version: 66.08
glider: 503
mission: 7
dive: 124
start: 12 8 110 20 40 7
data:
$ID,503
$MISSION,7
$DIVE,124
$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,-19641.967
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,081210,203437,-7645.368,17121.043,56,1.7,56,131.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-54.9
$GPS2,081210,203939,-7645.324,17121.049,11,1.8,11,131.7
$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,318.5,226152,-18.2,-13.333
$D_GRID,750
$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,-219.0,0.0,0.0,0,159,0.00,0.00,-141.57,0.000,2,0.000,0.000,171,2760,3372,0,0,0,0,0,0
$GC,163,-0.84,-219.0,3.0,-4.9,23,190,8.95,1.62,-10.60,0.000,4,0.223,0.066,2519,3764,3855,0,0,0,0,0,0
$GC,440,-0.84,-219.0,63.7,-20.4,72,447,0.00,1.55,0.00,0.000,6,0.000,0.030,2519,2774,3857,0,0,0,0,0,0
$GC,580,-0.84,-219.0,90.2,-18.6,97,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2774,3858,0,0,0,0,0,0
$GC,718,-0.84,-219.0,116.2,-19.1,114,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2774,3858,0,0,0,0,0,0
$GC,845,-0.84,-219.0,140.3,-18.8,126,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2774,3858,0,0,0,0,0,0
$GC,973,-0.84,-219.0,163.3,-17.9,138,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2774,3858,0,0,0,0,0,0
$GC,1101,-0.84,-219.0,186.8,-18.6,150,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2773,3858,0,0,0,0,0,0
$GC,1228,-0.84,-219.0,210.1,-18.1,162,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2774,3858,0,0,0,0,0,0
$GC,1355,-0.84,-219.0,233.4,-18.0,174,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2774,3858,0,0,0,0,0,0
$GC,1483,-0.84,-219.0,256.0,-17.7,186,1486,0.00,1.60,0.00,0.000,4,0.000,0.050,2511,3756,3857,0,0,0,0,0,0
$GC,1521,-0.84,-219.0,263.2,-18.4,189,1529,0.00,1.50,0.00,0.000,6,0.000,0.031,2511,2786,3858,0,0,0,0,0,0
$GC,1721,-0.84,-219.0,298.6,-18.3,208,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2785,3857,0,0,0,0,0,0
$GC,1910,-0.84,-219.0,332.6,-17.4,226,1914,0.00,2.17,0.00,0.000,4,0.000,0.033,2511,1374,3858,0,0,0,0,0,0
$GC,1950,-0.84,-219.0,339.6,-16.6,229,1954,0.00,2.22,0.00,0.000,6,0.000,0.044,2501,2770,3858,0,0,0,0,0,0
$GC,2147,-0.84,-219.0,375.7,-18.3,247,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2770,3858,0,0,0,0,0,0
$GC,2339,-0.84,-219.0,410.5,-18.1,265,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2770,3857,0,0,0,0,0,0
$GC,2530,-0.84,-219.0,445.2,-18.7,283,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2769,3857,0,0,0,0,0,0
$GC,2722,-0.84,-219.0,479.8,-18.1,301,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2770,3858,0,0,0,0,0,0
$GC,2929,-0.84,-219.0,517.6,-18.2,315,2933,0.00,2.15,0.00,0.000,4,0.000,0.034,2501,1370,3857,0,0,0,0,0,0
$GC,2973,-0.84,-219.0,525.5,-16.8,316,2978,0.08,2.28,0.00,0.000,6,0.138,0.046,2523,2768,3857,0,0,0,0,0,0
$GC,3175,-0.84,-219.0,556.2,-15.3,323,3178,0.00,1.58,0.00,0.000,4,0.000,0.052,2516,3759,3857,0,0,0,0,0,0
$GC,3209,-0.84,-219.0,562.0,-17.2,324,3212,0.00,1.52,0.00,0.000,6,0.000,0.031,2517,2771,3857,0,0,0,0,0,0
$GC,3426,-0.84,-219.0,597.5,-16.4,331,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3857,0,0,0,0,0,0
$GC,3611,-0.84,-219.0,627.2,-16.0,337,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2771,3858,0,0,0,0,0,0
$STATE,3767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3767,begin apogee
$GC,3771,-0.16,0.0,651.3,15.6,342,3959,0.68,0.00,180.43,1.128,4,0.126,0.000,2742,2687,2960,0,0,0,0,0,0
$STATE,3960,end apogee,CONTROL_FINISHED_OK
$STATE,3960,begin climb
$GC,3962,0.84,219.0,660.1,0.0,348,4164,0.95,0.00,196.55,1.068,6,0.075,0.000,3066,2686,2067,0,0,0,0,0,0
$GC,4367,0.84,219.0,609.4,16.3,361,4371,0.00,1.88,0.00,0.000,4,0.000,0.047,3066,3755,2054,0,0,0,0,0,0
$GC,4455,0.84,219.0,593.3,17.9,363,4459,0.00,1.67,0.00,0.000,6,0.000,0.029,3074,2732,2052,0,0,1,0,0,0
$GC,4652,0.84,219.0,561.4,16.2,370,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2732,2050,0,0,0,0,0,0
$GC,4835,0.84,219.0,531.3,16.4,376,4838,0.00,1.70,0.00,0.000,4,0.000,0.049,3074,3766,2049,0,0,0,0,0,0
$GC,4870,0.84,219.0,525.2,18.7,377,4874,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2718,2049,0,0,0,0,0,0
$GC,5070,0.84,219.0,490.3,16.9,386,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2717,2048,0,0,0,0,0,0
$GC,5260,0.84,219.0,458.2,16.5,404,5264,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3770,2047,0,0,0,0,0,0
$GC,5309,0.84,219.0,449.0,19.3,408,5316,0.00,1.67,0.00,0.000,6,0.000,0.031,3091,2721,2047,0,0,0,0,0,0
$GC,5507,0.84,219.0,414.5,17.3,427,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2722,2047,0,0,0,0,0,0
$GC,5698,0.84,219.0,380.5,17.9,445,5702,0.00,1.67,0.00,0.000,4,0.000,0.049,3091,3764,2046,0,0,0,0,0,0
$GC,5747,0.84,219.0,370.2,21.1,449,5756,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2729,2046,0,0,0,0,0,0
$GC,5946,0.84,219.0,333.4,18.3,468,5949,0.00,1.67,0.00,0.000,4,0.000,0.050,3099,3768,2046,0,0,0,0,0,0
$GC,5979,0.84,219.0,326.6,21.2,471,5984,0.12,1.65,0.00,0.000,6,0.183,0.032,3074,2700,2046,0,0,0,0,0,0
$GC,6183,0.84,219.0,293.3,15.7,490,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2699,2046,0,0,0,0,0,0
$GC,6373,0.84,219.0,263.6,15.3,508,6377,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3766,2046,0,0,0,0,0,0
$GC,6431,0.84,219.0,253.9,18.3,513,6435,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2735,2045,0,0,0,0,0,0
$GC,6634,0.84,219.0,221.3,16.2,532,6636,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2733,2045,0,0,0,0,0,0
$GC,6761,0.84,219.0,200.8,16.2,544,6765,0.00,1.65,0.00,0.000,4,0.000,0.050,3081,3765,2046,0,0,0,0,0,0
$GC,6808,0.84,219.0,193.0,18.3,548,6812,0.00,1.60,0.00,0.000,6,0.000,0.032,3089,2748,2045,0,0,0,0,0,0
$GC,6948,0.84,219.0,170.2,15.6,561,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2748,2045,0,0,0,0,0,0
$GC,7075,0.84,219.0,150.4,15.9,573,7078,0.00,1.62,0.00,0.000,4,0.000,0.050,3089,3773,2045,0,0,0,0,0,0
$GC,7109,0.84,219.0,144.6,17.3,576,7112,0.00,1.60,0.00,0.000,6,0.000,0.032,3097,2752,2045,0,0,0,0,0,0
$GC,7248,0.84,219.0,121.4,16.7,589,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2752,2045,0,0,0,0,0,0
$GC,7375,0.84,219.0,100.3,16.3,601,7379,0.00,1.65,0.00,0.000,4,0.000,0.051,3097,3764,2045,0,0,0,0,0,0
$GC,7419,0.84,219.0,92.4,18.7,608,7426,0.10,1.58,0.00,0.000,6,0.158,0.033,3073,2762,2045,0,0,0,0,0,0
$GC,7561,0.84,219.0,71.0,15.7,633,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2762,2045,0,0,0,0,0,0
$GC,7701,0.84,219.0,50.8,13.8,658,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2762,2045,0,0,0,0,0,0
$GC,7842,0.84,219.0,30.4,13.5,683,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2762,2044,0,0,0,0,0,0
$FREEZE,8.29,-1.817,-1.902,2,1,0
$FREEZE,6.63,-1.823,-1.901,2,1,0
$FREEZE,5.16,-1.822,-1.900,2,1,0
$FREEZE,3.70,-1.821,-1.899,2,1,0
$GC,7983,0.90,272.4,9.8,11.1,708,8029,0.00,1.65,39.03,0.748,4,0.000,0.052,3072,3763,1848,0,0,0,0,0,0
$FREEZE,0.66,-1.812,-1.896,2,1,0
$STATE,8035,end climb,SURFACE_DEPTH_REACHED
$STATE,8035,begin surface coast
$FREEZE,0.31,-1.809,-1.885,2,1,0
$FREEZE,0.19,-1.803,-1.835,2,1,0
$FINISH,0.2,1.026942
$STATE,8049,end surface coast,CONTROL_FINISHED_OK
$STATE,8049,begin surface
$SM_CCo,8065,183.73,0.102,0,0,445,616.92
$SM_GC,0.91,0.00,0.00,183.73,0.000,0.000,0.102,184,2771,445,-8.16,-0.25,616.92
$IRIDIUM_FIX,-7603.11,17121.65,081210,181859
$TT8_MAMPS,0.027713
$HUMID,48.89
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.4
$ALTIM_BOTTOM_PING,651.3,7.1
$24V_AH,22.0,6.867
$10V_AH,10.0,2.983
$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,18.625,51.475,416.000,183.725,0.000,29.151,38.663,128.733,2.750,0.000,13.805,1830.650,4360.184,691.380,1525.384,154.835,0.000,1443.641,0.000,1241.540,0.000,20.776,0.000
$DEVICE_MAMPS,222.615,100.215,1128.375,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.101,892.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258472
$DATA_FILE_SIZE,47052,717
$CAP_FILE_SIZE,102484,0
$CFSIZE,260165632,244318208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.086, 19.5,1
$GPS,081210,225936,-7644.886,17127.691,75,1.1,81,131.6