version: 66.08
glider: 503
mission: 7
dive: 107
start: 12 7 110 8 35 54
data:
$ID,503
$MISSION,7
$DIVE,107
$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,-19378.09
$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,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
$GPS1,071210,083006,-7647.724,17040.963,77,1.2,83,132.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-66.6
$GPS2,071210,083526,-7647.766,17040.773,12,1.6,12,132.9
$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,254.9,33936,-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,-219.0,0.0,0.0,0,163,0.00,0.00,-144.82,0.000,2,0.000,0.000,186,2774,3421,0,0,0,0,0,0
$GC,166,-0.84,-219.0,3.3,-5.6,24,193,8.93,2.28,-9.32,0.000,4,0.223,0.050,2522,1366,3856,0,0,0,0,0,0
$GC,442,-0.84,-219.0,54.6,-16.1,73,449,0.00,2.33,0.00,0.000,6,0.000,0.045,2511,2784,3858,0,0,0,0,0,0
$GC,583,-0.84,-219.0,80.0,-18.3,98,591,0.00,2.22,0.00,0.000,4,0.000,0.033,2512,1368,3858,0,0,0,0,0,0
$GC,626,-0.84,-219.0,87.4,-16.5,105,633,0.00,2.30,0.00,0.000,6,0.000,0.046,2501,2780,3858,0,0,0,0,0,0
$GC,763,-0.84,-219.0,113.3,-19.6,124,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2780,3859,0,0,0,0,0,0
$GC,891,-0.84,-219.0,138.3,-19.5,136,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2780,3859,0,0,0,0,0,0
$GC,1018,-0.84,-219.0,163.9,-20.4,148,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2781,3859,0,0,0,0,0,0
$GC,1146,-0.84,-219.0,189.8,-20.0,160,1150,0.00,1.60,0.00,0.000,4,0.000,0.054,2494,3754,3859,0,0,0,0,0,0
$GC,1191,-0.84,-219.0,199.5,-21.5,164,1195,0.08,1.50,0.00,0.000,6,0.153,0.031,2519,2786,3859,0,0,0,0,0,0
$GC,1330,-0.84,-219.0,225.3,-17.3,177,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2785,3859,0,0,0,0,0,0
$GC,1457,-0.84,-219.0,248.0,-17.8,189,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2785,3859,0,0,0,0,0,0
$GC,1584,-0.84,-219.0,270.0,-16.7,201,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2785,3859,0,0,0,0,0,0
$GC,1776,-0.84,-219.0,302.2,-16.7,219,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2785,3859,0,0,0,0,0,0
$GC,1968,-0.84,-219.0,333.6,-16.1,237,1972,0.00,1.58,0.00,0.000,4,0.000,0.051,2513,3754,3859,0,0,0,0,0,0
$GC,2016,-0.84,-219.0,342.5,-16.8,241,2024,0.00,1.50,0.00,0.000,6,0.000,0.030,2512,2786,3859,0,0,0,0,0,0
$GC,2215,-0.84,-219.0,376.0,-17.5,260,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2786,3859,0,0,0,0,0,0
$GC,2406,-0.84,-219.0,408.3,-16.7,278,2409,0.00,1.58,0.00,0.000,4,0.000,0.051,2505,3757,3859,0,0,0,0,0,0
$GC,2451,-0.84,-219.0,416.3,-18.2,282,2455,0.00,1.50,0.00,0.000,6,0.000,0.031,2505,2790,3859,0,0,0,0,0,0
$GC,2654,-0.84,-219.0,452.0,-17.6,301,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2790,3859,0,0,0,0,0,0
$GC,2846,-0.84,-219.0,485.8,-17.7,319,2850,0.00,1.58,0.00,0.000,4,0.000,0.052,2497,3763,3859,0,0,0,0,0,0
$GC,2884,-0.84,-219.0,493.5,-19.1,322,2893,0.08,1.50,0.00,0.000,6,0.148,0.031,2522,2794,3859,0,0,0,0,0,0
$STATE,2933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2933,begin apogee
$GC,2938,-0.16,0.0,501.7,16.9,327,3126,0.65,0.00,177.05,1.015,4,0.126,0.000,2742,2693,2958,0,0,0,0,0,0
$STATE,3126,end apogee,CONTROL_FINISHED_OK
$STATE,3127,begin climb
$GC,3128,0.84,219.0,510.9,0.0,333,3330,1.00,2.35,190.70,0.963,4,0.077,0.033,3073,1304,2066,0,0,0,0,0,0
$GC,3435,0.84,219.0,480.4,14.0,349,3443,0.00,2.45,0.00,0.000,6,0.000,0.041,3073,2694,2057,0,0,1,0,0,0
$GC,3634,0.84,219.0,449.0,16.2,368,3638,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1303,2051,0,0,0,0,0,0
$GC,3810,0.84,219.0,421.9,15.1,383,3818,0.00,2.40,0.00,0.000,6,0.000,0.042,3083,2705,2050,0,0,0,0,0,0
$GC,4009,0.84,219.0,389.1,17.2,402,4012,0.00,1.73,0.00,0.000,4,0.000,0.049,3084,3770,2049,0,0,0,0,0,0
$GC,4057,0.84,219.0,379.6,19.3,406,4066,0.00,1.70,0.00,0.000,6,0.000,0.030,3092,2716,2048,0,0,0,0,0,0
$GC,4257,0.84,219.0,344.5,17.4,425,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2715,2047,0,0,0,0,0,0
$GC,4447,0.84,219.0,311.1,17.7,443,4451,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3768,2047,0,0,0,0,0,0
$GC,4503,0.84,219.0,300.1,19.8,448,4508,0.12,1.65,0.00,0.000,6,0.184,0.031,3069,2706,2047,0,0,0,0,0,0
$GC,4707,0.84,219.0,268.6,15.3,467,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2706,2047,0,0,0,0,0,0
$GC,4897,0.84,219.0,239.2,15.7,485,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2706,2046,0,0,0,0,0,0
$GC,5025,0.84,219.0,220.0,14.4,497,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2706,2046,0,0,0,0,0,0
$GC,5152,0.84,219.0,200.6,15.1,509,5155,0.00,1.70,0.00,0.000,4,0.000,0.050,3069,3771,2046,0,0,0,0,0,0
$GC,5220,0.84,219.0,189.3,17.5,515,5224,0.00,1.65,0.00,0.000,6,0.000,0.031,3077,2696,2046,0,0,0,0,0,0
$GC,5360,0.84,219.0,167.3,15.4,528,5363,0.00,1.70,0.00,0.000,4,0.000,0.049,3077,3764,2045,0,0,0,0,0,0
$GC,5394,0.84,219.0,161.7,17.1,531,5398,0.00,1.62,0.00,0.000,6,0.000,0.032,3084,2731,2045,0,0,0,0,0,0
$GC,5533,0.84,219.0,138.8,16.2,544,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2730,2045,0,0,0,0,0,0
$GC,5660,0.84,219.0,117.9,16.3,556,5664,0.00,1.70,0.00,0.000,4,0.000,0.050,3085,3764,2045,0,0,0,0,0,0
$GC,5731,0.84,219.0,104.6,18.8,562,5740,0.00,1.60,0.00,0.000,6,0.000,0.031,3092,2746,2045,0,0,0,0,0,0
$GC,5871,0.84,219.0,81.4,17.5,585,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2746,2045,0,0,0,0,0,0
$GC,6010,0.84,219.0,57.8,17.7,610,6017,0.00,1.65,0.00,0.000,4,0.000,0.050,3093,3755,2045,0,0,0,0,0,0
$GC,6085,0.84,219.0,44.0,19.2,623,6093,0.08,1.60,0.00,0.000,6,0.171,0.031,3077,2738,2045,0,0,0,0,0,0
$GC,6227,0.84,219.0,22.4,15.0,648,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2737,2045,0,0,0,0,0,0
$FREEZE,8.52,-1.807,-1.902,2,1,0
$FREEZE,7.65,-1.806,-1.902,2,1,0
$FREEZE,6.97,-1.807,-1.901,2,1,0
$FREEZE,6.22,-1.807,-1.901,2,1,0
$FREEZE,5.48,-1.807,-1.900,2,1,0
$FREEZE,4.67,-1.807,-1.899,2,1,0
$FREEZE,4.01,-1.810,-1.899,2,1,0
$FREEZE,3.20,-1.812,-1.898,2,1,0
$FREEZE,2.47,-1.808,-1.898,2,1,0
$STATE,6365,end climb,SURFACE_DEPTH_REACHED
$STATE,6365,begin surface coast
$FREEZE,1.51,-1.812,-1.897,2,1,0
$FREEZE,0.70,-1.817,-1.896,2,1,0
$FREEZE,0.25,-1.820,-1.896,2,1,0
$FREEZE,0.21,-1.829,-1.897,2,1,0
$FINISH,0.2,1.027815
$STATE,6387,end surface coast,CONTROL_FINISHED_OK
$STATE,6387,begin surface
$SM_CCo,6403,201.73,0.100,0,0,445,616.92
$SM_GC,0.71,0.00,0.00,201.73,0.000,0.000,0.100,185,2788,445,-8.17,0.23,616.92
$IRIDIUM_FIX,-7603.11,17053.84,071210,060623
$TT8_MAMPS,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.7
$24V_AH,22.3,5.052
$10V_AH,10.1,2.141
$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,18.625,51.150,367.750,201.725,0.000,24.689,42.063,154.680,2.250,0.000,14.864,1718.931,2931.143,683.798,1467.269,136.835,0.000,1386.150,0.000,1169.002,0.000,15.728,0.000
$DEVICE_MAMPS,223.380,112.455,1015.155,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.591,821.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258248
$DATA_FILE_SIZE,43730,677
$CAP_FILE_SIZE,93171,0
$CFSIZE,260165632,245067776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.295,212.5,1
$GPS,071210,102736,-7647.797,17040.260,52,1.2,59,132.9