version: 66.08
glider: 503
mission: 7
dive: 94
start: 12 6 110 5 51 23
data:
$ID,503
$MISSION,7
$DIVE,94
$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,-19354.357
$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,48
$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
$GPS1,061210,053906,-7656.230,17055.021,57,1.6,69,133.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-42.7
$GPS2,061210,055056,-7656.238,17054.668,12,1.5,12,133.1
$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,229.6,48647,-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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,174,0.00,0.00,-155.10,0.000,2,0.000,0.000,190,2793,3536,0,0,0,0,0,0
$GC,177,-0.84,-219.0,3.5,-8.0,27,197,9.23,1.62,-6.60,0.000,4,0.232,0.067,2518,3767,3855,0,0,1,0,0,0
$GC,439,-0.84,-219.0,62.8,-19.3,73,445,0.00,1.58,0.00,0.000,6,0.000,0.029,2518,2771,3859,0,0,0,0,0,0
$GC,581,-0.84,-219.0,90.7,-19.9,98,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2771,3859,0,0,0,0,0,0
$GC,718,-0.84,-219.0,116.5,-18.9,115,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2771,3859,0,0,0,0,0,0
$GC,845,-0.84,-219.0,140.3,-18.6,127,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2771,3860,0,0,0,0,0,0
$GC,973,-0.84,-219.0,163.8,-18.2,139,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2771,3859,0,0,0,0,0,0
$GC,1100,-0.84,-219.0,187.3,-18.8,151,1104,0.00,2.17,0.00,0.000,4,0.000,0.033,2518,1373,3860,0,0,0,0,0,0
$GC,1131,-0.84,-219.0,193.3,-17.5,153,1139,0.00,2.33,0.00,0.000,6,0.000,0.044,2508,2778,3860,0,0,0,0,0,0
$GC,1266,-0.84,-219.0,218.0,-19.3,166,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2779,3859,0,0,0,0,0,0
$GC,1394,-0.84,-219.0,241.5,-18.0,178,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2779,3859,0,0,0,0,0,0
$GC,1521,-0.84,-219.0,265.1,-18.9,190,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3859,0,0,0,0,0,0
$GC,1713,-0.84,-219.0,301.2,-19.1,208,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3860,0,0,0,0,0,0
$GC,1903,-0.84,-219.0,338.1,-19.0,226,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2779,3859,0,0,0,0,0,0
$GC,2094,-0.84,-219.0,374.1,-18.5,244,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3860,0,0,0,0,0,0
$GC,2286,-0.84,-219.0,409.1,-18.4,262,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3860,0,0,0,0,0,0
$GC,2477,-0.84,-219.0,443.1,-17.6,280,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2778,3860,0,0,0,0,0,0
$GC,2670,-0.84,-219.0,477.0,-17.6,298,2674,0.00,2.17,0.00,0.000,4,0.000,0.033,2508,1376,3859,0,0,0,0,0,0
$GC,2713,-0.84,-219.0,484.9,-16.4,301,2721,0.08,2.30,0.00,0.000,6,0.139,0.044,2524,2784,3859,0,0,0,0,0,0
$STATE,2815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2815,begin apogee
$GC,2820,-0.16,0.0,500.7,15.8,311,3007,0.65,0.00,177.07,1.000,4,0.126,0.000,2744,2697,2958,0,0,0,0,0,0
$STATE,3008,end apogee,CONTROL_FINISHED_OK
$STATE,3008,begin climb
$GC,3010,0.84,219.0,508.1,0.0,317,3210,1.00,2.38,190.00,0.947,4,0.082,0.032,3072,1302,2066,0,0,0,0,0,0
$GC,3395,0.84,220.2,465.1,13.3,342,3402,0.00,2.42,0.00,0.000,6,0.000,0.042,3072,2701,2053,0,0,0,0,0,0
$GC,3593,0.84,220.2,435.3,15.4,361,3597,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1303,2049,0,0,0,0,0,0
$GC,3745,0.84,220.2,413.4,14.2,374,3749,0.00,2.35,0.00,0.000,6,0.000,0.042,3083,2716,2048,0,0,1,0,0,0
$GC,3942,0.84,220.2,382.3,15.3,392,3946,0.00,1.70,0.00,0.000,4,0.000,0.050,3083,3764,2048,0,0,0,0,0,0
$GC,3999,0.84,220.2,372.3,17.9,397,4003,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2730,2047,0,0,1,0,0,0
$GC,4202,0.84,220.2,338.5,16.4,416,4206,0.00,1.70,0.00,0.000,4,0.000,0.050,3090,3770,2047,0,0,0,0,0,0
$GC,4258,0.84,220.2,328.3,18.4,421,4262,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2714,2046,0,0,0,0,0,0
$GC,4462,0.84,220.2,294.2,16.1,440,4465,0.00,1.70,0.00,0.000,4,0.000,0.051,3099,3764,2046,0,0,0,0,0,0
$GC,4499,0.84,220.2,286.7,19.2,443,4508,0.10,1.62,0.00,0.000,6,0.153,0.031,3075,2745,2046,0,0,0,0,0,0
$GC,4698,0.84,220.2,257.6,14.4,462,4701,0.00,1.65,0.00,0.000,4,0.000,0.050,3075,3770,2046,0,0,0,0,0,0
$GC,4735,0.84,220.2,251.1,16.5,465,4743,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2743,2045,0,0,0,0,0,0
$GC,4934,0.84,220.2,221.0,15.0,484,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2743,2045,0,0,0,0,0,0
$GC,5062,0.84,220.2,201.6,15.2,496,5066,0.00,1.65,0.00,0.000,4,0.000,0.050,3082,3771,2045,0,0,0,0,0,0
$GC,5111,0.84,220.2,193.1,17.2,500,5119,0.00,1.60,0.00,0.000,6,0.000,0.030,3090,2756,2045,0,0,0,0,0,0
$GC,5246,0.84,220.2,172.1,15.4,513,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2756,2045,0,0,0,0,0,0
$GC,5373,0.84,220.2,152.1,15.9,525,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2756,2045,0,0,0,0,0,0
$GC,5500,0.84,220.2,131.6,16.2,537,5504,0.00,1.62,0.00,0.000,4,0.000,0.051,3090,3773,2045,0,0,0,0,0,0
$GC,5538,0.84,220.2,124.6,18.6,540,5546,0.00,1.60,0.00,0.000,6,0.000,0.031,3098,2753,2044,0,0,0,0,0,0
$GC,5673,0.84,220.2,102.1,16.5,553,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2752,2044,0,0,0,0,0,0
$GC,5806,0.84,220.2,79.7,16.5,575,5813,0.00,1.65,0.00,0.000,4,0.000,0.051,3098,3755,2045,0,0,0,0,0,0
$GC,5853,0.84,220.2,71.4,18.5,583,5860,0.10,1.55,0.00,0.000,6,0.151,0.032,3073,2771,2044,0,0,0,0,0,0
$GC,5997,0.84,220.2,50.3,14.6,608,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2771,2044,0,0,0,0,0,0
$GC,6139,0.84,220.2,30.0,14.5,633,6146,0.00,2.33,0.00,0.000,4,0.000,0.036,3083,1293,2044,0,0,0,0,0,0
$GC,6169,0.84,220.2,25.4,15.3,638,6176,0.00,2.38,0.00,0.000,6,0.000,0.044,3083,2760,2043,0,0,0,0,0,0
$FREEZE,8.38,-1.870,-1.903,2,1,0
$FREEZE,7.69,-1.869,-1.902,2,1,0
$FREEZE,6.97,-1.869,-1.901,2,1,0
$FREEZE,6.12,-1.868,-1.901,2,1,0
$FREEZE,5.60,-1.868,-1.900,2,1,0
$FREEZE,4.96,-1.868,-1.900,2,1,0
$GC,6310,0.85,227.5,5.0,13.0,663,6318,0.00,1.65,2.30,0.284,4,0.000,0.050,3084,3765,2032,0,0,0,0,0,0
$FREEZE,2.64,-1.867,-1.898,2,1,0
$STATE,6324,end climb,SURFACE_DEPTH_REACHED
$STATE,6324,begin surface coast
$FREEZE,1.50,-1.867,-1.897,2,1,0
$FREEZE,0.43,-1.867,-1.896,2,1,0
$FREEZE,0.13,-1.864,-1.896,2,1,0
$FREEZE,0.12,-1.870,-1.896,2,1,0
$FINISH,0.1,1.027812
$STATE,6346,end surface coast,CONTROL_FINISHED_OK
$STATE,6347,begin surface
$SM_CCo,6363,196.27,0.100,0,0,445,616.92
$SM_GC,0.44,0.00,0.00,196.27,0.000,0.000,0.100,189,2776,445,-8.16,-0.08,616.92
$IRIDIUM_FIX,-7612.11,17046.32,061210,030316
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.7
$24V_AH,22.3,3.290
$10V_AH,10.0,1.386
$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,18.925,52.625,369.375,196.275,0.000,22.402,46.383,462.702,2.000,0.000,14.652,1596.309,3033.604,683.115,1734.088,234.837,0.000,1373.718,0.000,1146.494,0.000,12.905,0.000
$DEVICE_MAMPS,231.795,81.855,999.855,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.193,812.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,43685,669
$CAP_FILE_SIZE,97616,0
$CFSIZE,260165632,245694464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,061210,074207,-7655.719,17054.225,46,1.4,47,133.1