version: 66.08
glider: 503
mission: 7
dive: 92
start: 12 6 110 1 41 14
data:
$ID,503
$MISSION,7
$DIVE,92
$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,-19351.844
$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,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
$GPS1,061210,012115,-7657.767,17057.256,64,5.7,83,133.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-39.6
$GPS2,061210,014047,-7657.613,17056.779,11,4.5,30,133.1
$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,228.5,51158,-18.2,-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,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,181,0.00,0.00,-160.93,0.000,2,0.000,0.000,190,2770,3558,0,0,0,0,0,0
$GC,183,-0.84,-219.0,4.1,-11.6,28,204,9.07,2.30,-5.85,0.000,4,0.228,0.046,2521,1363,3855,0,0,0,0,0,0
$GC,457,-0.84,-219.0,63.1,-19.7,76,464,0.00,2.33,0.00,0.000,6,0.000,0.044,2511,2780,3859,0,0,0,0,0,0
$GC,600,-0.84,-219.0,91.0,-20.1,101,607,0.00,2.22,0.00,0.000,4,0.000,0.034,2511,1376,3859,0,0,0,0,0,0
$GC,658,-0.84,-219.0,101.6,-16.9,111,662,0.00,2.28,0.00,0.000,6,0.000,0.045,2501,2779,3858,0,0,0,0,0,0
$GC,792,-0.84,-219.0,126.8,-19.5,123,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2778,3859,0,0,0,0,0,0
$GC,919,-0.84,-219.0,151.4,-19.4,135,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2778,3859,0,0,0,0,0,0
$GC,1047,-0.84,-219.0,176.3,-19.5,147,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2778,3859,0,0,0,0,0,0
$GC,1174,-0.84,-219.0,201.2,-19.8,159,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2778,3859,0,0,0,0,0,0
$GC,1302,-0.84,-219.0,226.1,-19.5,171,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2779,3859,0,0,0,0,0,0
$GC,1431,-0.84,-219.0,250.2,-18.5,183,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2779,3859,0,0,0,0,0,0
$GC,1620,-0.84,-219.0,286.2,-19.2,201,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2779,3859,0,0,0,0,0,0
$GC,1811,-0.84,-219.0,321.9,-18.6,219,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2778,3859,0,0,0,0,0,0
$GC,2002,-0.84,-219.0,356.7,-17.9,237,2006,0.00,2.20,0.00,0.000,4,0.000,0.034,2501,1364,3858,0,0,0,0,0,0
$GC,2045,-0.84,-219.0,364.6,-17.6,240,2053,0.08,2.33,0.00,0.000,6,0.138,0.046,2523,2772,3859,0,0,0,0,0,0
$GC,2243,-0.84,-219.0,396.0,-16.0,259,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2772,3859,0,0,0,0,0,0
$GC,2434,-0.84,-219.0,426.8,-16.3,277,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2772,3859,0,0,0,0,0,0
$GC,2627,-0.84,-219.0,458.0,-16.3,295,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2772,3859,0,0,0,0,0,0
$GC,2817,-0.84,-219.0,489.2,-16.2,313,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2772,3859,0,0,0,0,0,0
$STATE,2890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2890,begin apogee
$GC,2895,-0.16,0.0,501.0,15.7,320,3083,0.65,0.00,177.25,0.998,4,0.125,0.000,2740,2686,2959,0,0,0,0,0,0
$STATE,3083,end apogee,CONTROL_FINISHED_OK
$STATE,3083,begin climb
$GC,3085,0.84,219.0,510.1,0.0,326,3285,1.00,2.35,190.10,0.949,4,0.080,0.034,3069,1307,2067,0,0,0,0,0,0
$GC,3431,0.84,222.5,475.4,13.2,346,3436,0.00,2.40,0.00,0.000,6,0.000,0.041,3069,2701,2055,0,0,1,0,0,0
$GC,3629,0.84,222.5,445.7,15.3,364,3633,0.00,2.30,0.00,0.000,4,0.000,0.034,3080,1308,2051,0,0,0,0,0,0
$GC,3792,0.84,222.5,421.9,14.3,378,3796,0.00,2.33,0.00,0.000,6,0.000,0.043,3080,2709,2050,0,0,1,0,0,0
$GC,3990,0.84,222.5,390.8,15.8,396,3994,0.00,1.73,0.00,0.000,4,0.000,0.050,3080,3770,2048,0,0,0,0,0,0
$GC,4080,0.84,222.5,374.6,18.7,404,4084,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2715,2047,0,0,1,0,0,0
$GC,4283,0.84,222.5,340.7,16.5,423,4287,0.00,1.75,0.00,0.000,4,0.000,0.050,3088,3761,2047,0,0,0,0,0,0
$GC,4320,0.84,222.5,333.7,18.4,426,4328,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2729,2047,0,0,0,0,0,0
$GC,4519,0.84,222.5,300.1,16.9,445,4522,0.00,1.67,0.00,0.000,4,0.000,0.050,3097,3764,2046,0,0,0,0,0,0
$GC,4565,0.84,222.5,291.6,19.3,449,4569,0.12,1.62,0.00,0.000,6,0.186,0.032,3073,2746,2046,0,0,0,0,0,0
$GC,4769,0.84,222.5,260.3,15.3,468,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2746,2046,0,0,0,0,0,0
$GC,4957,0.84,222.5,232.1,14.7,486,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2746,2045,0,0,0,0,0,0
$GC,5085,0.84,222.5,213.7,14.5,498,5089,0.00,1.62,0.00,0.000,4,0.000,0.050,3072,3762,2046,0,0,0,0,0,0
$GC,5145,0.84,222.5,203.5,16.9,503,5153,0.00,1.60,0.00,0.000,6,0.000,0.031,3080,2748,2045,0,0,0,0,0,0
$GC,5279,0.84,222.5,183.5,14.8,516,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2747,2045,0,0,0,0,0,0
$GC,5407,0.84,222.5,164.7,14.5,528,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2748,2045,0,0,0,0,0,0
$GC,5534,0.84,222.5,145.8,14.4,540,5538,0.00,1.62,0.00,0.000,4,0.000,0.051,3080,3765,2045,0,0,0,0,0,0
$GC,5581,0.84,222.5,138.2,17.1,544,5584,0.00,1.60,0.00,0.000,6,0.000,0.031,3088,2749,2044,0,0,0,0,0,0
$GC,5721,0.84,222.5,115.0,16.2,557,5724,0.00,1.65,0.00,0.000,4,0.000,0.051,3088,3754,2044,0,0,0,0,0,0
$GC,5758,0.84,222.5,107.8,18.3,560,5766,0.00,1.55,0.00,0.000,6,0.000,0.031,3096,2761,2044,0,0,0,0,0,0
$GC,5898,0.84,222.5,84.0,17.5,581,5905,0.00,1.62,0.00,0.000,4,0.000,0.051,3096,3753,2044,0,0,0,0,0,0
$GC,5951,0.84,222.5,74.2,19.0,590,5957,0.00,1.52,0.00,0.000,6,0.000,0.032,3103,2781,2044,0,0,0,0,0,0
$GC,6094,0.84,222.5,49.6,17.0,615,6100,0.12,0.00,0.00,0.000,6,0.181,0.000,3072,2780,2044,0,0,0,0,0,0
$GC,6236,0.84,222.5,27.7,14.9,640,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2780,2044,0,0,0,0,0,0
$FREEZE,8.19,-1.879,-1.902,2,2,0
$FREEZE,7.18,-1.878,-1.902,2,2,0
$FREEZE,6.02,-1.881,-1.901,2,2,0
$FREEZE,4.82,-1.878,-1.900,2,2,0
$FREEZE,3.61,-1.878,-1.899,2,2,0
$GC,6378,0.90,265.9,9.2,11.6,665,6423,0.00,1.65,35.15,0.719,4,0.000,0.053,3071,3760,1874,0,0,1,0,0,0
$FREEZE,0.80,-1.875,-1.897,2,2,0
$STATE,6429,end climb,SURFACE_DEPTH_REACHED
$STATE,6429,begin surface coast
$FREEZE,0.18,-1.879,-1.896,2,2,0
$FREEZE,0.11,-1.885,-1.897,2,2,0
$FREEZE,0.07,-1.886,-1.897,2,2,0
$FINISH,0.1,1.027820
$STATE,6447,end surface coast,CONTROL_FINISHED_OK
$STATE,6447,begin surface
$SM_CCo,6463,179.75,0.100,0,0,444,616.92
$SM_GC,0.49,0.00,0.00,179.75,0.000,0.000,0.100,192,2779,444,-8.15,-0.06,616.92
$IRIDIUM_FIX,-7612.11,17103.63,061210,010123
$TT8_MAMPS,0.027713
$HUMID,48.22
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.9
$24V_AH,22.3,3.006
$10V_AH,10.0,1.267
$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,18.875,49.200,402.500,179.750,0.000,82.132,161.460,568.129,1.750,0.000,33.895,1602.612,3210.651,684.396,2096.445,233.667,0.000,1383.373,0.000,1156.601,0.000,12.905,0.000
$DEVICE_MAMPS,227.970,83.385,998.325,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.457,816.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258284
$DATA_FILE_SIZE,43722,675
$CAP_FILE_SIZE,101418,0
$CFSIZE,260165632,245764096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,061210,033302,-7656.885,17056.111,26,1.9,27,133.1