version: 66.08
glider: 503
mission: 7
dive: 97
start: 12 6 110 12 13 22
data:
$ID,503
$MISSION,7
$DIVE,97
$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,-19365.506
$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,24
$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
$GPS1,061210,115607,-7654.515,17053.312,55,1.4,56,133.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-65.1
$GPS2,061210,121256,-7654.521,17053.355,14,1.7,14,133.0
$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,230.6,45503,-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,-154.93,0.000,2,0.000,0.000,188,2753,3565,0,0,0,0,0,0
$GC,176,-0.84,-219.0,3.9,-9.7,27,197,9.12,2.28,-5.78,0.000,4,0.227,0.047,2522,1370,3856,0,0,0,0,0,0
$GC,450,-0.84,-219.0,59.3,-16.8,75,457,0.00,2.33,0.00,0.000,6,0.000,0.046,2512,2781,3858,0,0,0,0,0,0
$GC,593,-0.84,-219.0,86.0,-18.9,100,599,0.00,2.25,0.00,0.000,4,0.000,0.034,2512,1373,3859,0,0,0,0,0,0
$GC,684,-0.84,-219.0,102.8,-18.1,115,689,0.00,2.30,0.00,0.000,6,0.000,0.045,2501,2782,3859,0,0,0,0,0,0
$GC,818,-0.84,-219.0,129.9,-21.0,127,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3859,0,0,0,0,0,0
$GC,945,-0.84,-219.0,154.7,-18.3,139,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2782,3860,0,0,0,0,0,0
$GC,1073,-0.84,-219.0,178.6,-19.8,151,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2781,3860,0,0,0,0,0,0
$GC,1200,-0.84,-219.0,202.1,-18.6,163,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2781,3860,0,0,0,0,0,0
$GC,1328,-0.84,-219.0,226.4,-18.9,175,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3860,0,0,0,0,0,0
$GC,1455,-0.84,-219.0,249.6,-18.1,187,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3860,0,0,0,0,0,0
$GC,1583,-0.84,-219.0,273.3,-19.1,199,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2782,3859,0,0,0,0,0,0
$GC,1774,-0.84,-219.0,309.3,-19.3,217,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2782,3860,0,0,0,0,0,0
$GC,1965,-0.84,-219.0,346.2,-19.4,235,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3860,0,0,0,0,0,0
$GC,2158,-0.84,-219.0,384.8,-20.1,253,2162,0.00,2.20,0.00,0.000,4,0.000,0.033,2502,1368,3859,0,0,0,0,0,0
$GC,2220,-0.84,-219.0,396.8,-17.9,258,2225,0.12,2.28,0.00,0.000,6,0.164,0.046,2529,2768,3859,0,0,0,0,0,0
$GC,2418,-0.84,-219.0,430.1,-17.0,276,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$GC,2608,-0.84,-219.0,460.5,-15.6,294,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2768,3860,0,0,0,0,0,0
$GC,2799,-0.84,-219.0,489.4,-14.6,312,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$STATE,2874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2875,begin apogee
$GC,2879,-0.16,0.0,500.4,14.8,319,3066,0.62,0.00,177.55,1.004,4,0.123,0.000,2743,2684,2957,0,0,0,0,0,0
$STATE,3067,end apogee,CONTROL_FINISHED_OK
$STATE,3067,begin climb
$GC,3069,0.84,219.0,508.9,0.0,325,3270,0.98,2.35,190.32,0.950,4,0.076,0.034,3067,1299,2066,0,0,0,0,0,0
$GC,3352,0.84,219.0,480.7,14.8,341,3360,0.00,2.47,0.00,0.000,6,0.000,0.041,3067,2689,2057,0,0,1,0,0,0
$GC,3551,0.84,219.0,448.5,16.1,360,3555,0.00,2.30,0.00,0.000,4,0.000,0.033,3077,1310,2051,0,0,0,0,0,0
$GC,3708,0.84,219.0,424.6,15.1,373,3715,0.00,2.35,0.00,0.000,6,0.000,0.042,3078,2715,2049,0,0,1,0,0,0
$GC,3906,0.84,219.0,391.6,16.9,392,3909,0.00,1.70,0.00,0.000,4,0.000,0.049,3078,3763,2048,0,0,0,0,0,0
$GC,3951,0.84,219.0,383.2,18.9,396,3955,0.00,1.67,0.00,0.000,6,0.000,0.031,3086,2715,2047,0,0,0,0,0,0
$GC,4154,0.84,219.0,348.5,17.0,415,4157,0.00,1.73,0.00,0.000,4,0.000,0.050,3086,3768,2047,0,0,0,0,0,0
$GC,4192,0.84,219.0,341.1,19.0,418,4199,0.00,1.67,0.00,0.000,6,0.000,0.031,3094,2729,2047,0,0,0,0,0,0
$GC,4390,0.84,219.0,307.4,17.2,437,4393,0.00,1.67,0.00,0.000,4,0.000,0.050,3094,3763,2047,0,0,0,0,0,0
$GC,4440,0.84,219.0,297.6,20.1,441,4448,0.12,1.65,0.00,0.000,6,0.184,0.031,3071,2734,2046,0,0,0,0,0,0
$GC,4638,0.84,219.0,265.9,15.6,460,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2734,2046,0,0,0,0,0,0
$GC,4829,0.84,219.0,235.8,16.2,478,4833,0.00,1.70,0.00,0.000,4,0.000,0.051,3071,3759,2045,0,0,0,0,0,0
$GC,4889,0.84,219.0,224.9,17.6,483,4897,0.00,1.62,0.00,0.000,6,0.000,0.031,3079,2738,2045,0,0,0,0,0,0
$GC,5023,0.84,219.0,203.4,15.6,496,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2737,2045,0,0,0,0,0,0
$GC,5151,0.84,219.0,183.5,15.4,508,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2737,2045,0,0,0,0,0,0
$GC,5279,0.84,219.0,163.7,15.4,520,5282,0.00,1.65,0.00,0.000,4,0.000,0.050,3079,3764,2045,0,0,0,0,0,0
$GC,5350,0.84,219.0,151.3,17.8,526,5358,0.00,1.62,0.00,0.000,6,0.000,0.031,3087,2734,2045,0,0,0,0,0,0
$GC,5485,0.84,219.0,130.6,15.5,539,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2733,2045,0,0,0,0,0,0
$GC,5612,0.84,219.0,111.9,15.1,551,5616,0.00,1.65,0.00,0.000,4,0.000,0.051,3087,3765,2044,0,0,0,0,0,0
$GC,5691,0.84,219.0,99.2,16.4,558,5698,0.00,1.60,0.00,0.000,6,0.000,0.031,3095,2749,2044,0,0,0,0,0,0
$GC,5834,0.84,219.0,77.4,14.9,583,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2750,2044,0,0,0,0,0,0
$GC,5976,0.84,219.0,54.8,15.8,608,5983,0.00,1.65,0.00,0.000,4,0.000,0.051,3095,3755,2044,0,0,0,0,0,0
$GC,6006,0.84,219.0,49.5,17.7,613,6014,0.10,1.58,0.00,0.000,6,0.162,0.032,3071,2745,2044,0,0,1,0,0,0
$GC,6151,0.84,219.0,28.6,15.6,638,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2745,2044,0,0,0,0,0,0
$FREEZE,8.62,-1.872,-1.903,2,1,0
$FREEZE,7.72,-1.872,-1.902,2,1,0
$GC,6295,0.84,219.0,7.7,15.8,663,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2745,2044,0,0,0,0,0,0
$FREEZE,5.48,-1.872,-1.901,2,1,0
$FREEZE,4.81,-1.872,-1.900,2,1,0
$FREEZE,4.09,-1.872,-1.900,2,1,0
$FREEZE,3.52,-1.872,-1.899,2,1,0
$FREEZE,2.71,-1.872,-1.899,2,1,0
$STATE,6327,end climb,SURFACE_DEPTH_REACHED
$STATE,6327,begin surface coast
$FREEZE,1.99,-1.872,-1.898,2,1,0
$FREEZE,1.10,-1.872,-1.897,2,1,0
$FREEZE,0.58,-1.873,-1.897,2,1,0
$FREEZE,0.13,-1.878,-1.897,2,1,0
$FINISH,0.1,1.027821
$STATE,6351,end surface coast,CONTROL_FINISHED_OK
$STATE,6351,begin surface
$SM_CCo,6367,196.45,0.100,0,0,445,616.92
$SM_GC,0.49,0.00,0.00,196.45,0.000,0.000,0.100,195,2744,445,-8.14,-1.02,616.92
$IRIDIUM_FIX,-7612.11,17046.32,061210,111152
$TT8_MAMPS,0.027713
$HUMID,48.11
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.4
$24V_AH,22.3,3.735
$10V_AH,10.0,1.568
$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,18.800,46.375,367.875,196.450,0.000,55.713,88.774,607.747,1.750,0.000,17.195,1605.069,3095.652,675.381,1958.537,248.617,0.000,1363.070,0.000,1146.882,0.000,12.903,0.000
$DEVICE_MAMPS,227.205,83.385,1003.680,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.181,819.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43859,673
$CAP_FILE_SIZE,101406,0
$CFSIZE,260165632,245542912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,061210,140426,-7653.716,17052.549,42,3.4,62,133.0