version: 66.08
glider: 503
mission: 7
dive: 150
start: 12 11 110 5 27 35
data:
$ID,503
$MISSION,7
$DIVE,150
$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,-19675.535
$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,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
$GPS1,111210,052213,-7640.750,17327.191,19,1.9,31,128.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-61.1
$GPS2,111210,052706,-7640.722,17327.221,11,1.0,27,128.2
$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,318.6,170972,-18.2,-13.333
$D_GRID,453
$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,12,begin dive
$GC,14,-0.84,-219.0,0.0,0.0,0,165,0.00,0.00,-147.77,0.000,2,0.000,0.000,161,2763,3429,0,0,0,0,0,0
$GC,169,-0.84,-219.0,3.4,-6.9,24,196,8.93,1.65,-9.12,0.000,4,0.220,0.068,2514,3757,3856,0,0,0,0,0,0
$GC,384,-0.84,-219.0,51.6,-20.4,62,392,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2772,3859,0,0,0,0,0,0
$GC,526,-0.84,-219.0,79.1,-18.9,87,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2771,3859,0,0,0,0,0,0
$GC,670,-0.84,-219.0,106.1,-18.9,110,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2771,3859,0,0,0,0,0,0
$GC,796,-0.84,-219.0,130.0,-19.0,122,800,0.00,1.62,0.00,0.000,4,0.000,0.050,2506,3762,3859,0,0,0,0,0,0
$GC,834,-0.84,-219.0,137.8,-20.4,125,841,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2789,3859,0,0,0,0,0,0
$GC,968,-0.84,-219.0,163.4,-19.0,138,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,1096,-0.84,-219.0,186.8,-18.5,150,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3860,0,0,0,0,0,0
$GC,1223,-0.84,-219.0,211.0,-19.1,162,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,1351,-0.84,-219.0,235.3,-19.1,174,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,1478,-0.84,-219.0,258.9,-18.2,186,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,1671,-0.84,-219.0,293.8,-17.8,204,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,1860,-0.84,-219.0,327.9,-17.8,222,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,2052,-0.84,-219.0,361.4,-17.1,240,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,2243,-0.84,-219.0,394.7,-17.1,258,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$GC,2434,-0.84,-219.0,428.4,-17.4,276,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2789,3859,0,0,0,0,0,0
$STATE,2581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2581,begin apogee
$GC,2586,-0.16,0.0,454.6,18.0,290,2768,0.73,0.00,176.27,1.009,4,0.129,0.000,2745,2688,2959,0,0,0,0,0,0
$STATE,2768,end apogee,CONTROL_FINISHED_OK
$STATE,2769,begin climb
$GC,2770,0.84,219.0,464.0,0.0,306,2966,0.93,0.00,190.40,0.954,6,0.075,0.000,3062,2688,2067,0,0,0,0,0,0
$GC,3156,0.84,219.0,420.6,15.3,342,3159,0.00,1.85,0.00,0.000,4,0.000,0.048,3063,3768,2055,0,0,0,0,0,0
$GC,3235,0.84,219.0,407.1,17.6,349,3239,0.00,1.67,0.00,0.000,6,0.000,0.030,3071,2724,2053,0,0,1,0,0,0
$GC,3438,0.84,219.0,375.4,15.4,368,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2722,2051,0,0,0,0,0,0
$GC,3629,0.84,219.0,345.9,15.6,386,3632,0.00,1.70,0.00,0.000,4,0.000,0.048,3071,3762,2050,0,0,0,0,0,0
$GC,3700,0.84,219.0,333.5,17.1,392,3708,0.00,1.70,0.00,0.000,6,0.000,0.030,3079,2709,2050,0,0,0,0,0,0
$GC,3899,0.84,219.0,302.2,15.6,411,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2709,2049,0,0,0,0,0,0
$GC,4090,0.84,219.0,271.8,15.7,429,4094,0.00,1.70,0.00,0.000,4,0.000,0.050,3079,3764,2048,0,0,0,0,0,0
$GC,4158,0.84,219.0,259.7,18.1,435,4162,0.00,1.67,0.00,0.000,6,0.000,0.031,3088,2719,2048,0,0,0,0,0,0
$GC,4361,0.84,219.0,226.6,16.1,454,4364,0.00,1.67,0.00,0.000,4,0.000,0.050,3088,3763,2048,0,0,0,0,0,0
$GC,4398,0.84,219.0,219.8,17.9,457,4405,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2728,2048,0,0,0,0,0,0
$GC,4532,0.84,219.0,196.9,17.4,470,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2728,2048,0,0,0,0,0,0
$GC,4660,0.84,219.0,175.1,16.9,482,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2728,2047,0,0,0,0,0,0
$GC,4787,0.84,219.0,153.4,16.7,494,4791,0.00,1.65,0.00,0.000,4,0.000,0.050,3096,3764,2047,0,0,0,0,0,0
$GC,4847,0.84,219.0,142.0,19.0,499,4856,0.10,1.62,0.00,0.000,6,0.159,0.031,3072,2740,2047,0,0,0,0,0,0
$GC,4982,0.84,219.0,122.7,13.6,512,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2740,2047,0,0,0,0,0,0
$GC,5110,0.84,219.0,104.9,14.0,524,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2740,2047,0,0,0,0,0,0
$GC,5241,0.84,219.0,86.0,14.3,544,5249,0.00,1.67,0.00,0.000,4,0.000,0.050,3071,3762,2047,0,0,0,0,0,0
$GC,5283,0.84,219.0,79.6,15.8,551,5289,0.00,1.62,0.00,0.000,6,0.000,0.032,3080,2730,2046,0,0,0,0,0,0
$GC,5423,0.84,219.0,58.6,15.0,576,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2730,2047,0,0,0,0,0,0
$GC,5565,0.84,219.0,36.1,17.9,601,5572,0.00,1.67,0.00,0.000,4,0.000,0.050,3080,3757,2046,0,0,0,0,0,0
$GC,5645,0.84,219.0,22.4,15.3,615,5652,0.00,1.60,0.00,0.000,6,0.000,0.031,3088,2738,2046,0,0,0,0,0,0
$FREEZE,8.38,-1.646,-1.900,2,1,0
$FREEZE,7.40,-1.646,-1.899,2,1,0
$FREEZE,6.76,-1.647,-1.899,2,1,0
$FREEZE,6.06,-1.646,-1.898,2,1,0
$FREEZE,5.39,-1.643,-1.898,2,1,0
$FREEZE,4.75,-1.641,-1.897,2,1,0
$FREEZE,4.06,-1.641,-1.897,2,1,0
$FREEZE,3.39,-1.640,-1.896,2,1,0
$FREEZE,2.63,-1.640,-1.895,2,1,0
$STATE,5771,end climb,SURFACE_DEPTH_REACHED
$STATE,5771,begin surface coast
$FREEZE,1.87,-1.639,-1.895,2,1,0
$FREEZE,1.03,-1.638,-1.894,2,1,0
$FREEZE,0.40,-1.639,-1.894,2,1,0
$FREEZE,-0.07,-1.637,-1.893,2,1,0
$FINISH,-0.1,1.027766
$STATE,5793,end surface coast,CONTROL_FINISHED_OK
$STATE,5793,begin surface
$SM_CCo,5809,199.25,0.099,0,0,445,616.92
$SM_GC,0.49,0.00,0.00,199.25,0.000,0.000,0.099,195,2789,445,-8.13,0.25,616.92
$IRIDIUM_FIX,-7554.21,17319.04,111210,030307
$TT8_MAMPS,0.027713
$HUMID,49.40
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.8
$24V_AH,22.3,10.190
$10V_AH,10.0,4.455
$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,18.300,30.000,366.675,199.250,0.000,31.027,39.803,109.601,1.500,0.000,29.744,1553.072,2680.657,667.418,1290.601,124.027,0.000,1283.637,0.000,1024.514,0.000,11.189,0.000
$DEVICE_MAMPS,220.320,112.455,1009.035,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.573,780.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,40437,642
$CAP_FILE_SIZE,80691,0
$CFSIZE,260165632,243032064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.075,220.1,1
$GPS,111210,070837,-7640.751,17331.176,14,1.6,15,128.1