version: 66.08
glider: 503
mission: 7
dive: 112
start: 12 7 110 18 58 57
data:
$ID,503
$MISSION,7
$DIVE,112
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,180
$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,-19384.387
$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,47
$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
$GPS1,071210,185225,-7647.301,17039.322,68,1.2,73,132.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-55.6
$GPS2,071210,185828,-7647.301,17039.055,13,2.7,32,132.9
$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,254.7,33296,-18.2,-13.333
$D_GRID,763
$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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,162,0.00,0.00,-144.35,0.000,2,0.000,0.000,148,2779,3451,0,0,0,0,0,0
$GC,165,-0.84,-219.0,3.6,-6.5,23,192,8.98,2.25,-8.50,0.000,4,0.221,0.048,2522,1367,3857,0,0,0,0,0,0
$GC,422,-0.84,-219.0,53.6,-16.1,68,429,0.00,2.33,0.00,0.000,6,0.000,0.045,2511,2784,3859,0,0,0,0,0,0
$GC,564,-0.84,-219.0,80.9,-20.1,93,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3859,0,0,0,0,0,0
$GC,708,-0.84,-219.0,109.2,-19.1,115,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3859,0,0,0,0,0,0
$GC,836,-0.84,-219.0,133.3,-18.8,127,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3860,0,0,0,0,0,0
$GC,964,-0.84,-219.0,157.5,-19.2,139,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3860,0,0,0,0,0,0
$GC,1091,-0.84,-219.0,181.7,-18.7,151,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2783,3860,0,0,0,0,0,0
$GC,1218,-0.84,-219.0,205.3,-18.7,163,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3860,0,0,0,0,0,0
$GC,1346,-0.84,-219.0,229.4,-18.9,175,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3859,0,0,0,0,0,0
$GC,1474,-0.84,-219.0,253.9,-19.7,187,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3860,0,0,0,0,0,0
$GC,1664,-0.84,-219.0,291.2,-19.9,205,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3860,0,0,0,0,0,0
$GC,1856,-0.84,-219.0,327.3,-18.2,223,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3861,0,0,0,0,0,0
$GC,2046,-0.84,-219.0,362.5,-18.0,241,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2784,3860,0,0,0,0,0,0
$GC,2238,-0.84,-219.0,398.4,-19.3,259,2242,0.00,2.20,0.00,0.000,4,0.000,0.033,2511,1365,3860,0,0,0,0,0,0
$GC,2266,-0.84,-219.0,403.6,-18.2,261,2270,0.00,2.28,0.00,0.000,6,0.000,0.046,2500,2783,3860,0,0,0,0,0,0
$GC,2464,-0.84,-219.0,441.3,-19.3,279,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2783,3860,0,0,0,0,0,0
$GC,2656,-0.84,-219.0,477.5,-19.2,297,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2783,3860,0,0,0,0,0,0
$GC,2844,-0.84,-219.0,512.5,-18.3,311,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2783,3860,0,0,0,0,0,0
$GC,3027,-0.84,-219.0,545.8,-18.2,317,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2782,3860,0,0,0,0,0,0
$GC,3211,-0.84,-219.0,579.4,-18.2,323,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2783,3860,0,0,0,0,0,0
$STATE,3335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3335,begin apogee
$GC,3340,-0.16,0.0,601.4,17.9,327,3528,0.73,0.00,179.38,1.082,4,0.129,0.000,2742,2686,2959,0,0,0,0,0,0
$STATE,3529,end apogee,CONTROL_FINISHED_OK
$STATE,3529,begin climb
$GC,3531,0.84,219.0,611.1,0.0,333,3735,1.00,2.35,193.95,1.028,4,0.076,0.033,3072,1310,2066,0,0,0,0,0,0
$GC,3862,0.84,219.0,575.6,14.5,343,3867,0.00,2.42,0.00,0.000,6,0.000,0.040,3072,2693,2056,0,0,1,0,0,0
$GC,4070,0.84,219.0,542.7,16.1,350,4074,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1309,2051,0,0,0,0,0,0
$GC,4237,0.84,219.0,517.3,14.6,355,4241,0.00,2.35,0.00,0.000,6,0.000,0.041,3083,2698,2050,0,0,1,0,0,0
$GC,4432,0.84,219.0,484.8,16.6,366,4436,0.00,1.75,0.00,0.000,4,0.000,0.049,3083,3770,2049,0,0,0,0,0,0
$GC,4500,0.84,219.0,472.3,19.0,372,4503,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2721,2047,0,0,1,0,0,0
$GC,4704,0.84,219.0,437.4,17.3,391,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2719,2047,0,0,0,0,0,0
$GC,4894,0.84,219.0,405.8,16.4,409,4897,0.00,1.67,0.00,0.000,4,0.000,0.049,3091,3763,2047,0,0,0,0,0,0
$GC,4963,0.84,219.0,393.2,19.2,415,4967,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2701,2046,0,0,0,0,0,0
$GC,5166,0.84,219.0,357.0,17.1,434,5170,0.00,1.73,0.00,0.000,4,0.000,0.050,3099,3770,2046,0,0,0,0,0,0
$GC,5215,0.84,219.0,347.3,19.7,438,5225,0.10,1.65,0.00,0.000,6,0.159,0.031,3076,2731,2046,0,0,0,0,0,0
$GC,5413,0.84,219.0,316.4,15.0,457,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2730,2046,0,0,0,0,0,0
$GC,5605,0.84,219.0,286.9,15.4,475,5608,0.00,1.65,0.00,0.000,4,0.000,0.050,3076,3764,2046,0,0,0,0,0,0
$GC,5672,0.84,219.0,275.1,17.4,481,5676,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2733,2046,0,0,0,0,0,0
$GC,5876,0.84,219.0,242.1,16.2,500,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2731,2045,0,0,0,0,0,0
$GC,6003,0.84,219.0,221.5,16.1,512,6006,0.00,1.65,0.00,0.000,4,0.000,0.050,3083,3771,2046,0,0,0,0,0,0
$GC,6051,0.84,219.0,212.4,18.2,516,6059,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2736,2045,0,0,0,0,0,0
$GC,6186,0.84,219.0,189.2,17.2,529,6189,0.00,1.62,0.00,0.000,4,0.000,0.050,3091,3764,2045,0,0,0,0,0,0
$GC,6235,0.84,219.0,179.3,20.0,533,6242,0.00,1.58,0.00,0.000,6,0.000,0.031,3099,2763,2045,0,0,0,0,0,0
$GC,6369,0.84,219.0,156.6,16.7,546,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2763,2045,0,0,0,0,0,0
$GC,6497,0.84,219.0,135.0,16.9,558,6500,0.00,1.62,0.00,0.000,4,0.000,0.051,3099,3787,2045,0,0,0,0,0,0
$GC,6531,0.84,219.0,128.9,19.2,561,6535,0.08,1.60,0.00,0.000,6,0.158,0.032,3074,2770,2044,0,0,0,0,0,0
$GC,6670,0.84,219.0,107.4,15.2,574,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2770,2044,0,0,0,0,0,0
$GC,6799,0.84,219.0,87.7,14.7,593,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2770,2044,0,0,0,0,0,0
$GC,6941,0.84,219.0,67.0,15.5,618,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2770,2044,0,0,0,0,0,0
$GC,7083,0.84,219.0,45.5,14.9,643,7090,0.00,1.60,0.00,0.000,4,0.000,0.050,3074,3754,2044,0,0,0,0,0,0
$GC,7224,0.84,219.0,20.8,18.2,668,7234,0.00,1.55,0.00,0.000,6,0.000,0.031,3081,2759,2044,0,0,0,0,0,0
$FREEZE,8.56,-1.814,-1.904,2,1,0
$FREEZE,7.83,-1.813,-1.903,2,1,0
$FREEZE,7.05,-1.813,-1.903,2,1,0
$FREEZE,6.16,-1.812,-1.902,2,1,0
$FREEZE,5.24,-1.811,-1.901,2,1,0
$FREEZE,4.27,-1.810,-1.901,2,1,0
$FREEZE,3.31,-1.809,-1.900,2,1,0
$FREEZE,2.25,-1.805,-1.899,2,1,0
$STATE,7326,end climb,SURFACE_DEPTH_REACHED
$STATE,7326,begin surface coast
$FREEZE,1.33,-1.803,-1.898,2,1,0
$FREEZE,0.57,-1.799,-1.897,2,1,0
$FREEZE,0.08,-1.798,-1.897,2,1,0
$FINISH,0.1,1.027821
$STATE,7343,end surface coast,CONTROL_FINISHED_OK
$STATE,7343,begin surface
$SM_CCo,7358,203.82,0.100,0,0,444,616.92
$SM_GC,0.75,0.00,0.00,203.82,0.000,0.000,0.100,192,2757,444,-8.13,-0.65,616.92
$IRIDIUM_FIX,-7603.11,17013.70,071210,161628
$TT8_MAMPS,0.027713
$HUMID,49.17
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,601.4,7.0
$24V_AH,22.1,5.689
$10V_AH,10.0,2.425
$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,18.600,44.775,373.325,203.825,0.000,31.210,36.780,168.636,2.500,0.000,35.747,1765.150,3795.004,675.504,1551.067,149.725,0.000,1396.033,0.000,1215.535,0.000,19.055,0.000
$DEVICE_MAMPS,221.085,82.620,1082.475,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.823,850.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258344
$DATA_FILE_SIZE,43641,689
$CAP_FILE_SIZE,96482,0
$CFSIZE,260165632,244817920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.116,201.5,1
$GPS,071210,210631,-7646.649,17040.459,53,1.5,54,132.9