version: 66.08
glider: 503
mission: 7
dive: 143
start: 12 10 110 16 36 30
data:
$ID,503
$MISSION,7
$DIVE,143
$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,-19666.533
$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,45
$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
$GPS1,101210,163056,-7641.607,17306.107,31,1.4,32,128.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-61.2
$GPS2,101210,163601,-7641.558,17306.166,42,1.2,42,128.8
$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,316.3,180193,-18.2,-13.333
$D_GRID,484
$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,-219.0,0.0,0.0,0,161,0.00,0.00,-143.23,0.000,2,0.000,0.000,168,2744,3342,0,0,0,0,0,0
$GC,165,-0.84,-219.0,3.2,-5.7,23,192,9.00,1.67,-10.93,0.000,4,0.222,0.066,2514,3767,3855,0,0,0,0,0,0
$GC,389,-0.84,-219.0,52.1,-19.1,62,396,0.00,1.58,0.00,0.000,6,0.000,0.030,2514,2770,3858,0,0,0,0,0,0
$GC,528,-0.84,-219.0,78.7,-20.0,87,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3859,0,0,0,0,0,0
$GC,674,-0.84,-219.0,106.7,-18.7,110,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3859,0,0,0,0,0,0
$GC,801,-0.84,-219.0,131.1,-19.6,122,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3859,0,0,0,0,0,0
$GC,928,-0.84,-219.0,154.5,-18.0,134,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3859,0,0,0,0,0,0
$GC,1056,-0.84,-219.0,177.6,-18.3,146,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2770,3859,0,0,0,0,0,0
$GC,1184,-0.84,-219.0,200.3,-17.7,158,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3859,0,0,0,0,0,0
$GC,1311,-0.84,-219.0,222.8,-17.6,170,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2770,3859,0,0,0,0,0,0
$GC,1438,-0.84,-219.0,245.5,-17.6,182,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2770,3859,0,0,0,0,0,0
$GC,1566,-0.84,-219.0,268.4,-18.1,194,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2770,3859,0,0,0,0,0,0
$GC,1757,-0.84,-219.0,302.7,-18.4,212,1761,0.00,2.15,0.00,0.000,4,0.000,0.033,2514,1381,3859,0,0,0,0,0,0
$GC,1786,-0.84,-219.0,307.9,-17.7,214,1790,0.00,2.28,0.00,0.000,6,0.000,0.046,2504,2795,3859,0,0,0,0,0,0
$GC,1984,-0.84,-219.0,343.9,-18.0,232,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2794,3859,0,0,0,0,0,0
$GC,2175,-0.84,-219.0,377.9,-17.6,250,2179,0.00,2.20,0.00,0.000,4,0.000,0.034,2504,1380,3858,0,0,0,0,0,0
$GC,2218,-0.84,-219.0,385.7,-15.9,253,2226,0.08,2.30,0.00,0.000,6,0.139,0.045,2523,2786,3859,0,0,0,0,0,0
$GC,2419,-0.84,-219.0,418.6,-16.6,272,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2786,3859,0,0,0,0,0,0
$GC,2608,-0.84,-219.0,450.2,-16.1,290,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2786,3858,0,0,0,0,0,0
$GC,2799,-0.84,-219.0,480.5,-15.9,308,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2786,3859,0,0,0,0,0,0
$STATE,2829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2829,begin apogee
$GC,2833,-0.16,0.0,485.5,15.5,311,3015,0.65,0.00,176.98,1.027,4,0.123,0.000,2743,2699,2960,0,0,0,0,0,0
$STATE,3016,end apogee,CONTROL_FINISHED_OK
$STATE,3016,begin climb
$GC,3018,0.84,219.0,494.2,0.0,327,3220,1.00,2.40,191.52,0.972,4,0.078,0.033,3073,1295,2066,0,0,0,0,0,0
$GC,3345,0.84,219.0,462.5,13.6,356,3349,0.00,2.45,0.00,0.000,6,0.000,0.041,3073,2701,2056,0,0,0,0,0,0
$GC,3544,0.84,219.0,432.4,16.2,374,3548,0.00,2.33,0.00,0.000,4,0.000,0.035,3083,1306,2051,0,0,0,0,0,0
$GC,3721,0.84,219.0,405.1,14.2,389,3730,0.00,2.35,0.00,0.000,6,0.000,0.042,3083,2697,2049,0,0,1,0,0,0
$GC,3920,0.84,219.0,374.6,15.2,408,3923,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3765,2049,0,0,0,0,0,0
$GC,3965,0.84,219.0,366.8,17.8,412,3969,0.00,1.70,0.00,0.000,6,0.000,0.031,3092,2718,2048,0,0,0,0,0,0
$GC,4167,0.84,219.0,332.4,17.0,431,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2717,2047,0,0,0,0,0,0
$GC,4358,0.84,219.0,300.0,16.6,449,4362,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3770,2047,0,0,0,0,0,0
$GC,4415,0.84,219.0,289.6,19.1,454,4419,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2722,2047,0,0,1,0,0,0
$GC,4618,0.84,219.0,254.2,16.9,473,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2720,2047,0,0,0,0,0,0
$GC,4809,0.84,219.0,222.2,16.7,491,4813,0.00,1.70,0.00,0.000,4,0.000,0.049,3100,3755,2047,0,0,0,0,0,0
$GC,4865,0.84,219.0,211.7,19.1,496,4869,0.15,1.65,0.00,0.000,6,0.172,0.031,3067,2685,2046,0,0,0,0,0,0
$GC,5004,0.84,219.0,190.9,14.5,509,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2684,2046,0,0,0,0,0,0
$GC,5131,0.84,219.0,172.3,14.4,521,5135,0.00,1.77,0.00,0.000,4,0.000,0.050,3067,3765,2046,0,0,0,0,0,0
$GC,5168,0.84,219.0,166.1,17.2,524,5175,0.00,1.62,0.00,0.000,6,0.000,0.031,3074,2737,2046,0,0,0,0,0,0
$GC,5303,0.84,219.0,145.6,15.2,537,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2737,2046,0,0,0,0,0,0
$GC,5430,0.84,219.0,126.8,14.7,549,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2737,2046,0,0,0,0,0,0
$GC,5557,0.84,219.0,107.8,14.5,561,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2737,2046,0,0,0,0,0,0
$GC,5689,0.84,219.0,89.9,13.4,579,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2737,2046,0,0,0,0,0,0
$GC,5829,0.84,219.0,70.3,13.5,604,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2737,2045,0,0,0,0,0,0
$GC,5970,0.84,219.0,49.8,16.9,629,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2737,2045,0,0,0,0,0,0
$GC,6113,0.84,219.0,29.5,14.0,654,6119,0.00,1.67,0.00,0.000,4,0.000,0.050,3075,3765,2045,0,0,0,0,0,0
$GC,6169,0.84,219.0,21.1,16.2,664,6176,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2729,2045,0,0,0,0,0,0
$FREEZE,8.02,-1.698,-1.900,2,1,0
$FREEZE,7.21,-1.694,-1.900,2,1,0
$FREEZE,6.44,-1.696,-1.899,2,1,0
$FREEZE,5.60,-1.698,-1.899,2,1,0
$FREEZE,4.97,-1.683,-1.898,2,1,0
$FREEZE,4.25,-1.680,-1.897,2,1,0
$FREEZE,3.35,-1.681,-1.897,2,1,0
$FREEZE,2.33,-1.681,-1.896,2,1,0
$STATE,6286,end climb,SURFACE_DEPTH_REACHED
$STATE,6286,begin surface coast
$FREEZE,1.44,-1.682,-1.895,2,1,0
$FREEZE,0.64,-1.680,-1.894,2,1,0
$FREEZE,-0.07,-1.679,-1.894,2,1,0
$FREEZE,-0.04,-1.675,-1.894,2,1,0
$FINISH,-0.0,1.027770
$STATE,6310,end surface coast,CONTROL_FINISHED_OK
$STATE,6310,begin surface
$SM_CCo,6326,199.52,0.100,0,0,445,616.92
$SM_GC,0.50,0.00,0.00,199.52,0.000,0.000,0.100,181,2797,445,-8.18,0.48,616.92
$IRIDIUM_FIX,-7554.21,17259.44,101210,141446
$TT8_MAMPS,0.027713
$HUMID,49.13
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.1
$24V_AH,22.2,9.373
$10V_AH,10.0,4.095
$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,18.575,38.725,368.500,199.525,0.000,28.769,38.215,110.045,1.500,0.000,44.533,1687.441,2943.030,670.596,1412.446,130.554,0.000,1336.321,0.000,1124.117,0.000,11.187,0.000
$DEVICE_MAMPS,221.850,98.685,1027.395,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.229,827.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,43675,689
$CAP_FILE_SIZE,87515,0
$CFSIZE,260165632,243335168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.069,339.2,1
$GPS,101210,182625,-7641.275,17310.234,25,1.3,31,128.7