version: 66.08
glider: 503
mission: 7
dive: 95
start: 12 6 110 7 58 17
data:
$ID,503
$MISSION,7
$DIVE,95
$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,-19355.613
$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,50
$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
$GPS1,061210,074207,-7655.719,17054.225,46,1.4,47,133.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-35.3
$GPS2,061210,075750,-7655.748,17053.900,13,1.5,13,133.1
$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,230.1,47757,-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,12,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,-155.18,0.000,2,0.000,0.000,189,2777,3445,0,0,0,0,0,0
$GC,176,-0.84,-219.0,3.8,-11.4,27,202,9.23,2.25,-8.68,0.000,4,0.231,0.055,2524,1375,3855,0,0,0,0,0,0
$GC,208,-0.84,-219.0,15.1,-33.0,32,215,0.00,2.33,0.00,0.000,6,0.000,0.044,2515,2780,3856,0,0,0,0,0,0
$GC,351,-0.84,-219.0,45.0,-20.8,57,358,0.00,1.62,0.00,0.000,4,0.000,0.051,2507,3764,3857,0,0,0,0,0,0
$GC,610,-0.84,-219.0,99.4,-19.3,103,617,0.00,1.58,0.00,0.000,6,0.000,0.031,2507,2764,3858,0,0,0,0,0,0
$GC,744,-0.84,-219.0,126.0,-20.1,116,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2764,3858,0,0,0,0,0,0
$GC,871,-0.84,-219.0,151.1,-19.6,128,875,0.00,1.62,0.00,0.000,4,0.000,0.051,2500,3776,3858,0,0,0,0,0,0
$GC,905,-0.84,-219.0,158.3,-21.0,131,908,0.00,1.60,0.00,0.000,6,0.000,0.031,2499,2758,3858,0,0,0,0,0,0
$GC,1044,-0.84,-219.0,186.3,-20.6,144,1046,0.10,0.00,0.00,0.000,6,0.186,0.000,2524,2758,3858,0,0,0,0,0,0
$GC,1172,-0.84,-219.0,210.4,-18.9,156,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2758,3859,0,0,0,0,0,0
$GC,1299,-0.84,-219.0,234.2,-18.0,168,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2758,3859,0,0,0,0,0,0
$GC,1426,-0.84,-219.0,257.3,-18.0,180,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2758,3858,0,0,0,0,0,0
$GC,1618,-0.84,-219.0,290.5,-17.8,198,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2758,3858,0,0,0,0,0,0
$GC,1809,-0.84,-219.0,322.5,-16.9,216,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2758,3858,0,0,0,0,0,0
$GC,2000,-0.84,-219.0,354.3,-16.6,234,2004,0.00,1.65,0.00,0.000,4,0.000,0.051,2517,3766,3858,0,0,0,0,0,0
$GC,2045,-0.84,-219.0,362.2,-18.1,238,2048,0.00,1.55,0.00,0.000,6,0.000,0.031,2517,2771,3858,0,0,0,0,0,0
$GC,2247,-0.84,-219.0,397.2,-17.0,257,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3858,0,0,0,0,0,0
$GC,2440,-0.84,-219.0,430.3,-17.4,275,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3858,0,0,0,0,0,0
$GC,2630,-0.84,-219.0,463.3,-17.2,293,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3858,0,0,0,0,0,0
$GC,2821,-0.84,-219.0,495.5,-16.9,311,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3858,0,0,0,0,0,0
$STATE,2852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2852,begin apogee
$GC,2857,-0.16,0.0,500.8,16.6,314,3044,0.68,0.00,177.10,1.001,4,0.130,0.000,2740,2688,2958,0,0,0,0,0,0
$STATE,3045,end apogee,CONTROL_FINISHED_OK
$STATE,3045,begin climb
$GC,3047,0.84,219.0,510.0,0.0,320,3246,1.00,2.35,190.25,0.950,4,0.083,0.034,3066,1303,2067,0,0,0,0,0,0
$GC,3251,0.84,219.0,493.9,13.6,327,3259,0.00,2.53,0.00,0.000,6,0.000,0.041,3066,2698,2064,0,0,1,0,0,0
$GC,3449,0.84,219.0,464.7,14.5,346,3453,0.00,1.80,0.00,0.000,4,0.000,0.049,3067,3764,2053,0,0,0,0,0,0
$GC,3532,0.84,219.0,450.8,17.2,353,3540,0.00,1.70,0.00,0.000,6,0.000,0.030,3075,2728,2051,0,0,1,0,0,0
$GC,3731,0.84,219.0,421.0,15.0,372,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2728,2050,0,0,0,0,0,0
$GC,3921,0.84,219.0,391.9,14.7,390,3925,0.00,1.73,0.00,0.000,4,0.000,0.050,3075,3771,2049,0,0,0,0,0,0
$GC,3978,0.84,219.0,382.4,17.2,395,3981,0.00,1.67,0.00,0.000,6,0.000,0.031,3083,2708,2049,0,0,0,0,0,0
$GC,4181,0.84,219.0,350.0,16.3,414,4184,0.00,1.73,0.00,0.000,4,0.000,0.050,3083,3765,2048,0,0,0,0,0,0
$GC,4226,0.84,219.0,342.1,18.3,418,4230,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2710,2048,0,0,0,0,0,0
$GC,4429,0.84,219.0,308.4,16.4,437,4433,0.00,1.75,0.00,0.000,4,0.000,0.050,3091,3757,2047,0,0,0,0,0,0
$GC,4462,0.84,219.0,302.3,18.7,440,4466,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2699,2046,0,0,0,0,0,0
$GC,4665,0.84,219.0,267.1,16.8,459,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2698,2046,0,0,0,0,0,0
$GC,4855,0.84,219.0,234.1,17.2,477,4859,0.00,1.73,0.00,0.000,4,0.000,0.050,3099,3770,2046,0,0,0,0,0,0
$GC,4949,0.84,219.0,216.1,19.4,485,4957,0.10,1.65,0.00,0.000,6,0.159,0.030,3075,2727,2046,0,0,0,0,0,0
$GC,5086,0.84,219.0,195.6,14.9,498,5089,0.00,1.67,0.00,0.000,4,0.000,0.051,3076,3770,2046,0,0,0,0,0,0
$GC,5131,0.84,219.0,187.8,17.4,502,5134,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2742,2045,0,0,0,0,0,0
$GC,5270,0.84,219.0,165.8,15.4,515,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2741,2045,0,0,0,0,0,0
$GC,5397,0.84,219.0,146.2,15.1,527,5401,0.00,1.65,0.00,0.000,4,0.000,0.050,3083,3774,2045,0,0,0,0,0,0
$GC,5457,0.84,219.0,135.6,16.8,532,5465,0.00,1.62,0.00,0.000,6,0.000,0.030,3091,2740,2045,0,0,0,0,0,0
$GC,5592,0.84,219.0,113.9,16.1,545,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2739,2045,0,0,0,0,0,0
$GC,5721,0.84,219.0,93.5,15.5,560,5728,0.00,1.67,0.00,0.000,4,0.000,0.050,3091,3762,2045,0,0,0,0,0,0
$GC,5763,0.84,219.0,86.4,17.4,567,5769,0.00,1.58,0.00,0.000,6,0.000,0.032,3099,2763,2045,0,0,0,0,0,0
$GC,5905,0.84,219.0,63.6,15.6,592,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2762,2045,0,0,0,0,0,0
$GC,6047,0.84,219.0,41.3,15.9,617,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2762,2045,0,0,0,0,0,0
$GC,6189,0.84,219.0,17.5,18.3,642,6196,0.00,1.62,0.00,0.000,4,0.000,0.052,3099,3755,2045,0,0,0,0,0,0
$FREEZE,8.12,-1.866,-1.903,2,1,0
$FREEZE,7.14,-1.866,-1.902,2,1,0
$FREEZE,6.02,-1.866,-1.901,2,1,0
$FREEZE,4.95,-1.866,-1.900,2,1,0
$GC,6258,0.84,219.0,4.9,19.1,654,6265,0.10,1.58,0.00,0.000,6,0.155,0.031,3074,2753,2044,0,0,0,0,0,0
$FREEZE,2.27,-1.865,-1.898,2,1,0
$STATE,6271,end climb,SURFACE_DEPTH_REACHED
$STATE,6271,begin surface coast
$FREEZE,1.40,-1.864,-1.898,2,1,0
$FREEZE,0.54,-1.863,-1.897,2,1,0
$FINISH,0.5,1.027817
$STATE,6283,end surface coast,CONTROL_FINISHED_OK
$STATE,6284,begin surface
$SM_CCo,6299,198.00,0.100,0,0,445,616.92
$SM_GC,0.67,0.00,0.00,198.00,0.000,0.000,0.100,193,2752,445,-8.15,-0.79,616.92
$IRIDIUM_FIX,-7612.11,17057.21,061210,070752
$TT8_MAMPS,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,20.0
$24V_AH,22.3,3.435
$10V_AH,10.0,1.445
$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,18.900,49.225,367.350,198.000,0.000,62.061,74.908,545.260,2.000,0.000,16.482,1569.622,3107.362,676.427,1867.273,230.170,0.000,1353.675,0.000,1109.078,0.000,12.906,0.000
$DEVICE_MAMPS,231.030,100.215,1001.385,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.702,790.592,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258420
$DATA_FILE_SIZE,43710,658
$CAP_FILE_SIZE,100660,0
$CFSIZE,260165632,245641216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,061210,094801,-7655.155,17053.803,49,1.9,50,133.1