version: 66.08
glider: 503
mission: 7
dive: 104
start: 12 7 110 2 48 44
data:
$ID,503
$MISSION,7
$DIVE,104
$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,2
$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,-19374.312
$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,28
$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
$GPS1,071210,023604,-7647.767,17041.768,28,2.9,48,132.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-64.4
$GPS2,071210,024816,-7647.821,17041.154,8,2.3,27,132.9
$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,260.7,33996,-18.2,-13.333
$D_GRID,765
$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,-219.0,0.0,0.0,0,165,0.00,0.00,-146.95,0.000,2,0.000,0.000,187,2776,3412,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.1,-5.6,23,195,9.05,1.62,-9.75,0.000,4,0.226,0.072,2516,3754,3856,0,0,1,0,0,0
$GC,444,-0.84,-219.0,62.5,-19.6,72,451,0.00,1.52,0.00,0.000,6,0.000,0.029,2516,2778,3859,0,0,0,0,0,0
$GC,586,-0.84,-219.0,89.5,-18.2,97,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3859,0,0,0,0,0,0
$GC,728,-0.84,-219.0,116.5,-19.1,115,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3859,0,0,0,0,0,0
$GC,855,-0.84,-219.0,140.3,-18.2,127,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3859,0,0,0,0,0,0
$GC,983,-0.84,-219.0,163.5,-18.4,139,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3860,0,0,0,0,0,0
$GC,1110,-0.84,-219.0,186.9,-18.6,151,1114,0.00,1.60,0.00,0.000,4,0.000,0.052,2509,3752,3859,0,0,0,0,0,0
$GC,1148,-0.84,-219.0,194.4,-18.9,154,1156,0.00,1.50,0.00,0.000,6,0.000,0.030,2509,2788,3860,0,0,0,0,0,0
$GC,1283,-0.84,-219.0,218.6,-18.1,167,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2788,3860,0,0,0,0,0,0
$GC,1410,-0.84,-219.0,242.0,-18.5,179,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2788,3859,0,0,0,0,0,0
$GC,1537,-0.84,-219.0,264.7,-17.3,191,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2788,3859,0,0,0,0,0,0
$GC,1729,-0.84,-219.0,298.2,-17.6,209,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2788,3860,0,0,0,0,0,0
$GC,1920,-0.84,-219.0,332.0,-17.6,227,1924,0.00,1.58,0.00,0.000,4,0.000,0.052,2501,3754,3859,0,0,0,0,0,0
$GC,1954,-0.84,-219.0,338.1,-19.2,230,1957,0.00,1.50,0.00,0.000,6,0.000,0.031,2501,2786,3860,0,0,0,0,0,0
$GC,2157,-0.84,-219.0,375.0,-17.6,249,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2786,3859,0,0,0,0,0,0
$GC,2348,-0.84,-219.0,408.3,-17.1,267,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2786,3859,0,0,0,0,0,0
$GC,2539,-0.84,-219.0,441.4,-17.5,285,2543,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3753,3859,0,0,0,0,0,0
$GC,2596,-0.84,-219.0,451.7,-18.9,290,2600,0.08,1.48,0.00,0.000,6,0.151,0.031,2520,2795,3859,0,0,0,0,0,0
$GC,2799,-0.84,-219.0,484.7,-16.2,309,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2795,3859,0,0,0,0,0,0
$STATE,2895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2895,begin apogee
$GC,2900,-0.16,0.0,500.4,16.4,318,3088,0.65,0.00,177.30,1.012,4,0.128,0.000,2740,2685,2958,0,0,0,0,0,0
$STATE,3089,end apogee,CONTROL_FINISHED_OK
$STATE,3089,begin climb
$GC,3091,0.84,219.0,510.5,0.0,324,3292,0.95,0.00,190.55,0.959,6,0.076,0.000,3065,2685,2066,0,0,0,0,0,0
$GC,3482,0.84,219.0,465.6,15.4,349,3485,0.00,1.85,0.00,0.000,4,0.000,0.048,3065,3765,2054,0,0,0,0,0,0
$GC,3553,0.84,219.0,453.0,17.4,355,3560,0.00,1.70,0.00,0.000,6,0.000,0.030,3073,2728,2053,0,0,1,0,0,0
$GC,3752,0.84,219.0,421.3,16.3,374,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2729,2051,0,0,0,0,0,0
$GC,3942,0.84,219.0,390.5,16.3,392,3946,0.00,1.70,0.00,0.000,4,0.000,0.049,3073,3762,2050,0,0,0,0,0,0
$GC,3976,0.84,219.0,384.6,18.0,395,3979,0.00,1.65,0.00,0.000,6,0.000,0.031,3081,2712,2049,0,0,0,0,0,0
$GC,4179,0.84,219.0,349.9,16.8,414,4183,0.00,1.73,0.00,0.000,4,0.000,0.050,3082,3764,2049,0,0,0,0,0,0
$GC,4235,0.84,219.0,339.1,19.0,419,4239,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2709,2048,0,0,0,0,0,0
$GC,4439,0.84,219.0,303.2,17.4,438,4443,0.00,1.70,0.00,0.000,4,0.000,0.050,3090,3762,2048,0,0,0,0,0,0
$GC,4485,0.84,219.0,294.5,19.4,442,4488,0.00,1.65,0.00,0.000,6,0.000,0.032,3098,2700,2048,0,0,0,0,0,0
$GC,4689,0.84,219.0,258.8,17.5,461,4693,0.00,1.73,0.00,0.000,4,0.000,0.052,3098,3767,2047,0,0,0,0,0,0
$GC,4738,0.84,219.0,248.7,19.8,465,4748,0.10,1.65,0.00,0.000,6,0.159,0.031,3075,2734,2047,0,0,0,0,0,0
$GC,4873,0.84,219.0,227.1,15.6,478,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2734,2047,0,0,0,0,0,0
$GC,5001,0.84,219.0,207.2,15.3,490,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2734,2047,0,0,0,0,0,0
$GC,5128,0.84,219.0,187.9,15.1,502,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,2047,0,0,0,0,0,0
$GC,5256,0.84,219.0,168.6,15.0,514,5259,0.00,1.65,0.00,0.000,4,0.000,0.051,3075,3767,2047,0,0,0,0,0,0
$GC,5293,0.84,219.0,162.1,16.8,517,5302,0.00,1.60,0.00,0.000,6,0.000,0.031,3082,2748,2047,0,0,0,0,0,0
$GC,5429,0.84,219.0,141.4,15.3,530,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2748,2047,0,0,0,0,0,0
$GC,5556,0.84,219.0,121.8,15.6,542,5559,0.00,1.62,0.00,0.000,4,0.000,0.051,3082,3768,2046,0,0,0,0,0,0
$GC,5605,0.84,219.0,112.7,17.5,546,5613,0.00,1.58,0.00,0.000,6,0.000,0.031,3090,2767,2046,0,0,0,0,0,0
$GC,5743,0.84,219.0,90.0,16.3,564,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2766,2046,0,0,0,0,0,0
$GC,5884,0.84,219.0,66.8,16.0,589,5892,0.00,1.62,0.00,0.000,4,0.000,0.050,3090,3760,2046,0,0,0,0,0,0
$GC,5926,0.84,219.0,59.4,19.2,596,5933,0.00,1.55,0.00,0.000,6,0.000,0.032,3097,2775,2046,0,0,0,0,0,0
$GC,6068,0.84,219.0,35.3,17.3,621,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2774,2046,0,0,0,0,0,0
$GC,6211,0.84,219.0,12.0,16.4,646,6217,0.00,1.60,0.00,0.000,4,0.000,0.051,3098,3755,2045,0,0,0,0,0,0
$FREEZE,8.80,-1.794,-1.902,2,1,0
$FREEZE,7.80,-1.793,-1.901,2,1,0
$FREEZE,6.80,-1.794,-1.900,2,1,0
$FREEZE,5.71,-1.794,-1.899,2,1,0
$FREEZE,4.69,-1.792,-1.898,2,1,0
$FREEZE,3.79,-1.792,-1.898,2,1,0
$FREEZE,2.74,-1.790,-1.897,2,1,0
$STATE,6261,end climb,SURFACE_DEPTH_REACHED
$STATE,6261,begin surface coast
$FREEZE,1.72,-1.784,-1.896,2,1,0
$FREEZE,0.87,-1.781,-1.895,2,1,0
$FREEZE,0.06,-1.771,-1.888,2,1,0
$FINISH,0.1,1.027691
$STATE,6280,end surface coast,CONTROL_FINISHED_OK
$STATE,6280,begin surface
$SM_CCo,6297,201.10,0.101,0,0,445,616.92
$SM_GC,0.73,0.00,0.00,201.10,0.000,0.000,0.101,190,2772,445,-8.15,-0.25,616.92
$IRIDIUM_FIX,-7603.11,17043.08,071210,020208
$TT8_MAMPS,0.027713
$HUMID,48.42
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,19.3
$24V_AH,22.3,4.693
$10V_AH,10.0,1.978
$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,18.575,42.250,367.850,201.100,0.000,78.011,152.229,245.365,2.000,0.000,31.000,1661.666,3069.698,683.817,1685.585,142.752,0.000,1354.514,0.000,1105.069,0.000,12.905,0.000
$DEVICE_MAMPS,226.440,83.385,1012.095,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,462.241,797.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258340
$DATA_FILE_SIZE,43658,658
$CAP_FILE_SIZE,95062,0
$CFSIZE,260165632,245207040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.257,217.8,1
$GPS,071210,043819,-7647.619,17041.557,27,1.4,39,132.9