version: 66.08
glider: 503
mission: 7
dive: 114
start: 12 7 110 23 42 50
data:
$ID,503
$MISSION,7
$DIVE,114
$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,1
$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,-19386.902
$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,48
$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
$GPS1,071210,233514,-7646.364,17044.555,127,3.0,146,132.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-47.2
$GPS2,071210,234222,-7646.346,17043.998,14,7.3,33,132.8
$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,301.0,242281,-18.2,-13.333
$D_GRID,760
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,155,0.00,0.00,-136.55,0.000,2,0.000,0.000,150,2780,3267,0,0,0,0,0,0
$GC,159,-0.84,-219.0,3.3,-6.2,22,191,9.05,1.67,-14.00,0.000,4,0.220,0.070,2519,3772,3857,0,0,0,0,0,0
$GC,418,-0.84,-219.0,58.3,-19.0,68,426,0.00,1.58,0.00,0.000,6,0.000,0.030,2519,2771,3859,0,0,0,0,0,0
$GC,560,-0.84,-219.0,83.9,-17.9,93,567,0.00,2.20,0.00,0.000,4,0.000,0.032,2519,1377,3859,0,0,0,0,0,0
$GC,596,-0.84,-219.0,90.4,-17.4,99,602,0.00,2.30,0.00,0.000,6,0.000,0.045,2508,2784,3859,0,0,0,0,0,0
$GC,739,-0.84,-219.0,116.8,-18.7,117,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2784,3859,0,0,0,0,0,0
$GC,866,-0.84,-219.0,140.3,-18.0,129,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2784,3859,0,0,0,0,0,0
$GC,993,-0.84,-219.0,164.1,-18.5,141,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2784,3859,0,0,0,0,0,0
$GC,1121,-0.84,-219.0,188.1,-18.4,153,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2784,3859,0,0,0,0,0,0
$GC,1248,-0.84,-219.0,211.7,-18.6,165,1252,0.00,2.20,0.00,0.000,4,0.000,0.033,2508,1376,3858,0,0,0,0,0,0
$GC,1277,-0.84,-219.0,217.0,-18.1,167,1282,0.10,2.28,0.00,0.000,6,0.176,0.044,2524,2785,3859,0,0,0,0,0,0
$GC,1411,-0.84,-219.0,240.6,-18.1,179,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2786,3859,0,0,0,0,0,0
$GC,1539,-0.84,-219.0,262.7,-16.6,191,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2786,3859,0,0,0,0,0,0
$GC,1730,-0.84,-219.0,293.2,-16.2,209,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2786,3859,0,0,0,0,0,0
$GC,1921,-0.84,-219.0,325.1,-16.9,227,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2786,3859,0,0,0,0,0,0
$GC,2113,-0.84,-219.0,356.7,-16.2,245,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2786,3859,0,0,0,0,0,0
$GC,2303,-0.84,-219.0,387.2,-15.7,263,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2785,3859,0,0,0,0,0,0
$GC,2495,-0.84,-219.0,416.6,-15.6,281,2499,0.00,2.20,0.00,0.000,4,0.000,0.033,2524,1379,3859,0,0,0,0,0,0
$GC,2529,-0.84,-219.0,421.8,-15.3,284,2533,0.00,2.22,0.00,0.000,6,0.000,0.046,2515,2770,3859,0,0,0,0,0,0
$GC,2726,-0.84,-219.0,453.7,-16.4,302,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2769,3859,0,0,0,0,0,0
$GC,2918,-0.84,-219.0,485.3,-16.4,320,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2769,3858,0,0,0,0,0,0
$GC,3105,-0.84,-219.0,515.6,-16.0,332,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2769,3859,0,0,0,0,0,0
$GC,3288,-0.84,-219.0,544.4,-15.6,338,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2769,3859,0,0,0,0,0,0
$GC,3473,-0.84,-219.0,573.0,-15.6,344,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2769,3859,0,0,0,0,0,0
$GC,3661,-0.84,-219.0,602.1,-15.9,350,3664,0.00,1.58,0.00,0.000,4,0.000,0.052,2508,3754,3859,0,0,0,0,0,0
$GC,3695,-0.84,-219.0,608.6,-16.9,351,3699,0.00,1.52,0.00,0.000,6,0.000,0.031,2508,2770,3858,0,0,0,0,0,0
$GC,3912,-0.84,-219.0,645.3,-16.8,358,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3859,0,0,0,0,0,0
$GC,4096,-0.84,-219.0,676.0,-16.6,364,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2769,3858,0,0,0,0,0,0
$GC,4280,-0.84,-219.0,706.1,-16.3,370,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2770,3858,0,0,0,0,0,0
$GC,4464,-0.84,-219.0,706.6,0.0,376,4468,0.00,2.15,0.00,0.000,4,0.000,0.034,2508,1371,3859,0,0,0,0,0,0
$STATE,4524,end dive,NO_VERTICAL_VELOCITY
$STATE,4525,begin apogee
$GC,4531,-0.16,0.0,706.5,0.0,378,4719,0.65,0.00,181.18,1.153,4,0.078,0.000,2750,2700,2959,0,0,0,0,0,0
$STATE,4720,end apogee,CONTROL_FINISHED_OK
$STATE,4720,begin climb
$GC,4722,0.84,219.0,706.4,0.0,384,4930,0.93,1.88,197.77,1.093,4,0.074,0.053,3075,3747,2067,0,0,0,0,0,0
$GC,5001,0.84,219.0,678.1,16.2,392,5010,0.00,1.77,0.00,0.000,6,0.000,0.028,3083,2709,2057,0,0,1,0,0,0
$GC,5192,0.84,219.0,647.7,16.3,399,5196,0.00,1.80,0.00,0.000,4,0.000,0.047,3083,3766,2052,0,0,0,0,0,0
$GC,5447,0.84,219.0,600.5,18.1,406,5451,0.00,1.73,0.00,0.000,6,0.000,0.030,3091,2700,2050,0,0,1,0,0,0
$GC,5644,0.84,219.0,567.3,16.9,413,5648,0.00,1.75,0.00,0.000,4,0.000,0.048,3091,3767,2050,0,0,0,0,0,0
$GC,5682,0.84,219.0,559.7,18.8,414,5686,0.00,1.67,0.00,0.000,6,0.000,0.031,3100,2720,2049,0,0,1,0,0,0
$GC,5896,0.84,219.0,520.6,18.7,421,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2720,2049,0,0,0,0,0,0
$GC,6081,0.84,219.0,485.8,18.9,431,6085,0.00,1.70,0.00,0.000,4,0.000,0.049,3100,3770,2048,0,0,0,0,0,0
$GC,6137,0.84,219.0,474.6,21.5,436,6141,0.15,1.65,0.00,0.000,6,0.172,0.031,3068,2710,2048,0,0,0,0,0,0
$GC,6340,0.84,219.0,442.3,15.6,455,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2708,2047,0,0,0,0,0,0
$GC,6531,0.84,219.0,413.1,15.2,473,6535,0.00,1.73,0.00,0.000,4,0.000,0.050,3067,3754,2047,0,0,0,0,0,0
$GC,6579,0.84,219.0,404.6,17.8,477,6587,0.00,1.62,0.00,0.000,6,0.000,0.030,3074,2729,2047,0,0,0,0,0,0
$GC,6777,0.84,219.0,373.4,15.7,496,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2729,2047,0,0,0,0,0,0
$GC,6969,0.84,219.0,343.4,15.5,514,6972,0.00,1.67,0.00,0.000,4,0.000,0.049,3075,3771,2046,0,0,0,0,0,0
$GC,7014,0.84,219.0,335.6,18.6,518,7018,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2726,2047,0,0,0,0,0,0
$GC,7217,0.84,219.0,302.8,15.7,537,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2724,2046,0,0,0,0,0,0
$GC,7408,0.84,219.0,272.6,15.5,555,7411,0.00,1.65,0.00,0.000,4,0.000,0.049,3083,3764,2046,0,0,0,0,0,0
$GC,7456,0.84,219.0,263.9,17.2,559,7464,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2732,2046,0,0,0,0,0,0
$GC,7655,0.84,219.0,233.1,15.6,578,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2731,2045,0,0,0,0,0,0
$GC,7782,0.84,219.0,212.8,15.9,590,7786,0.00,1.65,0.00,0.000,4,0.000,0.050,3091,3770,2046,0,0,0,0,0,0
$GC,7839,0.84,219.0,202.7,18.7,595,7842,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2739,2045,0,0,0,0,0,0
$GC,7978,0.84,219.0,178.4,17.7,608,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2737,2046,0,0,0,0,0,0
$GC,8106,0.84,219.0,156.6,17.4,620,8109,0.00,1.62,0.00,0.000,4,0.000,0.051,3099,3762,2045,0,0,0,0,0,0
$GC,8140,0.84,219.0,150.2,19.4,623,8144,0.08,1.60,0.00,0.000,6,0.158,0.032,3074,2746,2045,0,0,0,0,0,0
$GC,8279,0.85,226.9,130.1,13.0,636,8290,0.00,0.00,4.35,0.672,6,0.000,0.000,3073,2745,2034,0,0,0,0,0,0
$GC,8417,0.85,232.5,112.9,13.1,649,8427,0.00,0.00,6.68,0.752,6,0.000,0.000,3074,2745,2012,0,0,0,0,0,0
$GC,8556,0.85,232.5,91.7,15.5,666,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2745,2012,0,0,0,0,0,0
$GC,8698,0.85,232.5,71.8,14.1,691,8704,0.00,2.30,0.00,0.000,4,0.000,0.036,3084,1288,2011,0,0,0,0,0,0
$GC,8721,0.85,232.5,68.5,14.5,695,8728,0.00,2.38,0.00,0.000,6,0.000,0.044,3084,2754,2011,0,0,0,0,0,0
$GC,8863,0.85,232.5,43.8,18.5,720,8870,0.00,1.62,0.00,0.000,4,0.000,0.049,3084,3764,2011,0,0,0,0,0,0
$GC,8906,0.85,232.5,35.9,20.2,727,8913,0.00,1.58,0.00,0.000,6,0.000,0.032,3093,2758,2011,0,0,0,0,0,0
$FREEZE,8.52,-1.835,-1.902,2,1,0
$GC,9048,0.85,232.5,8.5,21.7,752,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2758,2010,0,0,0,0,0,0
$FREEZE,5.67,-1.835,-1.900,2,1,0
$FREEZE,4.99,-1.833,-1.900,2,1,0
$FREEZE,4.21,-1.833,-1.899,2,1,0
$FREEZE,3.50,-1.832,-1.898,2,1,0
$FREEZE,2.94,-1.828,-1.898,2,1,0
$STATE,9081,end climb,SURFACE_DEPTH_REACHED
$STATE,9081,begin surface coast
$FREEZE,2.62,-1.826,-1.898,2,1,0
$FREEZE,2.04,-1.823,-1.897,2,1,0
$FREEZE,1.63,-1.824,-1.897,2,1,0
$FREEZE,1.09,-1.823,-1.896,2,1,0
$FINISH,1.1,1.027801
$STATE,9104,end surface coast,CONTROL_FINISHED_OK
$STATE,9104,begin surface
$SM_CCo,9119,202.02,0.103,0,0,445,616.92
$SM_GC,0.64,0.00,0.00,202.02,0.000,0.000,0.103,183,2756,445,-8.15,-0.68,616.92
$IRIDIUM_FIX,-7603.11,17043.08,071210,212158
$TT8_MAMPS,0.026964
$HUMID,49.25
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.9
$24V_AH,22.0,5.973
$10V_AH,9.9,2.554
$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,18.625,62.350,389.975,202.025,0.000,29.257,37.280,223.775,3.500,0.000,37.592,1976.042,5135.562,709.272,1758.644,180.147,0.000,1516.865,0.000,1354.208,0.000,27.822,0.000
$DEVICE_MAMPS,220.320,69.615,1152.855,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.233,940.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258344
$DATA_FILE_SIZE,47199,762
$CAP_FILE_SIZE,113315,0
$CFSIZE,260165632,244686848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.082,208.5,1
$GPS,081210,022010,-7646.210,17048.918,59,7.2,78,132.6