version: 66.08
glider: 503
mission: 7
dive: 142
start: 12 10 110 14 38 53
data:
$ID,503
$MISSION,7
$DIVE,142
$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,-19665.275
$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,32
$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
$GPS1,101210,143037,-7641.877,17301.682,56,1.3,57,129.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-59.3
$GPS2,101210,143825,-7641.846,17301.777,14,1.3,31,129.0
$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,309.0,182141,-18.2,-13.333
$D_GRID,503
$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,-219.0,0.0,0.0,0,165,0.00,0.00,-146.75,0.000,2,0.000,0.000,176,2789,3405,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.3,-5.4,23,195,8.85,1.60,-9.48,0.000,4,0.220,0.070,2513,3754,3856,0,0,0,0,0,0
$GC,367,-0.84,-219.0,49.3,-18.7,58,374,0.00,1.52,0.00,0.000,6,0.000,0.029,2513,2779,3859,0,0,0,0,0,0
$GC,507,-0.84,-219.0,76.9,-19.0,83,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2779,3859,0,0,0,0,0,0
$GC,653,-0.84,-219.0,104.6,-18.6,107,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2779,3858,0,0,0,0,0,0
$GC,780,-0.84,-219.0,128.3,-18.8,119,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2779,3860,0,0,0,0,0,0
$GC,908,-0.84,-219.0,152.2,-18.7,131,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2779,3860,0,0,0,0,0,0
$GC,1035,-0.84,-219.0,175.3,-17.7,143,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2779,3859,0,0,0,0,0,0
$GC,1163,-0.84,-219.0,198.1,-17.9,155,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2779,3860,0,0,0,0,0,0
$GC,1290,-0.84,-219.0,220.6,-17.9,167,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2779,3860,0,0,0,0,0,0
$GC,1418,-0.84,-219.0,243.0,-17.6,179,1421,0.00,1.60,0.00,0.000,4,0.000,0.052,2506,3754,3859,0,0,0,0,0,0
$GC,1456,-0.84,-219.0,250.5,-18.8,182,1463,0.00,1.52,0.00,0.000,6,0.000,0.031,2505,2777,3859,0,0,0,0,0,0
$GC,1591,-0.84,-219.0,274.6,-18.3,195,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3859,0,0,0,0,0,0
$GC,1782,-0.84,-219.0,309.5,-18.4,213,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3859,0,0,0,0,0,0
$GC,1972,-0.84,-219.0,344.2,-18.0,231,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3859,0,0,0,0,0,0
$GC,2164,-0.84,-219.0,378.0,-17.5,249,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3859,0,0,0,0,0,0
$GC,2355,-0.84,-219.0,412.4,-18.0,267,2359,0.00,1.60,0.00,0.000,4,0.000,0.052,2498,3761,3859,0,0,0,0,0,0
$GC,2400,-0.84,-219.0,421.0,-19.0,271,2404,0.08,1.52,0.00,0.000,6,0.151,0.032,2524,2780,3859,0,0,0,0,0,0
$GC,2604,-0.84,-219.0,454.4,-16.1,290,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2780,3859,0,0,0,0,0,0
$GC,2793,-0.84,-219.0,484.5,-16.0,308,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2780,3859,0,0,0,0,0,0
$STATE,2928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2928,begin apogee
$GC,2933,-0.16,0.0,506.4,15.9,319,3120,0.65,0.00,177.18,1.040,4,0.125,0.000,2743,2696,2959,0,0,0,0,0,0
$STATE,3121,end apogee,CONTROL_FINISHED_OK
$STATE,3121,begin climb
$GC,3123,0.84,219.0,515.5,0.0,325,3324,1.00,2.38,191.90,0.985,4,0.077,0.033,3074,1304,2066,0,0,0,0,0,0
$GC,3409,0.84,219.0,488.4,14.5,338,3413,0.00,2.42,0.00,0.000,6,0.000,0.041,3074,2692,2057,0,0,1,0,0,0
$GC,3606,0.84,219.0,456.7,16.1,356,3610,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1309,2052,0,0,0,0,0,0
$GC,3759,0.84,219.0,434.0,15.2,369,3764,0.00,2.35,0.00,0.000,6,0.000,0.042,3084,2716,2050,0,0,1,0,0,0
$GC,3957,0.84,219.0,401.0,16.4,387,3960,0.00,1.70,0.00,0.000,4,0.000,0.050,3085,3762,2049,0,0,0,0,0,0
$GC,4017,0.84,219.0,389.6,18.2,392,4024,0.00,1.67,0.00,0.000,6,0.000,0.031,3093,2729,2048,0,0,0,0,0,0
$GC,4215,0.84,219.0,355.4,17.3,411,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2729,2047,0,0,0,0,0,0
$GC,4406,0.84,219.0,322.3,17.1,429,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2729,2047,0,0,0,0,0,0
$GC,4599,0.84,219.0,289.8,16.9,447,4602,0.00,1.67,0.00,0.000,4,0.000,0.050,3093,3768,2047,0,0,0,0,0,0
$GC,4636,0.84,219.0,282.3,19.1,450,4644,0.08,1.65,0.00,0.000,6,0.161,0.031,3076,2724,2046,0,0,1,0,0,0
$GC,4835,0.84,219.0,251.7,15.0,469,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2724,2046,0,0,0,0,0,0
$GC,5026,0.84,219.0,223.2,14.7,487,5029,0.00,1.67,0.00,0.000,4,0.000,0.050,3077,3770,2046,0,0,0,0,0,0
$GC,5060,0.84,219.0,217.7,17.0,490,5064,0.00,1.62,0.00,0.000,6,0.000,0.031,3085,2697,2046,0,0,1,0,0,0
$GC,5200,0.84,219.0,196.2,15.2,503,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2696,2046,0,0,0,0,0,0
$GC,5327,0.84,219.0,176.7,15.0,515,5331,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3764,2046,0,0,0,0,0,0
$GC,5365,0.84,219.0,170.2,17.1,518,5373,0.00,1.62,0.00,0.000,6,0.000,0.031,3093,2734,2045,0,0,0,0,0,0
$GC,5500,0.84,219.0,149.5,15.2,531,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2733,2045,0,0,0,0,0,0
$GC,5627,0.84,219.0,129.8,15.8,543,5631,0.00,1.65,0.00,0.000,4,0.000,0.051,3093,3768,2045,0,0,0,0,0,0
$GC,5671,0.84,219.0,122.1,17.3,547,5675,0.12,1.62,0.00,0.000,6,0.179,0.032,3067,2736,2045,0,0,0,0,0,0
$GC,5810,0.84,219.0,101.8,14.3,560,5815,0.00,2.25,0.00,0.000,4,0.000,0.036,3078,1299,2045,0,0,0,0,0,0
$GC,5839,0.84,219.0,97.8,13.9,563,5846,0.00,2.35,0.00,0.000,6,0.000,0.044,3078,2750,2045,0,0,0,0,0,0
$GC,5981,0.84,219.0,77.3,14.4,588,5988,0.00,1.62,0.00,0.000,4,0.000,0.051,3077,3755,2044,0,0,0,0,0,0
$GC,6017,0.84,219.0,71.5,16.2,594,6024,0.00,1.58,0.00,0.000,6,0.000,0.031,3085,2739,2044,0,0,1,0,0,0
$GC,6159,0.84,219.0,49.4,16.2,619,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2739,2044,0,0,0,0,0,0
$GC,6299,0.90,265.1,28.0,11.4,644,6343,0.00,1.70,36.60,0.763,4,0.000,0.050,3085,3761,1878,0,0,1,0,0,0
$FREEZE,8.33,-1.665,-1.901,2,1,0
$FREEZE,7.14,-1.665,-1.900,2,1,0
$FREEZE,6.08,-1.661,-1.899,2,1,0
$FREEZE,4.99,-1.659,-1.898,2,1,0
$GC,6426,0.90,265.1,5.0,22.1,666,6432,0.00,1.62,0.00,0.000,6,0.000,0.032,3093,2746,1874,0,0,0,0,0,0
$FREEZE,2.14,-1.665,-1.896,2,1,0
$STATE,6438,end climb,SURFACE_DEPTH_REACHED
$STATE,6438,begin surface coast
$FREEZE,1.43,-1.666,-1.895,2,1,0
$FREEZE,0.53,-1.660,-1.894,2,1,0
$FREEZE,0.05,-1.666,-1.219,2,1,0
$FINISH,0.0,1.018010
$STATE,6455,end surface coast,FINISH_DEPTH_REACHED
$STATE,6456,begin surface
$SM_CCo,6471,183.18,0.101,0,0,445,616.92
$SM_GC,0.65,0.00,0.00,183.18,0.000,0.000,0.101,187,2743,445,-8.16,-1.05,616.92
$IRIDIUM_FIX,-7554.21,17259.44,101210,141457
$TT8_MAMPS,0.027713
$HUMID,49.21
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.9
$24V_AH,22.2,9.254
$10V_AH,10.0,4.041
$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,18.600,46.650,405.675,183.175,0.000,51.837,118.607,115.449,2.000,0.000,33.778,1688.206,3098.827,685.338,1522.980,138.891,0.000,1377.918,0.000,1137.591,0.000,15.824,0.000
$DEVICE_MAMPS,220.320,100.215,1040.400,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.932,813.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258288
$DATA_FILE_SIZE,43817,671
$CAP_FILE_SIZE,92375,0
$CFSIZE,260165632,243380224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.012,351.4,1
$GPS,101210,163056,-7641.607,17306.107,31,1.4,32,128.8