version: 66.08
glider: 503
mission: 7
dive: 110
start: 12 7 110 14 30 34
data:
$ID,503
$MISSION,7
$DIVE,110
$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,-19381.865
$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,43
$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
$GPS1,071210,142150,-7647.814,17039.107,47,1.1,48,133.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-59.9
$GPS2,071210,143006,-7647.875,17038.762,13,2.0,23,133.0
$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,261.8,34356,-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,16,-0.84,-219.0,0.0,0.0,0,164,0.00,0.00,-145.20,0.000,2,0.000,0.000,188,2753,3408,0,0,0,0,0,0
$GC,167,-0.84,-219.0,3.2,-6.1,24,194,8.98,2.20,-9.93,0.000,4,0.225,0.044,2524,1370,3856,0,0,0,0,0,0
$GC,443,-0.84,-219.0,56.8,-16.7,73,450,0.00,2.33,0.00,0.000,6,0.000,0.046,2513,2784,3858,0,0,0,0,0,0
$GC,586,-0.84,-219.0,84.1,-19.5,98,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2784,3858,0,0,0,0,0,0
$GC,725,-0.84,-219.0,111.1,-19.1,118,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,852,-0.84,-219.0,135.7,-19.1,130,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2784,3859,0,0,0,0,0,0
$GC,980,-0.84,-219.0,159.3,-18.8,142,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2784,3859,0,0,0,0,0,0
$GC,1107,-0.84,-219.0,182.7,-18.2,154,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2784,3859,0,0,0,0,0,0
$GC,1235,-0.84,-219.0,205.5,-18.4,166,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2784,3859,0,0,0,0,0,0
$GC,1362,-0.84,-219.0,228.8,-18.3,178,1366,0.00,2.22,0.00,0.000,4,0.000,0.035,2513,1369,3859,0,0,0,0,0,0
$GC,1388,-0.84,-219.0,233.9,-18.3,180,1396,0.00,2.33,0.00,0.000,6,0.000,0.046,2503,2781,3859,0,0,0,0,0,0
$GC,1523,-0.84,-219.0,258.4,-18.4,193,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3859,0,0,0,0,0,0
$GC,1715,-0.84,-219.0,295.6,-19.7,211,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3859,0,0,0,0,0,0
$GC,1907,-0.84,-219.0,332.0,-18.1,229,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2781,3859,0,0,0,0,0,0
$GC,2097,-0.84,-219.0,367.8,-19.1,247,2100,0.00,1.58,0.00,0.000,4,0.000,0.051,2496,3766,3859,0,0,0,0,0,0
$GC,2143,-0.84,-219.0,376.8,-19.4,251,2147,0.08,1.52,0.00,0.000,6,0.151,0.031,2521,2777,3858,0,0,0,0,0,0
$GC,2346,-0.84,-219.0,411.0,-16.5,270,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2777,3859,0,0,0,0,0,0
$GC,2536,-0.84,-219.0,442.5,-16.4,288,2540,0.00,1.60,0.00,0.000,4,0.000,0.051,2514,3763,3859,0,0,0,0,0,0
$GC,2574,-0.84,-219.0,449.2,-16.6,291,2585,0.00,1.50,0.00,0.000,6,0.000,0.031,2514,2795,3859,0,0,0,0,0,0
$GC,2772,-0.84,-219.0,482.5,-17.0,310,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2795,3859,0,0,0,0,0,0
$STATE,2877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2878,begin apogee
$GC,2883,-0.16,0.0,500.8,17.3,320,3070,0.68,0.00,177.27,1.015,4,0.127,0.000,2742,2686,2959,0,0,0,0,0,0
$STATE,3071,end apogee,CONTROL_FINISHED_OK
$STATE,3071,begin climb
$GC,3073,0.84,219.0,510.5,0.0,326,3275,1.00,2.35,190.95,0.965,4,0.077,0.034,3073,1311,2067,0,0,0,0,0,0
$GC,3412,0.84,219.0,475.5,14.3,345,3417,0.00,2.42,0.00,0.000,6,0.000,0.041,3073,2707,2056,0,0,0,0,0,0
$GC,3610,0.84,219.0,443.1,16.9,363,3614,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1317,2051,0,0,0,0,0,0
$GC,3797,0.84,219.0,413.1,15.8,379,3801,0.00,2.30,0.00,0.000,6,0.000,0.042,3083,2705,2050,0,0,1,0,0,0
$GC,3994,0.84,219.0,377.2,18.1,397,3998,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3762,2049,0,0,0,0,0,0
$GC,4051,0.84,219.0,365.7,21.0,402,4055,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2710,2048,0,0,0,0,0,0
$GC,4254,0.84,219.0,326.9,18.4,421,4258,0.00,1.73,0.00,0.000,4,0.000,0.049,3092,3764,2048,0,0,0,0,0,0
$GC,4299,0.84,219.0,317.9,20.8,425,4303,0.00,1.65,0.00,0.000,6,0.000,0.032,3099,2723,2047,0,0,1,0,0,0
$GC,4502,0.84,219.0,279.2,18.5,444,4506,0.00,1.67,0.00,0.000,4,0.000,0.049,3100,3763,2047,0,0,0,0,0,0
$GC,4547,0.84,219.0,270.2,20.4,448,4551,0.15,1.65,0.00,0.000,6,0.174,0.032,3068,2701,2047,0,0,0,0,0,0
$GC,4751,0.84,219.0,236.9,15.9,467,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2701,2046,0,0,0,0,0,0
$GC,4877,0.84,219.0,216.7,15.7,479,4881,0.00,1.75,0.00,0.000,4,0.000,0.050,3067,3764,2046,0,0,0,0,0,0
$GC,4923,0.84,219.0,208.8,17.6,483,4927,0.00,1.62,0.00,0.000,6,0.000,0.032,3074,2740,2046,0,0,0,0,0,0
$GC,5062,0.84,219.0,185.3,16.6,496,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2738,2046,0,0,0,0,0,0
$GC,5190,0.84,219.0,164.4,15.9,508,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2738,2046,0,0,0,0,0,0
$GC,5317,0.84,219.0,143.6,16.2,520,5321,0.00,1.62,0.00,0.000,4,0.000,0.050,3075,3762,2046,0,0,0,0,0,0
$GC,5355,0.84,219.0,136.4,18.6,523,5363,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2730,2045,0,0,0,0,0,0
$GC,5490,0.84,219.0,114.0,16.9,536,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2730,2046,0,0,0,0,0,0
$GC,5619,0.84,219.0,92.9,15.8,552,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2730,2046,0,0,0,0,0,0
$GC,5758,0.84,219.0,70.3,15.6,577,5765,0.00,1.67,0.00,0.000,4,0.000,0.050,3083,3754,2045,0,0,0,0,0,0
$GC,5838,0.84,219.0,55.4,19.6,591,5845,0.00,1.60,0.00,0.000,6,0.000,0.032,3091,2738,2045,0,0,0,0,0,0
$GC,5979,0.84,219.0,31.0,16.9,616,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2738,2045,0,0,0,0,0,0
$FREEZE,8.87,-1.818,-1.904,2,1,0
$FREEZE,8.12,-1.817,-1.904,2,1,0
$GC,6120,0.84,219.0,8.1,15.3,641,6126,0.00,1.67,0.00,0.000,4,0.000,0.050,3091,3764,2045,0,0,0,0,0,0
$FREEZE,5.78,-1.816,-1.902,2,1,0
$FREEZE,4.84,-1.816,-1.901,2,1,0
$FREEZE,3.85,-1.816,-1.900,2,1,0
$FREEZE,2.85,-1.815,-1.900,2,1,0
$STATE,6148,end climb,SURFACE_DEPTH_REACHED
$STATE,6148,begin surface coast
$FREEZE,1.84,-1.815,-1.899,2,1,0
$FREEZE,0.79,-1.814,-1.898,2,1,0
$FINISH,0.8,1.027827
$STATE,6160,end surface coast,CONTROL_FINISHED_OK
$STATE,6160,begin surface
$SM_CCo,6177,202.88,0.100,0,0,444,616.92
$SM_GC,0.78,0.00,0.00,202.88,0.000,0.000,0.100,183,2775,444,-8.17,-0.14,616.92
$IRIDIUM_FIX,-7603.11,17033.80,071210,141414
$TT8_MAMPS,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,19.3
$24V_AH,22.3,5.422
$10V_AH,10.0,2.305
$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,18.500,47.925,368.225,202.875,0.000,58.976,113.106,153.906,2.250,0.000,26.000,1642.888,2908.622,674.518,1529.945,133.496,0.000,1348.420,0.000,1116.562,0.000,12.894,0.000
$DEVICE_MAMPS,224.910,83.385,1015.155,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.284,789.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258328
$DATA_FILE_SIZE,40452,648
$CAP_FILE_SIZE,89848,0
$CFSIZE,260165632,244932608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.261,222.0,1
$GPS,071210,161755,-7647.736,17038.273,22,1.4,23,133.0