version: 66.08
glider: 503
mission: 7
dive: 154
start: 12 11 110 12 34 30
data:
$ID,503
$MISSION,7
$DIVE,154
$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,-19680.562
$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,44
$R_STBD_OVSHOOT,33
$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
$GPS1,111210,122928,-7640.913,17341.920,26,2.2,46,127.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-63.9
$GPS2,111210,123402,-7640.910,17341.941,10,1.3,10,127.9
$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,303.8,164694,-18.2,-13.333
$D_GRID,424
$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,-145.95,0.000,2,0.000,0.000,184,2791,3390,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.3,-6.3,24,194,8.82,1.60,-9.98,0.000,4,0.219,0.071,2517,3753,3856,0,0,0,0,0,0
$GC,384,-0.84,-219.0,52.7,-18.8,62,391,0.00,1.55,0.00,0.000,6,0.000,0.029,2518,2766,3858,0,0,0,0,0,0
$GC,526,-0.84,-219.0,80.4,-19.3,87,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3859,0,0,0,0,0,0
$GC,666,-0.84,-219.0,106.4,-18.1,109,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2766,3859,0,0,0,0,0,0
$GC,794,-0.84,-219.0,130.1,-18.4,121,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3859,0,0,0,0,0,0
$GC,921,-0.84,-219.0,154.4,-19.4,133,925,0.00,2.17,0.00,0.000,4,0.000,0.034,2517,1371,3860,0,0,0,0,0,0
$GC,959,-0.84,-219.0,161.5,-17.4,136,964,0.00,2.28,0.00,0.000,6,0.000,0.047,2507,2777,3860,0,0,0,0,0,0
$GC,1093,-0.84,-219.0,185.9,-18.4,148,1097,0.00,1.60,0.00,0.000,4,0.000,0.051,2500,3769,3860,0,0,0,0,0,0
$GC,1150,-0.84,-219.0,196.9,-19.4,153,1153,0.00,1.50,0.00,0.000,6,0.000,0.031,2500,2808,3860,0,0,0,0,0,0
$GC,1289,-0.84,-219.0,223.5,-19.3,166,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2808,3859,0,0,0,0,0,0
$GC,1417,-0.84,-219.0,248.1,-19.3,178,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2809,3860,0,0,0,0,0,0
$GC,1544,-0.84,-219.0,272.4,-19.0,190,1545,0.10,0.00,0.00,0.000,6,0.184,0.000,2525,2807,3859,0,0,0,0,0,0
$GC,1735,-0.84,-219.0,304.8,-16.5,208,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2807,3859,0,0,0,0,0,0
$GC,1926,-0.84,-219.0,336.2,-16.3,226,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2807,3859,0,0,0,0,0,0
$GC,2117,-0.84,-219.0,367.2,-16.1,244,2121,0.00,1.55,0.00,0.000,4,0.000,0.050,2518,3763,3859,0,0,0,0,0,0
$GC,2155,-0.84,-219.0,374.1,-17.4,247,2162,0.00,1.50,0.00,0.000,6,0.000,0.031,2518,2796,3859,0,0,0,0,0,0
$GC,2355,-0.84,-219.0,407.4,-16.7,266,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2796,3859,0,0,0,0,0,0
$STATE,2458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2458,begin apogee
$GC,2463,-0.16,0.0,425.5,17.2,276,2644,0.68,0.00,175.88,0.991,4,0.125,0.000,2743,2679,2960,0,0,0,0,0,0
$STATE,2645,end apogee,CONTROL_FINISHED_OK
$STATE,2645,begin climb
$GC,2646,0.84,219.0,435.6,0.0,292,2849,1.00,2.35,190.10,0.935,4,0.078,0.034,3073,1312,2066,0,0,0,0,0,0
$GC,3019,0.84,219.0,398.0,14.3,325,3023,0.00,2.38,0.00,0.000,6,0.000,0.041,3073,2701,2054,0,0,1,0,0,0
$GC,3218,0.84,219.0,367.6,15.5,343,3222,0.00,2.33,0.00,0.000,4,0.000,0.036,3084,1309,2051,0,0,0,0,0,0
$GC,3395,0.84,219.0,340.7,14.5,358,3404,0.00,2.35,0.00,0.000,6,0.000,0.043,3084,2696,2050,0,0,1,0,0,0
$GC,3594,0.84,219.0,309.3,16.1,377,3597,0.00,1.77,0.00,0.000,4,0.000,0.050,3084,3765,2048,0,0,0,0,0,0
$GC,3639,0.84,219.0,301.3,18.8,381,3643,0.00,1.62,0.00,0.000,6,0.000,0.031,3092,2718,2048,0,0,1,0,0,0
$GC,3841,0.84,219.0,267.1,16.5,400,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2716,2047,0,0,0,0,0,0
$GC,4033,0.84,219.0,235.4,16.3,418,4036,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3768,2047,0,0,0,0,0,0
$GC,4093,0.84,219.0,223.9,19.0,423,4101,0.08,1.65,0.00,0.000,6,0.161,0.031,3076,2718,2047,0,0,1,0,0,0
$GC,4228,0.84,219.0,203.3,15.0,436,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2717,2047,0,0,0,0,0,0
$GC,4356,0.84,219.0,184.0,15.1,448,4359,0.00,1.67,0.00,0.000,4,0.000,0.050,3076,3763,2046,0,0,0,0,0,0
$GC,4401,0.84,219.0,176.2,17.5,452,4405,0.00,1.65,0.00,0.000,6,0.000,0.031,3084,2696,2047,0,0,0,0,0,0
$GC,4540,0.84,219.0,154.7,15.1,465,4544,0.00,1.70,0.00,0.000,4,0.000,0.050,3084,3762,2046,0,0,0,0,0,0
$GC,4596,0.84,219.0,145.1,17.3,470,4600,0.00,1.60,0.00,0.000,6,0.000,0.031,3092,2752,2046,0,0,0,0,0,0
$GC,4736,0.84,219.0,122.4,16.1,483,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2751,2046,0,0,0,0,0,0
$GC,4863,0.84,219.0,101.6,16.6,495,4867,0.00,2.30,0.00,0.000,4,0.000,0.037,3103,1293,2046,0,0,0,0,0,0
$GC,4904,0.84,219.0,95.6,14.9,500,4912,0.12,2.38,0.00,0.000,6,0.161,0.044,3068,2753,2045,0,0,0,0,0,0
$GC,5048,0.84,219.0,75.4,13.7,525,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2754,2045,0,0,0,0,0,0
$GC,5188,0.84,219.0,56.1,14.5,550,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2754,2045,0,0,0,0,0,0
$GC,5331,0.88,250.5,36.0,12.0,575,5362,0.00,0.00,25.05,0.774,6,0.000,0.000,3069,2754,1936,0,0,0,0,0,0
$GC,5497,0.88,250.5,12.1,15.2,604,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2754,1931,0,0,0,0,0,0
$FREEZE,8.41,-1.669,-1.900,2,1,0
$FREEZE,7.62,-1.669,-1.899,2,1,0
$FREEZE,6.90,-1.668,-1.899,2,1,0
$FREEZE,6.18,-1.668,-1.898,2,1,0
$FREEZE,5.34,-1.669,-1.898,2,1,0
$FREEZE,4.54,-1.668,-1.897,2,1,0
$FREEZE,3.86,-1.669,-1.896,2,1,0
$FREEZE,3.04,-1.667,-1.896,2,1,0
$FREEZE,2.51,-1.667,-1.895,2,1,0
$STATE,5560,end climb,SURFACE_DEPTH_REACHED
$STATE,5560,begin surface coast
$FREEZE,1.93,-1.667,-1.895,2,1,0
$FREEZE,1.17,-1.665,-1.894,2,1,0
$FREEZE,0.33,-1.664,-1.893,2,1,0
$FREEZE,0.05,-1.665,-1.893,2,1,0
$FINISH,0.0,1.027763
$STATE,5584,end surface coast,CONTROL_FINISHED_OK
$STATE,5584,begin surface
$SM_CCo,5599,188.75,0.101,0,0,445,616.92
$SM_GC,0.61,0.00,0.00,188.75,0.000,0.000,0.101,185,2756,445,-8.16,-0.68,616.92
$IRIDIUM_FIX,-7554.21,17337.53,111210,101002
$TT8_MAMPS,0.027713
$HUMID,49.52
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$24V_AH,22.3,10.665
$10V_AH,10.0,4.657
$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,18.475,41.325,391.025,188.750,0.000,28.633,37.230,111.557,1.250,0.000,13.153,1512.578,2465.074,677.287,1295.285,125.119,0.000,1312.370,0.000,1045.885,0.000,9.473,0.000
$DEVICE_MAMPS,218.790,71.145,990.675,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.587,767.214,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40470,620
$CAP_FILE_SIZE,82675,0
$CFSIZE,260165632,242847744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.040,206.9,1
$GPS,111210,141207,-7640.885,17345.428,25,2.0,30,127.8