version: 66.08
glider: 503
mission: 7
dive: 106
start: 12 7 110 6 38 42
data:
$ID,503
$MISSION,7
$DIVE,106
$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,-19376.83
$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,27
$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
$GPS1,071210,063302,-7647.634,17041.215,29,1.3,30,132.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.4
$GPS2,071210,063814,-7647.681,17041.010,15,1.9,15,132.9
$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,253.9,33759,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,155,0.00,0.00,-136.77,0.000,2,0.000,0.000,187,2756,3250,0,0,0,0,0,0
$GC,158,-0.84,-219.0,3.1,-7.0,22,190,9.00,1.67,-14.43,0.000,4,0.226,0.070,2519,3767,3856,0,0,1,0,0,0
$GC,396,-0.84,-219.0,49.8,-18.8,64,404,0.00,1.55,0.00,0.000,6,0.000,0.031,2519,2780,3858,0,0,0,0,0,0
$GC,538,-0.84,-219.0,76.2,-18.2,89,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2780,3858,0,0,0,0,0,0
$GC,684,-0.84,-219.0,102.8,-18.6,114,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2780,3858,0,0,0,0,0,0
$GC,811,-0.84,-219.0,126.0,-17.9,126,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2780,3859,0,0,0,0,0,0
$GC,939,-0.84,-219.0,148.8,-18.0,138,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2780,3859,0,0,0,0,0,0
$GC,1067,-0.84,-219.0,171.9,-18.0,150,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2780,3859,0,0,0,0,0,0
$GC,1194,-0.84,-219.0,194.7,-17.7,162,1197,0.00,1.60,0.00,0.000,4,0.000,0.053,2511,3755,3859,0,0,1,0,0,0
$GC,1240,-0.84,-219.0,202.9,-19.0,166,1243,0.00,1.50,0.00,0.000,6,0.000,0.031,2512,2792,3859,0,0,0,0,0,0
$GC,1379,-0.84,-219.0,228.5,-18.4,179,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2792,3859,0,0,0,0,0,0
$GC,1507,-0.84,-219.0,251.0,-16.9,191,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2792,3858,0,0,0,0,0,0
$GC,1698,-0.84,-219.0,284.6,-17.7,209,1701,0.00,1.58,0.00,0.000,4,0.000,0.052,2504,3754,3858,0,0,0,0,0,0
$GC,1755,-0.84,-219.0,295.5,-19.6,214,1758,0.00,1.50,0.00,0.000,6,0.000,0.031,2504,2789,3858,0,0,0,0,0,0
$GC,1958,-0.84,-219.0,333.3,-18.5,233,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3858,0,0,0,0,0,0
$GC,2149,-0.84,-219.0,368.3,-18.4,251,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3859,0,0,0,0,0,0
$GC,2340,-0.84,-219.0,403.1,-18.0,269,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3859,0,0,0,0,0,0
$GC,2531,-0.84,-219.0,437.2,-17.8,287,2535,0.00,1.58,0.00,0.000,4,0.000,0.051,2496,3758,3859,0,0,0,0,0,0
$GC,2587,-0.84,-219.0,447.6,-19.1,292,2591,0.08,1.50,0.00,0.000,6,0.151,0.032,2522,2793,3859,0,0,0,0,0,0
$GC,2792,-0.84,-219.0,480.6,-16.3,311,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2793,3858,0,0,0,0,0,0
$STATE,2915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2915,begin apogee
$GC,2920,-0.16,0.0,501.6,16.6,323,3108,0.68,0.00,177.10,1.012,4,0.127,0.000,2746,2678,2958,0,0,0,0,0,0
$STATE,3109,end apogee,CONTROL_FINISHED_OK
$STATE,3109,begin climb
$GC,3111,0.84,219.0,511.8,0.0,329,3312,0.98,2.33,190.50,0.963,4,0.077,0.033,3069,1304,2067,0,0,0,0,0,0
$GC,3434,0.84,219.0,480.7,13.9,347,3438,0.00,2.42,0.00,0.000,6,0.000,0.041,3069,2699,2056,0,0,0,0,0,0
$GC,3633,0.84,219.0,449.8,15.3,365,3637,0.00,2.33,0.00,0.000,4,0.000,0.034,3081,1310,2051,0,0,0,0,0,0
$GC,3800,0.84,219.0,424.6,14.8,379,3807,0.00,2.38,0.00,0.000,6,0.000,0.041,3080,2702,2049,0,0,0,0,0,0
$GC,3998,0.84,219.0,393.0,16.5,398,4001,0.00,1.73,0.00,0.000,4,0.000,0.049,3080,3766,2049,0,0,0,0,0,0
$GC,4046,0.84,219.0,383.8,18.7,402,4054,0.00,1.67,0.00,0.000,6,0.000,0.031,3088,2726,2048,0,0,0,0,0,0
$GC,4245,0.84,219.0,349.8,17.3,421,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2726,2047,0,0,0,0,0,0
$GC,4436,0.84,219.0,317.2,17.4,439,4439,0.00,1.67,0.00,0.000,4,0.000,0.049,3088,3764,2047,0,0,0,0,0,0
$GC,4473,0.84,219.0,309.9,19.2,442,4481,0.00,1.67,0.00,0.000,6,0.000,0.031,3097,2718,2047,0,0,0,0,0,0
$GC,4674,0.84,219.0,275.4,17.5,461,4677,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3762,2046,0,0,0,0,0,0
$GC,4720,0.84,219.0,266.4,20.5,465,4724,0.12,1.65,0.00,0.000,6,0.182,0.031,3073,2701,2046,0,0,0,0,0,0
$GC,4922,0.84,219.0,234.1,15.9,484,4926,0.00,1.70,0.00,0.000,4,0.000,0.048,3071,3764,2046,0,0,0,0,0,0
$GC,4971,0.84,219.0,225.5,16.1,488,4980,0.00,1.62,0.00,0.000,6,0.000,0.031,3080,2731,2046,0,0,0,0,0,0
$GC,5106,0.84,219.0,204.4,15.8,501,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2732,2046,0,0,0,0,0,0
$GC,5233,0.84,219.0,184.2,15.6,513,5237,0.00,1.67,0.00,0.000,4,0.000,0.050,3080,3752,2046,0,0,0,0,0,0
$GC,5293,0.84,219.0,173.4,17.7,518,5301,0.00,1.55,0.00,0.000,6,0.000,0.031,3087,2750,2045,0,0,1,0,0,0
$GC,5428,0.84,219.0,151.5,16.7,531,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2751,2045,0,0,0,0,0,0
$GC,5555,0.84,219.0,130.5,16.2,543,5559,0.00,1.65,0.00,0.000,4,0.000,0.051,3087,3757,2045,0,0,0,0,0,0
$GC,5588,0.84,219.0,124.2,18.9,546,5592,0.00,1.58,0.00,0.000,6,0.000,0.032,3095,2758,2045,0,0,0,0,0,0
$GC,5728,0.84,219.0,100.1,17.6,559,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2756,2045,0,0,0,0,0,0
$GC,5862,0.84,219.0,77.2,17.3,582,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2756,2045,0,0,0,0,0,0
$GC,6002,0.84,219.0,53.8,15.6,607,6008,0.00,1.65,0.00,0.000,4,0.000,0.050,3095,3766,2045,0,0,0,0,0,0
$GC,6047,0.84,219.0,45.7,18.2,615,6055,0.10,1.58,0.00,0.000,6,0.156,0.032,3070,2767,2044,0,0,0,0,0,0
$GC,6189,0.84,219.0,23.7,16.0,640,6197,0.00,2.30,0.00,0.000,4,0.000,0.036,3081,1301,2045,0,0,0,0,0,0
$GC,6216,0.84,219.0,19.9,15.0,644,6223,0.00,2.38,0.00,0.000,6,0.000,0.044,3081,2771,2044,0,0,0,0,0,0
$FREEZE,8.81,-1.793,-1.902,2,1,0
$FREEZE,8.05,-1.795,-1.902,2,1,0
$FREEZE,7.15,-1.791,-1.901,2,1,0
$FREEZE,6.27,-1.791,-1.900,2,1,0
$FREEZE,5.62,-1.790,-1.900,2,1,0
$FREEZE,4.80,-1.791,-1.899,2,1,0
$FREEZE,4.02,-1.792,-1.899,2,1,0
$FREEZE,3.20,-1.792,-1.898,2,1,0
$FREEZE,2.29,-1.792,-1.897,2,1,0
$STATE,6328,end climb,SURFACE_DEPTH_REACHED
$STATE,6328,begin surface coast
$FREEZE,1.39,-1.794,-1.897,2,1,0
$FREEZE,0.62,-1.789,-1.896,2,1,0
$FREEZE,0.14,-1.790,-1.896,2,1,0
$FINISH,0.1,1.027800
$STATE,6345,end surface coast,CONTROL_FINISHED_OK
$STATE,6345,begin surface
$SM_CCo,6360,202.68,0.101,0,0,445,616.92
$SM_GC,0.87,0.00,0.00,202.68,0.000,0.000,0.101,187,2774,445,-8.16,-0.17,616.92
$IRIDIUM_FIX,-7603.11,17041.56,071210,040440
$TT8_MAMPS,0.027713
$HUMID,48.66
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.4
$24V_AH,22.3,4.932
$10V_AH,10.1,2.085
$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,18.575,49.825,367.600,202.675,0.000,22.937,41.705,149.099,1.750,0.000,18.395,1695.263,2934.938,679.920,1446.105,132.827,0.000,1370.872,0.000,1151.422,0.000,12.908,0.000
$DEVICE_MAMPS,225.675,70.380,1012.095,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.716,809.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258336
$DATA_FILE_SIZE,43549,667
$CAP_FILE_SIZE,92034,0
$CFSIZE,260165632,245116928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.299,209.9,1
$GPS,071210,083006,-7647.724,17040.963,77,1.2,83,132.9