version: 66.08
glider: 503
mission: 7
dive: 144
start: 12 10 110 18 31 59
data:
$ID,503
$MISSION,7
$DIVE,144
$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,-19667.791
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,101210,182625,-7641.275,17310.234,25,1.3,31,128.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-60.5
$GPS2,101210,183131,-7641.219,17310.168,14,1.3,31,128.7
$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,325.9,178401,-18.2,-13.333
$D_GRID,472
$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,-219.0,0.0,0.0,0,164,0.00,0.00,-146.18,0.000,2,0.000,0.000,148,2797,3421,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.5,-6.8,24,195,8.93,1.58,-9.10,0.000,4,0.219,0.069,2516,3754,3856,0,0,0,0,0,0
$GC,436,-0.84,-219.0,62.1,-18.5,71,442,0.00,1.52,0.00,0.000,6,0.000,0.031,2515,2779,3859,0,0,0,0,0,0
$GC,577,-0.84,-219.0,89.4,-17.9,96,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2779,3859,0,0,0,0,0,0
$GC,720,-0.84,-219.0,117.4,-19.1,114,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,847,-0.84,-219.0,140.6,-18.4,126,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2779,3860,0,0,0,0,0,0
$GC,974,-0.84,-219.0,163.5,-18.0,138,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2779,3860,0,0,0,0,0,0
$GC,1102,-0.84,-219.0,186.9,-18.5,150,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2779,3860,0,0,0,0,0,0
$GC,1230,-0.84,-219.0,209.8,-17.6,162,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3860,0,0,0,0,0,0
$GC,1357,-0.84,-219.0,232.7,-18.1,174,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2780,3860,0,0,0,0,0,0
$GC,1484,-0.84,-219.0,255.0,-17.4,186,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2779,3860,0,0,0,0,0,0
$GC,1676,-0.84,-219.0,288.3,-17.7,204,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3860,0,0,0,0,0,0
$GC,1868,-0.84,-219.0,322.0,-17.6,222,1872,0.00,1.58,0.00,0.000,4,0.000,0.051,2508,3745,3860,0,0,0,0,0,0
$GC,1906,-0.84,-219.0,329.6,-18.9,225,1913,0.00,1.50,0.00,0.000,6,0.000,0.030,2508,2775,3860,0,0,0,0,0,0
$GC,2104,-0.84,-219.0,364.9,-18.0,244,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2775,3859,0,0,0,0,0,0
$GC,2295,-0.84,-219.0,398.1,-17.0,262,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2775,3860,0,0,0,0,0,0
$GC,2487,-0.84,-219.0,430.9,-17.2,280,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2775,3860,0,0,0,0,0,0
$GC,2677,-0.84,-219.0,464.6,-17.1,298,2681,0.00,1.58,0.00,0.000,4,0.000,0.052,2501,3741,3859,0,0,0,0,0,0
$GC,2714,-0.84,-219.0,471.7,-18.2,301,2722,0.00,1.50,0.00,0.000,6,0.000,0.031,2501,2775,3859,0,0,0,0,0,0
$STATE,2731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2731,begin apogee
$GC,2736,-0.16,0.0,474.4,17.8,303,2918,0.73,0.00,176.85,1.020,4,0.131,0.000,2741,2702,2960,0,0,0,0,0,0
$STATE,2919,end apogee,CONTROL_FINISHED_OK
$STATE,2919,begin climb
$GC,2921,0.84,219.0,483.8,0.0,319,3124,1.00,2.40,190.95,0.965,4,0.080,0.034,3070,1299,2066,0,0,0,0,0,0
$GC,3249,0.84,219.0,450.2,14.8,348,3253,0.00,2.40,0.00,0.000,6,0.000,0.042,3070,2687,2056,0,0,1,0,0,0
$GC,3446,0.84,219.0,419.1,16.3,366,3450,0.00,2.33,0.00,0.000,4,0.000,0.034,3081,1300,2052,0,0,0,0,0,0
$GC,3623,0.84,219.0,392.1,14.9,381,3631,0.00,2.40,0.00,0.000,6,0.000,0.042,3080,2704,2050,0,0,0,0,0,0
$GC,3821,0.84,219.0,360.1,16.3,400,3825,0.00,1.73,0.00,0.000,4,0.000,0.050,3081,3768,2049,0,0,0,0,0,0
$GC,3881,0.84,219.0,349.0,18.7,405,3889,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2722,2048,0,0,1,0,0,0
$GC,4079,0.84,219.0,316.5,16.1,424,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2721,2048,0,0,0,0,0,0
$GC,4272,0.84,219.0,285.1,16.6,442,4276,0.00,1.70,0.00,0.000,4,0.000,0.049,3089,3775,2047,0,0,0,0,0,0
$GC,4316,0.84,219.0,276.5,19.5,446,4320,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2711,2046,0,0,0,0,0,0
$GC,4520,0.84,219.0,241.5,17.2,465,4524,0.00,1.75,0.00,0.000,4,0.000,0.050,3097,3768,2047,0,0,0,0,0,0
$GC,4558,0.84,219.0,234.1,18.5,468,4567,0.10,1.62,0.00,0.000,6,0.156,0.031,3075,2735,2046,0,0,1,0,0,0
$GC,4693,0.84,219.0,213.3,15.4,481,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,2046,0,0,0,0,0,0
$GC,4820,0.84,219.0,194.5,14.7,493,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2734,2046,0,0,0,0,0,0
$GC,4948,0.84,219.0,175.4,15.1,505,4952,0.00,1.70,0.00,0.000,4,0.000,0.050,3075,3768,2046,0,0,0,0,0,0
$GC,4982,0.84,219.0,169.6,17.2,508,4986,0.00,1.65,0.00,0.000,6,0.000,0.031,3082,2729,2046,0,0,0,0,0,0
$GC,5122,0.84,219.0,148.3,15.2,521,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,2046,0,0,0,0,0,0
$GC,5249,0.84,219.0,129.6,14.4,533,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2727,2046,0,0,0,0,0,0
$GC,5376,0.84,219.0,109.6,15.6,545,5380,0.00,1.65,0.00,0.000,4,0.000,0.051,3082,3768,2045,0,0,0,0,0,0
$GC,5433,0.84,219.0,100.0,17.1,550,5439,0.00,1.62,0.00,0.000,6,0.000,0.032,3090,2733,2045,0,0,0,0,0,0
$GC,5575,0.84,219.0,77.5,16.5,575,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2733,2045,0,0,0,0,0,0
$GC,5716,0.84,219.0,53.9,17.3,600,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2733,2045,0,0,0,0,0,0
$GC,5859,0.84,219.0,31.1,15.0,625,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2733,2045,0,0,0,0,0,0
$FREEZE,8.27,-1.663,-1.900,2,1,0
$FREEZE,7.43,-1.663,-1.899,2,1,0
$GC,6003,0.84,219.0,7.4,17.7,650,6010,0.00,1.67,0.00,0.000,4,0.000,0.050,3090,3761,2044,0,0,0,0,0,0
$FREEZE,4.46,-1.660,-1.897,2,1,0
$FREEZE,3.58,-1.660,-1.896,2,1,0
$FREEZE,2.57,-1.656,-1.895,2,1,0
$STATE,6026,end climb,SURFACE_DEPTH_REACHED
$STATE,6026,begin surface coast
$FREEZE,1.57,-1.645,-1.894,2,1,0
$FREEZE,0.73,-1.640,-1.894,2,1,0
$FREEZE,-0.10,-1.639,-1.893,2,1,0
$FINISH,-0.1,1.027763
$STATE,6044,end surface coast,CONTROL_FINISHED_OK
$STATE,6044,begin surface
$SM_CCo,6061,200.73,0.101,0,0,445,616.92
$SM_GC,0.58,0.00,0.00,200.73,0.000,0.000,0.101,189,2776,445,-8.14,-0.11,616.92
$IRIDIUM_FIX,-7554.21,17317.96,101210,161621
$TT8_MAMPS,0.027713
$HUMID,49.21
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,20.0
$24V_AH,22.2,9.491
$10V_AH,10.0,4.147
$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,18.400,38.825,367.800,200.725,0.000,30.805,41.370,113.165,1.750,0.000,34.124,1601.994,2803.842,681.224,1366.094,127.389,0.000,1329.896,0.000,1082.697,0.000,11.191,0.000
$DEVICE_MAMPS,218.790,100.215,1019.745,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.118,789.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43699,657
$CAP_FILE_SIZE,85011,0
$CFSIZE,260165632,243294208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.123,329.2,1
$GPS,101210,201726,-7640.996,17313.539,26,1.8,27,128.6