version: 66.08
glider: 503
mission: 7
dive: 90
start: 12 5 110 21 12 27
data:
$ID,503
$MISSION,7
$DIVE,90
$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,-18861.326
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,051210,155920,-7703.562,17104.490,13,1.9,13,133.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.10
$_SM_ANGLEo,2.5
$GPS2,051210,155920,-7703.562,17104.490,13,1.9,13,133.3
$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,224.9,62187,-18.2,-13.333
$D_GRID,774
$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,-219.0,0.0,0.0,0,24,0.00,0.00,-7.07,0.000,2,0.000,0.000,2796,2692,3278,0,0,0,0,0,0
$GC,26,-0.84,-219.0,6.1,-0.0,1,51,0.73,1.77,-15.60,0.000,4,0.086,0.073,2534,3766,3856,0,0,0,0,0,0
$GC,69,-0.84,-219.0,10.2,-11.3,8,76,0.00,1.55,0.00,0.000,6,0.000,0.031,2534,2764,3857,0,0,0,0,0,0
$GC,212,-0.84,-219.0,35.1,-19.1,33,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2763,3858,0,0,0,0,0,0
$GC,354,-0.84,-219.0,60.2,-19.2,58,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2763,3858,0,0,0,0,0,0
$GC,495,-0.84,-219.0,85.3,-16.8,83,502,0.00,1.62,0.00,0.000,4,0.000,0.052,2527,3758,3858,0,0,0,0,0,0
$GC,531,-0.84,-219.0,91.4,-17.1,89,538,0.00,1.50,0.00,0.000,6,0.000,0.031,2527,2794,3858,0,0,0,0,0,0
$GC,673,-0.84,-219.0,118.3,-18.8,106,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2794,3858,0,0,0,0,0,0
$GC,801,-0.84,-219.0,140.6,-17.7,118,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2794,3858,0,0,0,0,0,0
$GC,928,-0.84,-219.0,163.8,-18.3,130,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2794,3859,0,0,0,0,0,0
$GC,1055,-0.84,-219.0,186.7,-17.3,142,1059,0.00,2.17,0.00,0.000,4,0.000,0.039,2526,1375,3858,0,0,0,0,0,0
$GC,1088,-0.84,-219.0,192.5,-16.7,144,1095,0.00,2.30,0.00,0.000,6,0.000,0.045,2516,2783,3858,0,0,0,0,0,0
$GC,1222,-0.84,-219.0,216.7,-18.6,157,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2783,3858,0,0,0,0,0,0
$GC,1349,-0.84,-219.0,240.4,-18.1,169,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2783,3859,0,0,0,0,0,0
$GC,1477,-0.84,-219.0,262.5,-17.1,181,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2783,3859,0,0,0,0,0,0
$GC,1668,-0.84,-219.0,294.4,-16.2,199,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2783,3858,0,0,0,0,0,0
$GC,1859,-0.84,-219.0,327.0,-17.6,217,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2783,3858,0,0,0,0,0,0
$GC,2051,-0.84,-219.0,360.4,-17.5,235,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2783,3859,0,0,0,0,0,0
$GC,2242,-0.84,-219.0,392.1,-16.0,253,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2783,3858,0,0,0,0,0,0
$GC,2433,-0.84,-219.0,422.5,-15.6,271,2437,0.00,1.58,0.00,0.000,4,0.000,0.052,2509,3770,3858,0,0,0,0,0,0
$GC,2467,-0.84,-219.0,428.3,-17.5,274,2471,0.00,1.50,0.00,0.000,6,0.000,0.031,2508,2794,3858,0,0,0,0,0,0
$GC,2670,-0.84,-219.0,463.0,-17.6,293,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2794,3858,0,0,0,0,0,0
$GC,2861,-0.84,-219.0,496.5,-17.2,311,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2794,3858,0,0,0,0,0,0
$STATE,2883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2883,begin apogee
$GC,2888,-0.16,0.0,500.1,17.4,313,3068,0.70,0.00,175.48,0.997,4,0.132,0.000,2743,2685,2960,0,0,0,0,0,0
$STATE,3069,end apogee,CONTROL_FINISHED_OK
$STATE,3069,begin climb
$GC,3071,0.84,219.0,509.9,0.0,318,3270,0.98,2.33,189.62,0.942,4,0.073,0.033,3069,1315,2067,0,0,0,0,0,0
$GC,3349,0.84,219.0,484.9,14.6,332,3354,0.00,2.45,0.00,0.000,6,0.000,0.041,3069,2709,2060,0,0,0,0,0,0
$GC,3548,0.84,219.0,453.5,15.7,350,3552,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1320,2054,0,0,0,0,0,0
$GC,3712,0.84,219.0,428.3,16.0,364,3716,0.00,2.33,0.00,0.000,6,0.000,0.042,3080,2713,2052,0,0,1,0,0,0
$GC,3909,0.84,219.0,394.3,16.9,382,3913,0.00,1.73,0.00,0.000,4,0.000,0.050,3080,3772,2051,0,0,0,0,0,0
$GC,3988,0.84,219.0,379.1,19.6,389,3992,0.00,1.62,0.00,0.000,6,0.000,0.030,3088,2721,2051,0,0,1,0,0,0
$GC,4192,0.84,219.0,342.8,18.2,408,4195,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3765,2050,0,0,0,0,0,0
$GC,4230,0.84,219.0,334.8,20.5,411,4237,0.00,1.67,0.00,0.000,6,0.000,0.031,3097,2726,2050,0,0,0,0,0,0
$GC,4427,0.84,219.0,299.0,18.1,430,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2726,2050,0,0,0,0,0,0
$GC,4619,0.84,219.0,263.9,19.1,448,4623,0.00,1.67,0.00,0.000,4,0.000,0.050,3096,3765,2049,0,0,0,0,0,0
$GC,4698,0.84,219.0,247.7,20.4,455,4702,0.08,1.60,0.00,0.000,6,0.159,0.031,3072,2756,2049,0,0,0,0,0,0
$GC,4837,0.84,219.0,222.5,18.2,468,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2756,2049,0,0,0,0,0,0
$GC,4965,0.84,219.0,199.9,17.1,480,4968,0.00,1.62,0.00,0.000,4,0.000,0.050,3072,3767,2049,0,0,0,0,0,0
$GC,5021,0.84,219.0,189.6,18.4,485,5025,0.00,1.60,0.00,0.000,6,0.000,0.031,3079,2754,2048,0,0,0,0,0,0
$GC,5160,0.84,219.0,165.9,16.7,498,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2752,2048,0,0,0,0,0,0
$GC,5288,0.84,219.0,143.9,17.1,510,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2752,2048,0,0,0,0,0,0
$GC,5415,0.84,219.0,123.2,15.8,522,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2752,2048,0,0,0,0,0,0
$GC,5543,0.84,219.0,102.7,15.9,534,5546,0.00,1.65,0.00,0.000,4,0.000,0.050,3080,3781,2048,0,0,0,0,0,0
$GC,5599,0.84,219.0,93.0,16.2,542,5606,0.00,1.62,0.00,0.000,6,0.000,0.031,3087,2750,2048,0,0,0,0,0,0
$GC,5742,0.84,219.0,69.2,13.9,567,5749,0.00,1.65,0.00,0.000,4,0.000,0.051,3087,3755,2048,0,0,0,0,0,0
$GC,5811,0.84,219.0,58.0,17.9,579,5818,0.00,1.58,0.00,0.000,6,0.000,0.031,3095,2752,2048,0,0,0,0,0,0
$GC,5954,0.84,219.0,34.9,17.8,604,5961,0.00,2.30,0.00,0.000,4,0.000,0.034,3106,1291,2048,0,0,0,0,0,0
$GC,5990,0.84,219.0,28.7,18.3,610,5997,0.12,2.38,0.00,0.000,6,0.170,0.044,3074,2762,2047,0,0,0,0,0,0
$FREEZE,8.24,-1.881,-1.903,2,4,2
$FREEZE,7.67,-1.880,-1.903,2,4,2
$GC,6133,0.84,219.0,7.7,14.0,635,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2763,2047,0,0,0,0,0,0
$FREEZE,5.69,-1.880,-1.901,2,4,2
$FREEZE,4.98,-1.880,-1.901,2,4,2
$FREEZE,4.24,-1.879,-1.900,2,4,2
$FREEZE,3.60,-1.878,-1.900,2,4,2
$FREEZE,2.88,-1.877,-1.899,2,4,2
$STATE,6164,end climb,SURFACE_DEPTH_REACHED
$STATE,6164,begin surface coast
$FREEZE,2.16,-1.875,-1.898,2,4,2
$FREEZE,1.37,-1.872,-1.898,2,4,2
$FREEZE,0.53,-1.868,-1.897,2,4,2
$FREEZE,0.10,-1.864,-1.896,2,4,2
$FINISH,0.1,1.027811
$STATE,6187,end surface coast,CONTROL_FINISHED_OK
$STATE,6187,begin surface
$SM_CCo,6202,200.18,0.101,0,0,444,616.92
$SM_GC,0.57,0.00,0.00,200.18,0.000,0.000,0.101,190,2762,444,-8.16,-0.51,616.92
$IRIDIUM_FIX,-7621.20,17118.16,051210,151528
$TT8_MAMPS,0.027713
$HUMID,48.58
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,22.4,2.686
$10V_AH,10.1,1.129
$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,10.300,47.900,365.100,200.175,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1601.800,3032.946,564.995,1165.702,93.319,0.000,1210.300,0.000,1100.555,0.000,12.903,0.000
$DEVICE_MAMPS,169.830,82.620,996.795,100.980,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.537,779.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258364
$DATA_FILE_SIZE,40331,645
$CAP_FILE_SIZE,83631,0
$CFSIZE,260165632,245886976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051210,155920,-7703.562,17104.490,241,99.0,241,133.3