version: 66.08
glider: 503
mission: 7
dive: 96
start: 12 6 110 10 6 47
data:
$ID,503
$MISSION,7
$DIVE,96
$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,-19356.869
$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,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
$GPS1,061210,094801,-7655.155,17053.803,49,1.9,50,133.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-56.6
$GPS2,061210,100620,-7655.182,17053.668,18,2.0,18,133.1
$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,230.3,46717,-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,-154.95,0.000,2,0.000,0.000,193,2752,3458,0,0,0,0,0,0
$GC,176,-0.84,-219.0,4.0,-10.5,27,202,9.15,2.22,-8.27,0.000,4,0.230,0.047,2524,1362,3857,0,0,0,0,0,0
$GC,456,-0.84,-219.0,60.4,-16.9,76,463,0.00,2.35,0.00,0.000,6,0.000,0.044,2514,2789,3860,0,0,0,0,0,0
$GC,598,-0.84,-219.0,88.3,-20.0,101,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2789,3859,0,0,0,0,0,0
$GC,736,-0.84,-219.0,115.4,-19.5,119,740,0.00,2.22,0.00,0.000,4,0.000,0.033,2514,1374,3860,0,0,0,0,0,0
$GC,775,-0.84,-219.0,123.0,-18.2,122,779,0.00,2.28,0.00,0.000,6,0.000,0.046,2504,2773,3860,0,0,0,0,0,0
$GC,908,-0.84,-219.0,149.5,-19.8,134,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3860,0,0,0,0,0,0
$GC,1036,-0.84,-219.0,174.2,-18.9,146,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3860,0,0,0,0,0,0
$GC,1163,-0.84,-219.0,198.3,-19.0,158,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3860,0,0,0,0,0,0
$GC,1291,-0.84,-219.0,222.7,-18.7,170,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3860,0,0,0,0,0,0
$GC,1418,-0.84,-219.0,248.2,-20.2,182,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3860,0,0,0,0,0,0
$GC,1545,-0.84,-219.0,273.9,-20.1,194,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3860,0,0,0,0,0,0
$GC,1737,-0.84,-219.0,311.7,-19.6,212,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3860,0,0,0,0,0,0
$GC,1930,-0.84,-219.0,349.0,-19.6,230,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2773,3860,0,0,0,0,0,0
$GC,2119,-0.84,-219.0,384.7,-18.3,248,2123,0.00,2.17,0.00,0.000,4,0.000,0.033,2504,1374,3860,0,0,0,0,0,0
$GC,2173,-0.84,-219.0,394.2,-15.8,252,2182,0.08,2.30,0.00,0.000,6,0.141,0.045,2522,2771,3860,0,0,0,0,0,0
$GC,2372,-0.84,-219.0,425.8,-15.8,271,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2771,3860,0,0,0,0,0,0
$GC,2562,-0.84,-219.0,457.5,-16.5,289,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2771,3861,0,0,0,0,0,0
$GC,2754,-0.84,-219.0,488.5,-16.5,307,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2771,3860,0,0,0,0,0,0
$STATE,2829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2829,begin apogee
$GC,2833,-0.16,0.0,500.2,15.7,314,3020,0.65,0.00,177.18,1.003,4,0.126,0.000,2743,2687,2960,0,0,0,0,0,0
$STATE,3021,end apogee,CONTROL_FINISHED_OK
$STATE,3021,begin climb
$GC,3023,0.84,219.0,508.3,0.0,320,3223,1.00,2.35,190.30,0.950,4,0.080,0.034,3072,1307,2066,0,0,0,0,0,0
$GC,3347,0.84,219.0,473.6,14.4,340,3351,0.00,2.40,0.00,0.000,6,0.000,0.041,3072,2701,2056,0,0,1,0,0,0
$GC,3546,0.84,219.0,441.6,16.6,358,3550,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1309,2051,0,0,0,0,0,0
$GC,3687,0.84,219.0,419.6,15.3,370,3691,0.00,2.35,0.00,0.000,6,0.000,0.043,3083,2716,2050,0,0,1,0,0,0
$GC,3884,0.84,219.0,386.3,16.8,388,3888,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3765,2048,0,0,0,0,0,0
$GC,3934,0.84,219.0,376.9,19.2,392,3941,0.00,1.67,0.00,0.000,6,0.000,0.031,3090,2731,2048,0,0,0,0,0,0
$GC,4131,0.84,219.0,343.3,16.2,411,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2731,2047,0,0,0,0,0,0
$GC,4323,0.84,219.0,311.0,16.8,429,4326,0.00,1.67,0.00,0.000,4,0.000,0.050,3090,3765,2047,0,0,0,0,0,0
$GC,4394,0.84,219.0,297.2,18.8,435,4402,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2732,2046,0,0,0,0,0,0
$GC,4594,0.84,219.0,263.6,17.1,454,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2731,2046,0,0,0,0,0,0
$GC,4784,0.84,219.0,232.1,16.4,472,4787,0.00,1.67,0.00,0.000,4,0.000,0.051,3099,3768,2046,0,0,0,0,0,0
$GC,4885,0.84,219.0,213.3,18.4,481,4889,0.12,1.65,0.00,0.000,6,0.180,0.031,3074,2701,2045,0,0,0,0,0,0
$GC,5024,0.84,219.0,192.8,14.2,494,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2701,2045,0,0,0,0,0,0
$GC,5151,0.84,219.0,175.2,13.8,506,5155,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3765,2045,0,0,0,0,0,0
$GC,5219,0.84,219.0,164.0,16.9,512,5222,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2738,2045,0,0,0,0,0,0
$GC,5358,0.84,219.0,143.0,14.8,525,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2736,2045,0,0,0,0,0,0
$GC,5485,0.84,219.0,123.5,15.3,537,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2736,2044,0,0,0,0,0,0
$GC,5613,0.84,219.0,104.1,15.4,549,5617,0.00,1.65,0.00,0.000,4,0.000,0.051,3081,3768,2044,0,0,0,0,0,0
$GC,5665,0.84,219.0,95.5,18.4,555,5671,0.00,1.60,0.00,0.000,6,0.000,0.031,3089,2751,2044,0,0,0,0,0,0
$GC,5808,0.84,219.0,72.6,15.3,580,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2751,2043,0,0,0,0,0,0
$GC,5950,0.84,219.0,49.9,16.9,605,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2751,2044,0,0,0,0,0,0
$GC,6092,0.84,219.0,26.2,16.7,630,6098,0.00,1.65,0.00,0.000,4,0.000,0.050,3089,3760,2043,0,0,0,0,0,0
$GC,6145,0.84,219.0,16.3,20.0,639,6152,0.00,1.58,0.00,0.000,6,0.000,0.032,3097,2753,2043,0,0,0,0,0,0
$FREEZE,8.29,-1.868,-1.903,2,1,0
$FREEZE,7.53,-1.868,-1.903,2,1,0
$FREEZE,6.80,-1.867,-1.902,2,1,0
$FREEZE,6.04,-1.868,-1.902,2,1,0
$FREEZE,5.32,-1.867,-1.901,2,1,0
$FREEZE,4.48,-1.867,-1.900,2,1,0
$FREEZE,3.58,-1.867,-1.900,2,1,0
$FREEZE,2.54,-1.867,-1.899,2,1,0
$STATE,6226,end climb,SURFACE_DEPTH_REACHED
$STATE,6226,begin surface coast
$FREEZE,1.47,-1.866,-1.898,2,1,0
$FREEZE,0.58,-1.867,-1.897,2,1,0
$FREEZE,0.01,-1.869,-1.897,2,1,0
$FINISH,0.0,1.027826
$STATE,6245,end surface coast,CONTROL_FINISHED_OK
$STATE,6245,begin surface
$SM_CCo,6260,198.12,0.100,0,0,445,616.92
$SM_GC,0.71,0.00,0.00,198.12,0.000,0.000,0.100,188,2752,445,-8.16,-0.79,616.92
$IRIDIUM_FIX,-7612.11,17057.21,061210,090943
$TT8_MAMPS,0.027713
$HUMID,47.91
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.5
$24V_AH,22.3,3.585
$10V_AH,10.0,1.506
$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,18.750,42.900,367.475,198.125,0.000,85.935,86.313,599.742,2.000,0.000,22.423,1570.786,3119.784,666.218,1973.666,239.557,0.000,1340.766,0.000,1127.902,0.000,12.905,0.000
$DEVICE_MAMPS,229.500,84.150,1002.915,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.131,796.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258356
$DATA_FILE_SIZE,40408,657
$CAP_FILE_SIZE,99629,0
$CFSIZE,260165632,245596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,3
$GPS,061210,115607,-7654.515,17053.312,55,1.4,56,133.0