version: 66.08
glider: 503
mission: 7
dive: 148
start: 12 11 110 1 51 36
data:
$ID,503
$MISSION,7
$DIVE,148
$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,-19672.924
$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,26
$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
$GPS1,111210,014602,-7640.664,17321.250,23,1.8,23,128.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-64.3
$GPS2,111210,015107,-7640.636,17321.246,38,1.6,38,128.4
$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,338.8,173519,-18.2,-13.333
$D_GRID,455
$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,12,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,-152.25,0.000,2,0.000,0.000,178,2779,3559,0,0,0,0,0,0
$GC,174,-0.84,-219.0,4.0,-9.2,25,195,8.85,1.65,-5.80,0.000,4,0.220,0.067,2516,3767,3857,0,0,0,0,0,0
$GC,312,-0.84,-219.0,40.6,-17.9,49,319,0.00,1.55,0.00,0.000,6,0.000,0.030,2516,2777,3860,0,0,0,0,0,0
$GC,453,-0.84,-219.0,67.0,-19.7,74,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3860,0,0,0,0,0,0
$GC,594,-0.84,-219.0,94.9,-20.2,99,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3859,0,0,0,0,0,0
$GC,731,-0.84,-219.0,121.2,-19.7,114,735,0.00,2.20,0.00,0.000,4,0.000,0.034,2516,1375,3860,0,0,0,0,0,0
$GC,759,-0.84,-219.0,126.4,-18.2,116,763,0.00,2.28,0.00,0.000,6,0.000,0.046,2506,2778,3860,0,0,0,0,0,0
$GC,893,-0.84,-219.0,151.7,-19.4,128,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3860,0,0,0,0,0,0
$GC,1021,-0.84,-219.0,175.8,-18.6,140,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3859,0,0,0,0,0,0
$GC,1148,-0.84,-219.0,199.3,-18.6,152,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3860,0,0,0,0,0,0
$GC,1275,-0.84,-219.0,222.8,-18.5,164,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3860,0,0,0,0,0,0
$GC,1403,-0.84,-219.0,246.8,-18.6,176,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3860,0,0,0,0,0,0
$GC,1530,-0.84,-219.0,269.9,-18.2,188,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2779,3860,0,0,0,0,0,0
$GC,1722,-0.84,-219.0,305.0,-18.4,206,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3861,0,0,0,0,0,0
$GC,1913,-0.84,-219.0,339.2,-17.4,224,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3860,0,0,0,0,0,0
$GC,2103,-0.84,-219.0,372.7,-17.6,242,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2778,3860,0,0,0,0,0,0
$GC,2297,-0.84,-219.0,404.7,-16.8,260,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2779,3860,0,0,0,0,0,0
$GC,2485,-0.84,-219.0,436.2,-16.2,278,2489,0.00,1.58,0.00,0.000,4,0.000,0.051,2498,3762,3859,0,0,0,0,0,0
$GC,2522,-0.84,-219.0,442.9,-17.3,281,2531,0.08,1.52,0.00,0.000,6,0.148,0.031,2524,2782,3860,0,0,0,0,0,0
$STATE,2602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2602,begin apogee
$GC,2607,-0.16,0.0,455.3,15.3,289,2789,0.65,0.00,176.32,1.009,4,0.125,0.000,2742,2686,2960,0,0,0,0,0,0
$STATE,2789,end apogee,CONTROL_FINISHED_OK
$STATE,2790,begin climb
$GC,2792,0.84,219.0,463.1,0.0,305,2994,1.00,2.38,190.43,0.953,4,0.077,0.035,3074,1303,2067,0,0,0,0,0,0
$GC,3073,0.84,219.0,435.5,14.6,330,3077,0.00,2.45,0.00,0.000,6,0.000,0.041,3073,2703,2058,0,0,1,0,0,0
$GC,3272,0.84,219.0,403.9,16.4,348,3276,0.00,2.35,0.00,0.000,4,0.000,0.035,3084,1311,2052,0,0,0,0,0,0
$GC,3459,0.84,219.0,374.6,15.0,364,3467,0.00,2.38,0.00,0.000,6,0.000,0.042,3084,2708,2050,0,0,1,0,0,0
$GC,3659,0.84,219.0,342.7,16.3,383,3663,0.00,1.70,0.00,0.000,4,0.000,0.049,3084,3763,2050,0,0,0,0,0,0
$GC,3708,0.84,219.0,333.5,18.4,387,3717,0.00,1.67,0.00,0.000,6,0.000,0.031,3093,2716,2049,0,0,1,0,0,0
$GC,3906,0.84,219.0,300.9,16.3,406,3910,0.00,1.75,0.00,0.000,4,0.000,0.050,3093,3763,2048,0,0,0,0,0,0
$GC,3939,0.84,219.0,295.1,18.4,409,3944,0.08,1.67,0.00,0.000,6,0.164,0.031,3077,2725,2048,0,0,0,0,0,0
$GC,4143,0.84,219.0,264.2,14.8,428,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2724,2048,0,0,0,0,0,0
$GC,4333,0.84,219.0,236.1,14.7,446,4336,0.00,1.67,0.00,0.000,4,0.000,0.049,3077,3764,2047,0,0,0,0,0,0
$GC,4378,0.84,219.0,228.8,16.8,450,4382,0.00,1.62,0.00,0.000,6,0.000,0.031,3085,2699,2047,0,0,1,0,0,0
$GC,4517,0.84,219.0,207.5,15.5,463,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2699,2046,0,0,0,0,0,0
$GC,4644,0.84,219.0,188.1,15.2,475,4648,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3764,2046,0,0,0,0,0,0
$GC,4678,0.84,219.0,182.3,17.1,478,4682,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2696,2046,0,0,0,0,0,0
$GC,4818,0.84,219.0,160.1,15.3,491,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2695,2046,0,0,0,0,0,0
$GC,4945,0.84,219.0,140.3,15.9,503,4949,0.00,1.75,0.00,0.000,4,0.000,0.050,3093,3761,2046,0,0,0,0,0,0
$GC,4989,0.84,219.0,132.7,17.7,507,4994,0.12,1.62,0.00,0.000,6,0.178,0.032,3069,2732,2046,0,0,0,0,0,0
$GC,5129,0.84,222.9,113.2,13.2,520,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2732,2046,0,0,0,0,0,0
$GC,5257,0.84,222.9,95.9,13.6,534,5264,0.00,1.67,0.00,0.000,4,0.000,0.050,3068,3753,2046,0,0,0,0,0,0
$GC,5294,0.84,222.9,90.7,15.7,540,5301,0.00,1.60,0.00,0.000,6,0.000,0.031,3076,2738,2046,0,0,0,0,0,0
$GC,5434,0.84,222.9,69.9,14.7,565,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2738,2046,0,0,0,0,0,0
$GC,5574,0.84,222.9,49.5,14.1,590,5581,0.00,1.67,0.00,0.000,4,0.000,0.050,3075,3762,2045,0,0,0,0,0,0
$GC,5610,0.84,222.9,43.5,17.6,596,5617,0.00,1.60,0.00,0.000,6,0.000,0.031,3083,2745,2045,0,0,0,0,0,0
$GC,5751,0.84,222.9,22.4,15.2,621,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2744,2045,0,0,0,0,0,0
$FREEZE,8.60,-1.651,-1.900,2,1,0
$FREEZE,7.67,-1.656,-1.899,2,1,0
$FREEZE,6.83,-1.645,-1.898,2,1,0
$FREEZE,6.09,-1.644,-1.898,2,1,0
$FREEZE,5.05,-1.642,-1.897,2,1,0
$FREEZE,4.26,-1.649,-1.897,2,1,0
$FREEZE,3.42,-1.651,-1.896,2,1,0
$FREEZE,2.52,-1.641,-1.895,2,1,0
$STATE,5877,end climb,SURFACE_DEPTH_REACHED
$STATE,5877,begin surface coast
$FREEZE,1.54,-1.644,-1.894,2,1,0
$FREEZE,0.76,-1.632,-1.893,2,1,0
$FREEZE,0.21,-1.636,-1.893,2,1,0
$FINISH,0.2,1.027755
$STATE,5894,end surface coast,CONTROL_FINISHED_OK
$STATE,5894,begin surface
$SM_CCo,5909,200.07,0.101,0,0,445,616.92
$SM_GC,0.42,0.00,0.00,200.07,0.000,0.000,0.101,185,2743,445,-8.16,-1.07,616.92
$IRIDIUM_FIX,-7554.21,17328.28,111210,000004
$TT8_MAMPS,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,22.3,9.957
$10V_AH,10.0,4.353
$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,18.500,43.800,366.750,200.075,0.000,27.171,35.970,115.543,1.500,0.000,42.358,1583.639,2690.634,679.007,1344.070,132.798,0.000,1323.752,0.000,1063.263,0.000,11.188,0.000
$DEVICE_MAMPS,220.320,82.620,1009.035,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.001,786.943,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,40566,647
$CAP_FILE_SIZE,86466,0
$CFSIZE,260165632,243113984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,5
$CURRENT,0.128,307.6,1
$GPS,111210,033437,-7640.652,17323.691,33,1.9,34,128.3