version: 66.08
glider: 503
mission: 7
dive: 140
start: 12 10 110 10 27 51
data:
$ID,503
$MISSION,7
$DIVE,140
$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,-19662.762
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,101210,102213,-7642.216,17251.918,40,1.9,47,129.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-67.5
$GPS2,101210,102722,-7642.203,17251.873,9,3.1,28,129.2
$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,307.7,186471,-18.2,-13.333
$D_GRID,539
$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,-219.0,0.0,0.0,0,171,0.00,0.00,-151.98,0.000,2,0.000,0.000,188,2787,3542,0,0,0,0,0,0
$GC,174,-0.84,-219.0,3.8,-9.1,25,195,8.80,1.62,-6.30,0.000,4,0.220,0.066,2514,3766,3857,0,0,0,0,0,0
$GC,446,-0.84,-219.0,64.3,-18.8,73,452,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2775,3860,0,0,0,0,0,0
$GC,587,-0.84,-219.0,90.8,-18.4,98,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,724,-0.84,-219.0,115.9,-18.4,115,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,851,-0.84,-219.0,139.3,-18.6,127,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,978,-0.84,-219.0,162.1,-17.8,139,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,1106,-0.84,-219.0,185.7,-18.7,151,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3860,0,0,0,0,0,0
$GC,1233,-0.84,-219.0,209.7,-19.1,163,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,1361,-0.84,-219.0,233.6,-18.6,175,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,1488,-0.84,-219.0,257.4,-18.7,187,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2775,3860,0,0,0,0,0,0
$GC,1679,-0.84,-219.0,292.4,-18.0,205,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,1872,-0.84,-219.0,327.0,-17.8,223,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,2062,-0.84,-219.0,361.3,-18.4,241,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3861,0,0,0,0,0,0
$GC,2253,-0.84,-219.0,396.0,-18.2,259,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,2445,-0.84,-219.0,429.6,-17.2,277,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2775,3860,0,0,0,0,0,0
$GC,2636,-0.84,-219.0,462.0,-16.7,295,2639,0.00,1.60,0.00,0.000,4,0.000,0.052,2506,3756,3860,0,0,0,0,0,0
$GC,2684,-0.84,-219.0,471.0,-17.6,299,2693,0.00,1.50,0.00,0.000,6,0.000,0.031,2507,2792,3860,0,0,0,0,0,0
$GC,2893,-0.84,-219.0,506.0,-16.8,317,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2792,3860,0,0,0,0,0,0
$GC,3076,-0.84,-219.0,537.4,-17.3,323,3080,0.00,2.20,0.00,0.000,4,0.000,0.033,2508,1364,3860,0,0,0,0,0,0
$STATE,3084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3084,begin apogee
$GC,3090,-0.16,0.0,539.3,17.5,323,3274,0.75,0.00,178.43,1.060,4,0.127,0.000,2745,2704,2959,0,0,0,0,0,0
$STATE,3275,end apogee,CONTROL_FINISHED_OK
$STATE,3275,begin climb
$GC,3276,0.84,219.0,548.7,0.0,329,3481,0.93,0.00,192.90,1.002,6,0.073,0.000,3065,2704,2065,0,0,0,0,0,0
$GC,3663,0.84,219.0,503.6,15.6,342,3667,0.00,1.80,0.00,0.000,4,0.000,0.049,3065,3767,2055,0,0,0,0,0,0
$GC,3709,0.84,219.0,495.7,17.7,344,3713,0.00,1.73,0.00,0.000,6,0.000,0.030,3074,2700,2054,0,0,1,0,0,0
$GC,3912,0.84,219.0,462.4,16.2,363,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2700,2052,0,0,0,0,0,0
$GC,4103,0.84,219.0,431.9,15.7,381,4107,0.00,1.75,0.00,0.000,4,0.000,0.048,3074,3763,2051,0,0,0,0,0,0
$GC,4164,0.84,219.0,421.0,17.8,386,4171,0.00,1.73,0.00,0.000,6,0.000,0.030,3082,2700,2050,0,0,0,0,0,0
$GC,4362,0.84,219.0,388.3,16.5,405,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2700,2050,0,0,0,0,0,0
$GC,4553,0.84,219.0,357.1,16.4,423,4557,0.00,1.73,0.00,0.000,4,0.000,0.049,3082,3764,2049,0,0,0,0,0,0
$GC,4598,0.84,219.0,348.7,18.2,427,4602,0.00,1.70,0.00,0.000,6,0.000,0.031,3091,2703,2048,0,0,0,0,0,0
$GC,4801,0.84,219.0,313.7,17.2,446,4805,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3761,2048,0,0,0,0,0,0
$GC,4839,0.84,219.0,306.3,19.8,449,4846,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2728,2048,0,0,0,0,0,0
$GC,5037,0.84,219.0,271.8,17.5,468,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2727,2047,0,0,0,0,0,0
$GC,5228,0.84,219.0,239.1,17.3,486,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2728,2048,0,0,0,0,0,0
$GC,5356,0.84,219.0,216.6,17.4,498,5359,0.00,1.65,0.00,0.000,4,0.000,0.051,3098,3761,2048,0,0,0,0,0,0
$GC,5412,0.84,219.0,206.0,18.7,503,5416,0.15,1.65,0.00,0.000,6,0.173,0.032,3066,2691,2047,0,0,0,0,0,0
$GC,5551,0.84,219.0,185.0,14.7,516,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2690,2047,0,0,0,0,0,0
$GC,5679,0.84,219.0,165.7,15.3,528,5683,0.00,1.75,0.00,0.000,4,0.000,0.051,3065,3756,2047,0,0,0,0,0,0
$GC,5705,0.84,219.0,160.8,17.5,530,5713,0.00,1.62,0.00,0.000,6,0.000,0.031,3073,2726,2047,0,0,0,0,0,0
$GC,5840,0.84,219.0,139.5,16.4,543,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2726,2047,0,0,0,0,0,0
$GC,5967,0.84,219.0,120.5,14.7,555,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2726,2047,0,0,0,0,0,0
$GC,6095,0.84,219.0,101.6,14.4,567,6098,0.00,1.65,0.00,0.000,4,0.000,0.050,3073,3766,2047,0,0,0,0,0,0
$GC,6134,0.84,219.0,95.2,16.1,573,6141,0.00,1.60,0.00,0.000,6,0.000,0.032,3081,2733,2046,0,0,1,0,0,0
$GC,6276,0.84,219.0,73.5,15.2,598,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2733,2046,0,0,0,0,0,0
$GC,6416,0.84,219.0,51.6,15.0,623,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2734,2046,0,0,0,0,0,0
$GC,6557,0.84,219.0,30.1,15.4,648,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2733,2046,0,0,0,0,0,0
$FREEZE,8.61,-1.605,-1.901,2,1,0
$GC,6699,0.84,219.0,8.6,15.1,673,6706,0.00,1.67,0.00,0.000,4,0.000,0.051,3081,3759,2046,0,0,0,0,0,0
$FREEZE,6.25,-1.605,-1.899,2,1,0
$FREEZE,5.28,-1.606,-1.899,2,1,0
$FREEZE,4.36,-1.605,-1.898,2,1,0
$FREEZE,3.30,-1.605,-1.897,2,1,0
$FREEZE,2.37,-1.605,-1.896,2,1,0
$STATE,6733,end climb,SURFACE_DEPTH_REACHED
$STATE,6734,begin surface coast
$FREEZE,1.57,-1.603,-1.896,2,1,0
$FINISH,1.6,1.027782
$STATE,6741,end surface coast,CONTROL_FINISHED_OK
$STATE,6741,begin surface
$SM_CCo,6758,199.32,0.100,0,0,445,616.92
$SM_GC,0.61,0.00,0.00,199.32,0.000,0.000,0.100,195,2781,445,-8.14,0.03,616.92
$IRIDIUM_FIX,-7554.21,17249.02,101210,080803
$TT8_MAMPS,0.027713
$HUMID,48.97
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.4
$24V_AH,22.2,9.001
$10V_AH,10.0,3.929
$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,18.225,37.600,371.325,199.325,0.000,27.599,42.812,115.898,1.750,0.000,32.752,1703.670,3359.777,672.141,1406.743,138.052,0.000,1349.433,0.000,1121.753,0.000,12.905,0.000
$DEVICE_MAMPS,219.555,65.790,1060.290,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.976,830.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258268
$DATA_FILE_SIZE,43737,680
$CAP_FILE_SIZE,89216,0
$CFSIZE,260165632,243478528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.054,210.8,1
$GPS,101210,122507,-7642.047,17256.559,40,1.5,41,129.1