version: 66.08
glider: 503
mission: 7
dive: 109
start: 12 7 110 12 32 24
data:
$ID,503
$MISSION,7
$DIVE,109
$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,-19380.609
$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,26
$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
$GPS1,071210,122636,-7647.814,17039.617,53,1.2,54,133.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-61.3
$GPS2,071210,123156,-7647.847,17039.312,14,1.2,14,133.0
$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,260.3,34241,-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,-219.0,0.0,0.0,0,166,0.00,0.00,-148.38,0.000,2,0.000,0.000,191,2779,3498,0,0,0,0,0,0
$GC,170,-0.84,-219.0,3.6,-7.9,24,191,8.98,1.65,-7.53,0.000,4,0.226,0.067,2514,3776,3855,0,0,1,0,0,0
$GC,442,-0.84,-219.0,66.7,-20.3,72,449,0.00,1.58,0.00,0.000,6,0.000,0.029,2514,2771,3859,0,0,0,0,0,0
$GC,583,-0.84,-219.0,94.6,-19.3,97,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2771,3859,0,0,0,0,0,0
$GC,719,-0.84,-219.0,121.4,-19.8,112,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2771,3858,0,0,0,0,0,0
$GC,846,-0.84,-219.0,146.9,-20.0,124,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2771,3859,0,0,0,0,0,0
$GC,974,-0.84,-219.0,172.5,-20.0,136,978,0.00,1.62,0.00,0.000,4,0.000,0.051,2506,3762,3859,0,0,0,0,0,0
$GC,1012,-0.84,-219.0,180.5,-20.1,139,1019,0.00,1.52,0.00,0.000,6,0.000,0.032,2506,2787,3859,0,0,0,0,0,0
$GC,1146,-0.84,-219.0,206.6,-19.6,152,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2787,3859,0,0,0,0,0,0
$GC,1273,-0.84,-219.0,231.5,-19.3,164,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2787,3859,0,0,0,0,0,0
$GC,1401,-0.84,-219.0,255.9,-19.0,176,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2787,3859,0,0,0,0,0,0
$GC,1592,-0.84,-219.0,292.6,-19.2,194,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2787,3859,0,0,0,0,0,0
$GC,1783,-0.84,-219.0,328.8,-18.6,212,1787,0.00,1.60,0.00,0.000,4,0.000,0.050,2498,3767,3859,0,0,0,0,0,0
$GC,1818,-0.84,-219.0,335.6,-20.8,215,1822,0.08,1.52,0.00,0.000,6,0.155,0.031,2522,2784,3859,0,0,0,0,0,0
$GC,2021,-0.84,-219.0,370.5,-17.0,234,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2784,3859,0,0,0,0,0,0
$GC,2212,-0.84,-219.0,402.9,-17.0,252,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2784,3859,0,0,0,0,0,0
$GC,2404,-0.84,-219.0,435.4,-17.3,270,2407,0.00,1.60,0.00,0.000,4,0.000,0.051,2516,3768,3858,0,0,0,0,0,0
$GC,2441,-0.84,-219.0,442.6,-17.7,273,2449,0.00,1.50,0.00,0.000,6,0.000,0.031,2516,2794,3859,0,0,0,0,0,0
$GC,2640,-0.84,-219.0,476.6,-16.7,292,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2795,3859,0,0,0,0,0,0
$STATE,2787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2787,begin apogee
$GC,2792,-0.16,0.0,501.4,16.5,306,2975,0.68,0.00,177.38,1.016,4,0.130,0.000,2740,2688,2960,0,0,0,0,0,0
$STATE,2975,end apogee,CONTROL_FINISHED_OK
$STATE,2976,begin climb
$GC,2977,0.84,219.0,510.1,0.0,311,3178,1.00,2.35,190.93,0.962,4,0.081,0.034,3067,1313,2066,0,0,0,0,0,0
$GC,3362,0.84,219.0,468.3,14.4,334,3370,0.00,2.40,0.00,0.000,6,0.000,0.041,3067,2700,2054,0,0,0,0,0,0
$GC,3561,0.84,219.0,438.7,14.3,353,3565,0.00,2.30,0.00,0.000,4,0.000,0.035,3078,1317,2051,0,0,0,0,0,0
$GC,3727,0.84,219.0,415.2,14.4,367,3734,0.00,2.35,0.00,0.000,6,0.000,0.042,3078,2707,2050,0,0,1,0,0,0
$GC,3926,0.84,219.0,385.6,15.2,386,3930,0.00,1.70,0.00,0.000,4,0.000,0.049,3078,3763,2049,0,0,0,0,0,0
$GC,3986,0.84,219.0,374.2,18.7,391,3994,0.00,1.65,0.00,0.000,6,0.000,0.031,3086,2737,2048,0,0,0,0,0,0
$GC,4185,0.84,219.0,341.3,16.8,410,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2737,2047,0,0,0,0,0,0
$GC,4375,0.84,219.0,308.8,17.3,428,4379,0.00,1.65,0.00,0.000,4,0.000,0.050,3086,3763,2047,0,0,0,0,0,0
$GC,4432,0.84,219.0,298.5,18.6,433,4436,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2702,2046,0,0,0,0,0,0
$GC,4635,0.84,219.0,264.0,17.0,452,4638,0.00,1.70,0.00,0.000,4,0.000,0.049,3094,3764,2046,0,0,0,0,0,0
$GC,4679,0.84,219.0,255.9,18.6,456,4684,0.12,1.65,0.00,0.000,6,0.183,0.031,3071,2700,2046,0,0,0,0,0,0
$GC,4883,0.84,219.0,225.1,14.7,475,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2700,2046,0,0,0,0,0,0
$GC,5010,0.84,219.0,206.4,14.9,487,5014,0.00,1.75,0.00,0.000,4,0.000,0.050,3071,3764,2046,0,0,0,0,0,0
$GC,5058,0.84,219.0,198.1,17.4,491,5066,0.00,1.62,0.00,0.000,6,0.000,0.030,3078,2735,2046,0,0,0,0,0,0
$GC,5193,0.84,219.0,177.6,15.6,504,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2735,2046,0,0,0,0,0,0
$GC,5320,0.84,219.0,157.7,15.7,516,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2735,2046,0,0,0,0,0,0
$GC,5447,0.84,219.0,137.8,15.7,528,5451,0.00,1.65,0.00,0.000,4,0.000,0.050,3078,3771,2046,0,0,0,0,0,0
$GC,5482,0.84,219.0,132.0,18.0,531,5486,0.00,1.60,0.00,0.000,6,0.000,0.031,3086,2742,2045,0,0,1,0,0,0
$GC,5621,0.84,219.0,109.0,16.1,544,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2740,2045,0,0,0,0,0,0
$GC,5751,0.84,219.0,88.3,16.2,562,5759,0.00,1.67,0.00,0.000,4,0.000,0.050,3086,3764,2045,0,0,0,0,0,0
$GC,5816,0.84,219.0,76.6,18.6,573,5823,0.00,1.60,0.00,0.000,6,0.000,0.032,3094,2748,2045,0,0,0,0,0,0
$GC,5959,0.84,219.0,53.3,16.5,598,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2747,2045,0,0,0,0,0,0
$GC,6101,0.84,219.0,29.4,16.6,623,6107,0.00,1.65,0.00,0.000,4,0.000,0.050,3094,3757,2045,0,0,0,0,0,0
$FREEZE,8.66,-1.812,-1.903,2,1,0
$GC,6215,0.84,219.0,8.7,19.2,643,6222,0.08,1.58,0.00,0.000,6,0.171,0.032,3077,2753,2044,0,0,0,0,0,0
$FREEZE,5.43,-1.812,-1.900,2,1,0
$FREEZE,4.56,-1.817,-1.900,2,1,0
$FREEZE,3.74,-1.814,-1.899,2,1,0
$FREEZE,2.88,-1.814,-1.898,2,1,0
$STATE,6244,end climb,SURFACE_DEPTH_REACHED
$STATE,6244,begin surface coast
$FREEZE,2.14,-1.814,-1.898,2,1,0
$FREEZE,1.19,-1.811,-1.897,2,1,0
$FREEZE,0.41,-1.814,-1.896,2,1,0
$FINISH,0.4,1.027810
$STATE,6262,end surface coast,CONTROL_FINISHED_OK
$STATE,6263,begin surface
$SM_CCo,6277,202.98,0.099,0,0,444,616.92
$SM_GC,0.75,0.00,0.00,202.98,0.000,0.000,0.099,191,2753,444,-8.14,-0.76,616.92
$IRIDIUM_FIX,-7603.11,17043.08,071210,101045
$TT8_MAMPS,0.027713
$HUMID,48.62
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,18.9
$24V_AH,22.3,5.298
$10V_AH,9.9,2.251
$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,18.525,45.225,368.300,202.975,0.000,30.087,38.370,151.627,1.750,0.000,18.444,1645.816,2935.644,675.600,1422.731,133.710,0.000,1350.909,0.000,1125.350,0.000,12.905,0.000
$DEVICE_MAMPS,226.440,84.150,1015.920,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.291,781.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258316
$DATA_FILE_SIZE,40346,651
$CAP_FILE_SIZE,89173,0
$CFSIZE,260165632,244977664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.266,220.8,1
$GPS,071210,142150,-7647.814,17039.107,47,1.1,48,133.0