,0,0,0
$GC,5244,0.79,219.0,148.6,16.5,506,5247,0.00,1.67,0.00,0.000,4,0.000,0.050,3082,3755,2048,0,0,0,0,0,0
$GC,5289,0.73,219.0,140.4,19.4,510,5294,0.15,1.60,0.00,0.000,6,0.136,0.031,3031,2742,2048,0,0,0,0,0,0
$GC,5430,0.83,242.3,122.7,11.8,523,5451,0.10,0.00,18.35,0.782,6,0.099,0.000,3099,2741,1972,0,0,0,0,0,0
$GC,5576,0.80,242.3,98.5,16.6,537,5584,0.15,1.67,0.00,0.000,4,0.158,0.050,3058,3772,1970,0,0,1,0,0,0
$GC,5624,0.80,242.3,90.3,16.4,545,5631,0.00,1.62,0.00,0.000,6,0.000,0.031,3065,2750,1969,0,0,0,0,0,0
$GC,5767,0.82,242.3,65.5,17.0,570,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2749,1967,0,0,0,0,0,0
$GC,5910,0.85,242.3,41.6,13.9,595,5917,0.00,1.67,0.00,0.000,4,0.000,0.050,3065,3767,1968,0,0,0,0,0,0
$GC,5963,0.85,242.3,32.6,18.7,604,5969,0.00,1.58,0.00,0.000,6,0.000,0.031,3073,2769,1968,0,0,0,0,0,0
$GC,6106,0.82,242.3,9.1,17.9,629,6113,0.00,1.62,0.00,0.000,4,0.000,0.050,3073,3762,1967,0,0,0,0,0,0
$FREEZE,7.19,-1.903,-1.903,2,4,2
$FREEZE,6.41,-1.902,-1.902,2,4,2
$FREEZE,5.65,-1.902,-1.902,2,4,2
$FREEZE,4.76,-1.902,-1.901,2,4,2
$FREEZE,3.67,-1.902,-1.900,2,4,2
$FREEZE,2.57,-1.902,-1.899,2,4,2
$STATE,6145,end climb,SURFACE_DEPTH_REACHED
$STATE,6145,begin surface coast
$FREEZE,1.51,-1.901,-1.898,2,4,2
$FREEZE,0.70,-1.901,-1.898,2,4,2
$FREEZE,0.14,-1.901,-1.898,2,4,2
$FINISH,0.1,1.027833
$STATE,6162,end surface coast,CONTROL_FINISHED_OK
$STATE,6163,begin surface
$SM_CCo,6180,189.90,0.101,0,0,444,616.92
$SM_GC,0.48,0.00,0.00,189.90,0.000,0.000,0.101,189,2771,444,-8.16,-0.25,616.92
$IRIDIUM_FIX,-7612.11,17054.21,051210,010107
$TT8_MAMPS,0.026964
$HUMID,48.50
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.6
$24V_AH,22.5,1.753
$10V_AH,10.1,0.727
$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,11.325,40.750,383.700,189.900,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1575.901,3073.640,561.796,1112.813,102.686,0.000,1183.758,0.000,1055.638,0.000,15.724,0.000
$DEVICE_MAMPS,179.010,73.440,990.675,100.980,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.079,765.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258972
$DATA_FILE_SIZE,40387,639
$CAP_FILE_SIZE,82638,0
$CFSIZE,260165632,246251520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051210,012058,-7659.960,17055.094,181,99.0,181,133.3