version: 66.08
glider: 503
mission: 7
dive: 141
start: 12 10 110 12 30 25
data:
$ID,503
$MISSION,7
$DIVE,141
$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,-19664.018
$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,28
$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
$GPS1,101210,122507,-7642.047,17256.559,40,1.5,41,129.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-62.3
$GPS2,101210,122956,-7642.046,17256.572,33,1.6,33,129.1
$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,306.7,184420,-18.2,-13.333
$D_GRID,527
$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,-151.90,0.000,2,0.000,0.000,195,2782,3526,0,0,0,0,0,0
$GC,173,-0.84,-219.0,3.8,-9.3,25,195,8.93,1.65,-6.60,0.000,4,0.226,0.067,2516,3766,3856,0,0,0,0,0,0
$GC,357,-0.84,-219.0,48.1,-18.8,57,364,0.00,1.58,0.00,0.000,6,0.000,0.031,2516,2770,3859,0,0,0,0,0,0
$GC,498,-0.84,-219.0,75.0,-18.8,82,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2770,3859,0,0,0,0,0,0
$GC,643,-0.84,-219.0,102.5,-19.2,107,647,0.00,2.17,0.00,0.000,4,0.000,0.033,2516,1375,3859,0,0,0,0,0,0
$GC,676,-0.84,-219.0,108.8,-17.9,109,683,0.00,2.30,0.00,0.000,6,0.000,0.045,2506,2770,3859,0,0,0,0,0,0
$GC,810,-0.84,-219.0,134.0,-19.0,122,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2770,3859,0,0,0,0,0,0
$GC,937,-0.84,-219.0,158.4,-18.6,134,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2769,3860,0,0,0,0,0,0
$GC,1065,-0.84,-219.0,182.6,-18.8,146,1069,0.00,1.60,0.00,0.000,4,0.000,0.052,2498,3762,3859,0,0,0,0,0,0
$GC,1091,-0.84,-219.0,188.1,-19.1,148,1099,0.08,1.52,0.00,0.000,6,0.147,0.031,2524,2778,3860,0,0,0,0,0,0
$GC,1225,-0.84,-219.0,211.3,-17.5,161,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2779,3859,0,0,0,0,0,0
$GC,1354,-0.84,-219.0,232.7,-16.8,173,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2779,3860,0,0,0,0,0,0
$GC,1480,-0.84,-219.0,254.1,-16.7,185,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2779,3859,0,0,0,0,0,0
$GC,1672,-0.84,-219.0,286.5,-16.8,203,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2778,3860,0,0,0,0,0,0
$GC,1863,-0.84,-219.0,318.0,-16.3,221,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2778,3860,0,0,0,0,0,0
$GC,2055,-0.84,-219.0,348.6,-15.9,239,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2778,3860,0,0,0,0,0,0
$GC,2245,-0.84,-219.0,379.1,-15.9,257,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2779,3859,0,0,0,0,0,0
$GC,2436,-0.84,-219.0,409.3,-15.8,275,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2778,3860,0,0,0,0,0,0
$GC,2628,-0.84,-219.0,439.8,-16.3,293,2631,0.00,1.60,0.00,0.000,4,0.000,0.053,2517,3761,3859,0,0,0,0,0,0
$GC,2673,-0.84,-219.0,447.5,-17.2,297,2677,0.00,1.52,0.00,0.000,6,0.000,0.032,2517,2780,3859,0,0,0,0,0,0
$GC,2876,-0.84,-219.0,480.8,-16.5,316,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3859,0,0,0,0,0,0
$GC,3065,-0.84,-219.0,511.8,-16.5,330,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3859,0,0,0,0,0,0
$STATE,3186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3186,begin apogee
$GC,3190,-0.16,0.0,531.8,16.2,334,3378,0.68,0.00,177.65,1.056,4,0.125,0.000,2743,2694,2959,0,0,0,0,0,0
$STATE,3379,end apogee,CONTROL_FINISHED_OK
$STATE,3379,begin climb
$GC,3381,0.84,219.0,540.6,0.0,340,3579,0.95,0.00,192.52,1.003,6,0.074,0.000,3069,2693,2067,0,0,0,0,0,0
$GC,3769,0.84,219.0,495.7,15.3,353,3773,0.00,1.88,0.00,0.000,4,0.000,0.048,3069,3760,2055,0,0,0,0,0,0
$GC,3828,0.84,219.0,484.8,17.1,358,3836,0.00,1.73,0.00,0.000,6,0.000,0.030,3078,2717,2053,0,0,1,0,0,0
$GC,4029,0.84,219.0,453.1,16.0,377,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2716,2051,0,0,0,0,0,0
$GC,4218,0.84,219.0,422.2,16.3,395,4221,0.00,1.73,0.00,0.000,4,0.000,0.049,3078,3765,2050,0,0,0,0,0,0
$GC,4266,0.84,219.0,413.2,18.0,399,4274,0.00,1.73,0.00,0.000,6,0.000,0.030,3086,2704,2049,0,0,0,0,0,0
$GC,4466,0.84,219.0,380.1,16.9,418,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2704,2049,0,0,0,0,0,0
$GC,4656,0.84,219.0,348.0,16.8,436,4659,0.00,1.73,0.00,0.000,4,0.000,0.050,3085,3768,2049,0,0,0,0,0,0
$GC,4746,0.84,219.0,331.7,18.0,444,4750,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2708,2048,0,0,0,0,0,0
$GC,4949,0.84,219.0,297.8,16.3,463,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2706,2048,0,0,0,0,0,0
$GC,5141,0.84,219.0,266.4,16.3,481,5144,0.00,1.70,0.00,0.000,4,0.000,0.050,3094,3764,2048,0,0,0,0,0,0
$GC,5201,0.84,219.0,255.0,18.6,486,5210,0.08,1.62,0.00,0.000,6,0.168,0.031,3078,2737,2048,0,0,0,0,0,0
$GC,5400,0.84,219.0,225.2,14.7,505,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2738,2047,0,0,0,0,0,0
$GC,5528,0.84,219.0,206.3,14.7,517,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2738,2047,0,0,0,0,0,0
$GC,5655,0.84,219.0,187.8,14.6,529,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2737,2047,0,0,0,0,0,0
$GC,5782,0.84,219.0,169.2,14.8,541,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2737,2047,0,0,0,0,0,0
$GC,5910,0.84,219.0,150.6,14.6,553,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2737,2047,0,0,0,0,0,0
$GC,6037,0.84,219.0,132.0,14.9,565,6041,0.00,1.62,0.00,0.000,4,0.000,0.050,3077,3764,2046,0,0,0,0,0,0
$GC,6071,0.84,219.0,126.6,16.2,568,6075,0.00,1.62,0.00,0.000,6,0.000,0.032,3086,2730,2046,0,0,0,0,0,0
$GC,6211,0.84,219.0,105.2,16.1,581,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2729,2046,0,0,0,0,0,0
$GC,6342,0.84,219.0,85.8,14.0,601,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2729,2046,0,0,0,0,0,0
$GC,6483,0.84,219.0,65.2,14.9,626,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2729,2046,0,0,0,0,0,0
$GC,6624,0.84,219.0,43.1,15.0,651,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2729,2046,0,0,0,0,0,0
$GC,6765,0.84,219.0,20.8,17.5,676,6775,0.00,1.67,0.00,0.000,4,0.000,0.050,3085,3758,2046,0,0,0,0,0,0
$FREEZE,8.99,-1.716,-1.901,2,1,0
$GC,6833,0.84,219.0,9.0,18.3,687,6840,0.00,1.60,0.00,0.000,6,0.000,0.032,3093,2734,2046,0,0,0,0,0,0
$FREEZE,7.20,-1.706,-1.900,2,1,0
$FREEZE,6.38,-1.701,-1.899,2,1,0
$FREEZE,5.48,-1.701,-1.898,2,1,0
$FREEZE,4.74,-1.699,-1.898,2,1,0
$FREEZE,4.03,-1.699,-1.897,2,1,0
$FREEZE,3.19,-1.697,-1.897,2,1,0
$FREEZE,2.47,-1.698,-1.896,2,1,0
$STATE,6878,end climb,SURFACE_DEPTH_REACHED
$STATE,6878,begin surface coast
$FREEZE,1.25,-1.700,-1.895,2,1,0
$FREEZE,0.61,-1.701,-1.895,2,1,0
$FREEZE,-0.07,-1.696,-1.894,2,1,0
$FREEZE,-0.12,-1.699,-1.894,2,1,0
$FINISH,-0.1,1.027778
$STATE,6901,end surface coast,CONTROL_FINISHED_OK
$STATE,6901,begin surface
$SM_CCo,6916,199.20,0.102,0,0,444,616.92
$SM_GC,0.69,0.00,0.00,199.20,0.000,0.000,0.102,192,2788,444,-8.14,0.23,616.92
$IRIDIUM_FIX,-7554.21,17259.44,101210,101047
$TT8_MAMPS,0.026964
$HUMID,49.25
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.7
$24V_AH,22.2,9.122
$10V_AH,10.0,3.985
$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,18.350,34.375,370.175,199.200,0.000,28.469,36.237,103.635,1.750,0.000,36.212,1763.107,3417.732,675.050,1429.632,133.540,0.000,1368.572,0.000,1158.493,0.000,12.902,0.000
$DEVICE_MAMPS,226.440,110.925,1056.465,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.457,848.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258336
$DATA_FILE_SIZE,43726,699
$CAP_FILE_SIZE,91240,0
$CFSIZE,260165632,243429376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.033,194.3,1
$GPS,101210,143037,-7641.877,17301.682,56,1.3,57,129.0