version: 66.08
glider: 503
mission: 7
dive: 139
start: 12 10 110 8 15 18
data:
$ID,503
$MISSION,7
$DIVE,139
$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,9
$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,-19661.41
$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,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,49
$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
$GPS1,101210,080936,-7642.287,17246.555,52,1.6,64,129.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-62.9
$GPS2,101210,081449,-7642.265,17246.539,10,1.6,10,129.4
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA3
$TGT_LATLONG,-7630.000,18000.000
$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,311.6,188774,-18.2,-13.333
$D_GRID,561
$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,-219.0,0.0,0.0,0,164,0.00,0.00,-146.88,0.000,2,0.000,0.000,187,2778,3415,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.2,-6.1,24,195,8.88,1.65,-9.68,0.000,4,0.222,0.070,2518,3769,3856,0,0,0,0,0,0
$GC,378,-0.84,-219.0,48.9,-18.3,61,385,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2781,3858,0,0,0,0,0,0
$GC,519,-0.84,-219.0,74.9,-18.2,86,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2781,3859,0,0,0,0,0,0
$GC,666,-0.84,-219.0,102.1,-18.9,111,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2781,3859,0,0,0,0,0,0
$GC,793,-0.84,-219.0,125.5,-17.8,123,797,0.00,2.20,0.00,0.000,4,0.000,0.033,2517,1372,3859,0,0,0,0,0,0
$GC,833,-0.84,-219.0,132.5,-16.2,126,837,0.00,2.28,0.00,0.000,6,0.000,0.045,2507,2781,3859,0,0,0,0,0,0
$GC,966,-0.84,-219.0,156.7,-18.3,138,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3860,0,0,0,0,0,0
$GC,1094,-0.84,-219.0,179.7,-17.9,150,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,1221,-0.84,-219.0,202.7,-18.4,162,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,1349,-0.84,-219.0,226.0,-18.0,174,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,1477,-0.84,-219.0,249.2,-18.2,186,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,1604,-0.84,-219.0,272.6,-18.7,198,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2781,3859,0,0,0,0,0,0
$GC,1795,-0.84,-219.0,307.8,-17.9,216,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,1988,-0.84,-219.0,342.8,-18.3,234,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,2177,-0.84,-219.0,377.3,-18.1,252,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,2368,-0.84,-219.0,410.8,-17.2,270,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2781,3859,0,0,0,0,0,0
$GC,2560,-0.84,-219.0,443.6,-16.8,288,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,2750,-0.84,-219.0,475.9,-16.9,306,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,2961,-0.84,-219.0,510.1,-16.2,322,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$GC,3144,-0.84,-219.0,539.9,-16.1,328,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2781,3859,0,0,0,0,0,0
$STATE,3295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3296,begin apogee
$GC,3300,-0.16,0.0,564.8,16.3,333,3489,0.70,0.00,178.43,1.077,4,0.126,0.000,2742,2693,2958,0,0,0,0,0,0
$STATE,3489,end apogee,CONTROL_FINISHED_OK
$STATE,3489,begin climb
$GC,3491,0.84,219.0,573.9,0.0,339,3690,0.95,0.00,193.62,1.019,6,0.074,0.000,3066,2693,2067,0,0,0,0,0,0
$GC,3892,0.84,219.0,526.4,15.5,352,3896,0.00,1.83,0.00,0.000,4,0.000,0.047,3065,3762,2054,0,0,0,0,0,0
$GC,3970,0.84,219.0,512.2,18.5,354,3974,0.00,1.73,0.00,0.000,6,0.000,0.030,3074,2727,2053,0,0,0,0,0,0
$GC,4172,0.84,219.0,478.8,16.4,368,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2726,2051,0,0,0,0,0,0
$GC,4363,0.84,219.0,447.7,16.4,386,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2726,2050,0,0,0,0,0,0
$GC,4554,0.84,219.0,417.1,15.6,404,4558,0.00,1.70,0.00,0.000,4,0.000,0.049,3074,3770,2050,0,0,0,0,0,0
$GC,4591,0.84,219.0,410.4,17.4,407,4600,0.00,1.70,0.00,0.000,6,0.000,0.030,3083,2700,2049,0,0,1,0,0,0
$GC,4791,0.84,219.0,378.3,16.3,426,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2700,2049,0,0,0,0,0,0
$GC,4981,0.84,219.0,347.6,15.7,444,4985,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3768,2048,0,0,0,0,0,0
$GC,5019,0.84,219.0,340.6,17.4,447,5027,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2713,2048,0,0,1,0,0,0
$GC,5217,0.84,219.0,308.7,16.2,466,5221,0.00,1.70,0.00,0.000,4,0.000,0.050,3091,3770,2048,0,0,0,0,0,0
$GC,5251,0.84,219.0,302.7,17.7,469,5254,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2702,2048,0,0,1,0,0,0
$GC,5454,0.84,219.0,267.9,17.0,488,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2702,2048,0,0,0,0,0,0
$GC,5645,0.84,219.0,235.3,17.2,506,5648,0.00,1.70,0.00,0.000,4,0.000,0.050,3099,3764,2048,0,0,0,0,0,0
$GC,5701,0.84,219.0,224.7,19.7,511,5705,0.15,1.62,0.00,0.000,6,0.169,0.032,3066,2736,2047,0,0,0,0,0,0
$GC,5840,0.84,219.0,204.1,14.4,524,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2047,0,0,0,0,0,0
$GC,5968,0.84,219.0,186.3,13.8,536,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2046,0,0,0,0,0,0
$GC,6095,0.84,219.0,168.6,14.0,548,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2046,0,0,0,0,0,0
$GC,6223,0.84,219.2,151.2,13.3,560,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2046,0,0,0,0,0,0
$GC,6350,0.85,229.8,134.7,12.9,572,6360,0.00,0.00,6.97,0.776,6,0.000,0.000,3066,2735,2023,0,0,0,0,0,0
$GC,6487,0.85,229.8,116.1,13.7,585,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2022,0,0,0,0,0,0
$GC,6615,0.85,229.8,98.2,13.9,598,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2022,0,0,0,0,0,0
$GC,6754,0.85,229.8,78.8,13.6,623,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2022,0,0,0,0,0,0
$GC,6896,0.85,229.8,59.8,13.6,648,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2021,0,0,0,0,0,0
$GC,7035,0.85,229.8,40.3,14.5,673,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2021,0,0,0,0,0,0
$GC,7178,0.85,229.8,19.4,14.9,698,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2735,2021,0,0,0,0,0,0
$FREEZE,8.82,-1.591,-1.901,2,1,0
$FREEZE,8.21,-1.588,-1.901,2,1,0
$FREEZE,7.33,-1.588,-1.900,2,1,0
$FREEZE,6.65,-1.588,-1.900,2,1,0
$FREEZE,5.97,-1.592,-1.899,2,1,0
$FREEZE,5.21,-1.587,-1.899,2,1,0
$FREEZE,4.44,-1.591,-1.898,2,1,0
$FREEZE,3.65,-1.590,-1.897,2,1,0
$FREEZE,2.93,-1.587,-1.897,2,1,0
$STATE,7294,end climb,SURFACE_DEPTH_REACHED
$STATE,7294,begin surface coast
$FREEZE,2.13,-1.588,-1.896,2,1,0
$FREEZE,1.34,-1.584,-1.895,2,1,0
$FREEZE,0.57,-1.578,-1.895,2,1,0
$FREEZE,0.03,-1.578,-1.894,2,1,0
$FINISH,0.0,1.027780
$STATE,7317,end surface coast,CONTROL_FINISHED_OK
$STATE,7317,begin surface
$SM_CCo,7332,197.25,0.100,0,0,444,616.92
$SM_GC,0.60,0.00,0.00,197.25,0.000,0.000,0.100,190,2786,444,-8.16,0.17,616.92
$IRIDIUM_FIX,-7554.21,17229.27,101210,050558
$TT8_MAMPS,0.027713
$HUMID,49.40
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.4
$ALTIM_BOTTOM_PING,554.9,47.3
$24V_AH,22.1,8.878
$10V_AH,10.0,3.874
$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,18.225,24.825,379.025,197.250,0.000,29.430,43.598,132.583,2.250,0.000,12.935,1820.597,3742.006,668.754,1484.474,139.339,0.000,1369.454,0.000,1184.468,0.000,17.452,0.000
$DEVICE_MAMPS,221.850,116.280,1077.120,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.839,891.378,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258240
$DATA_FILE_SIZE,47083,723
$CAP_FILE_SIZE,91560,0
$CFSIZE,260165632,243519488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.045,207.8,1
$GPS,101210,102213,-7642.216,17251.918,40,1.9,47,129.2