version: 66.08
glider: 503
mission: 7
dive: 126
start: 12 9 110 1 38 13
data:
$ID,503
$MISSION,7
$DIVE,126
$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,-19644.578
$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,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
$GPS1,091210,013300,-7644.702,17134.268,84,1.2,84,131.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-56.3
$GPS2,091210,013744,-7644.677,17134.121,16,1.4,16,131.4
$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,324.2,220395,-18.2,-13.333
$D_GRID,745
$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,-219.0,0.0,0.0,0,160,0.00,0.00,-142.32,0.000,2,0.000,0.000,172,2794,3433,0,0,0,0,0,0
$GC,163,-0.84,-219.0,3.5,-6.5,23,190,8.93,1.60,-8.98,0.000,4,0.223,0.070,2516,3764,3856,0,0,0,0,0,0
$GC,269,-0.84,-219.0,30.7,-18.8,41,277,0.00,1.55,0.00,0.000,6,0.000,0.031,2515,2777,3858,0,0,0,0,0,0
$GC,413,-0.84,-219.0,57.4,-19.4,66,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2777,3859,0,0,0,0,0,0
$GC,553,-0.84,-219.0,85.2,-20.1,91,560,0.00,2.20,0.00,0.000,4,0.000,0.033,2516,1378,3859,0,0,0,0,0,0
$GC,589,-0.84,-219.0,91.9,-19.1,97,596,0.00,2.28,0.00,0.000,6,0.000,0.045,2506,2774,3859,0,0,0,0,0,0
$GC,727,-0.84,-219.0,122.2,-22.1,113,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,854,-0.84,-219.0,148.0,-19.4,125,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,982,-0.84,-219.0,172.4,-18.9,137,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2773,3859,0,0,0,0,0,0
$GC,1109,-0.84,-219.0,195.8,-17.7,149,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,1236,-0.84,-219.0,219.2,-18.3,161,1240,0.00,2.17,0.00,0.000,4,0.000,0.034,2506,1379,3859,0,0,0,0,0,0
$GC,1276,-0.84,-219.0,226.4,-17.2,164,1281,0.12,2.22,0.00,0.000,6,0.165,0.045,2530,2765,3859,0,0,0,0,0,0
$GC,1410,-0.84,-219.0,248.4,-16.4,176,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2765,3859,0,0,0,0,0,0
$GC,1537,-0.84,-219.0,269.5,-16.7,188,1541,0.00,1.60,0.00,0.000,4,0.000,0.051,2523,3761,3859,0,0,0,0,0,0
$GC,1571,-0.84,-219.0,275.4,-18.1,191,1575,0.00,1.55,0.00,0.000,6,0.000,0.031,2523,2768,3859,0,0,0,0,0,0
$GC,1775,-0.84,-219.0,309.5,-16.7,210,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2767,3859,0,0,0,0,0,0
$GC,1965,-0.84,-219.0,341.4,-16.8,228,1969,0.00,1.60,0.00,0.000,4,0.000,0.051,2516,3752,3859,0,0,0,0,0,0
$GC,2010,-0.84,-219.0,349.3,-17.7,232,2017,0.00,1.52,0.00,0.000,6,0.000,0.031,2516,2769,3859,0,0,0,0,0,0
$GC,2215,-0.84,-219.0,383.9,-16.4,251,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2768,3859,0,0,0,0,0,0
$GC,2408,-0.84,-219.0,415.9,-16.6,269,2411,0.00,1.60,0.00,0.000,4,0.000,0.051,2508,3754,3858,0,0,0,0,0,0
$GC,2475,-0.84,-219.0,428.1,-18.0,275,2479,0.00,1.50,0.00,0.000,6,0.000,0.031,2508,2783,3859,0,0,0,0,0,0
$GC,2679,-0.84,-219.0,462.4,-17.2,294,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2783,3859,0,0,0,0,0,0
$GC,2870,-0.84,-219.0,494.6,-17.1,312,2873,0.00,1.58,0.00,0.000,4,0.000,0.051,2501,3754,3858,0,0,0,0,0,0
$GC,2937,-0.84,-219.0,506.6,-17.6,316,2940,0.00,1.50,0.00,0.000,6,0.000,0.032,2500,2786,3858,0,0,0,0,0,0
$GC,3155,-0.84,-219.0,544.9,-17.6,323,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2786,3859,0,0,0,0,0,0
$GC,3338,-0.84,-219.0,576.6,-17.1,329,3342,0.00,1.58,0.00,0.000,4,0.000,0.050,2493,3761,3859,0,0,0,0,0,0
$GC,3398,-0.84,-219.0,587.8,-18.3,330,3407,0.08,1.50,0.00,0.000,6,0.148,0.031,2519,2794,3859,0,0,0,0,0,0
$GC,3590,-0.84,-219.0,617.3,-15.5,337,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2794,3859,0,0,0,0,0,0
$GC,3773,-0.84,-219.0,645.4,-15.2,343,3776,0.00,1.55,0.00,0.000,4,0.000,0.050,2513,3754,3858,0,0,0,0,0,0
$STATE,3801,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3801,begin apogee
$GC,3807,-0.16,0.0,650.0,17.5,343,3993,0.70,0.00,180.60,1.127,4,0.124,0.000,2747,2697,2960,0,0,0,0,0,0
$STATE,3994,end apogee,CONTROL_FINISHED_OK
$STATE,3994,begin climb
$GC,3995,0.84,219.0,658.8,0.0,349,4200,0.98,2.40,196.35,1.067,4,0.074,0.033,3070,1298,2067,0,0,0,0,0,0
$GC,4272,0.84,219.0,630.8,14.9,358,4277,0.00,2.50,0.00,0.000,6,0.000,0.041,3071,2689,2058,0,0,1,0,0,0
$GC,4469,0.84,219.0,598.9,16.7,365,4473,0.00,2.35,0.00,0.000,4,0.000,0.034,3081,1297,2052,0,0,0,0,0,0
$GC,4665,0.84,219.0,568.6,15.2,371,4669,0.00,2.35,0.00,0.000,6,0.000,0.042,3081,2709,2050,0,0,1,0,0,0
$GC,4877,0.84,219.0,532.0,17.4,378,4881,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3762,2049,0,0,0,0,0,0
$GC,4915,0.84,219.0,524.2,19.9,379,4920,0.00,1.70,0.00,0.000,6,0.000,0.031,3089,2707,2048,0,0,0,0,0,0
$GC,5111,0.84,219.0,489.4,17.6,388,5115,0.00,1.73,0.00,0.000,4,0.000,0.049,3089,3769,2047,0,0,0,0,0,0
$GC,5145,0.84,219.0,482.6,20.1,391,5149,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2716,2047,0,0,1,0,0,0
$GC,5348,0.84,219.0,444.8,18.2,410,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2715,2047,0,0,0,0,0,0
$GC,5540,0.84,219.0,410.4,17.9,428,5542,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2715,2046,0,0,0,0,0,0
$GC,5731,0.84,219.0,376.2,17.5,446,5734,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3762,2046,0,0,0,0,0,0
$GC,5798,0.84,219.0,362.7,19.8,452,5802,0.12,1.65,0.00,0.000,6,0.176,0.032,3074,2700,2046,0,0,0,0,0,0
$GC,6000,0.84,219.0,331.4,15.1,471,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2700,2046,0,0,0,0,0,0
$GC,6191,0.84,219.0,303.0,14.5,489,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2700,2045,0,0,0,0,0,0
$GC,6384,0.84,219.0,276.1,13.5,507,6388,0.00,1.70,0.00,0.000,4,0.000,0.049,3072,3768,2045,0,0,0,0,0,0
$GC,6411,0.84,219.0,271.6,15.7,509,6419,0.00,1.65,0.00,0.000,6,0.000,0.031,3080,2721,2045,0,0,0,0,0,0
$GC,6609,0.84,219.0,243.3,13.8,528,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2721,2045,0,0,0,0,0,0
$GC,6736,0.84,219.0,225.6,14.1,540,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2721,2045,0,0,0,0,0,0
$GC,6864,0.84,219.0,207.4,14.4,552,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2721,2045,0,0,0,0,0,0
$GC,6991,0.84,219.0,188.8,14.7,564,6995,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3765,2045,0,0,0,0,0,0
$GC,7028,0.84,219.0,182.4,17.1,567,7036,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2728,2044,0,0,0,0,0,0
$GC,7163,0.84,219.0,160.7,16.0,580,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2727,2044,0,0,0,0,0,0
$GC,7290,0.84,219.0,140.2,16.5,592,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2727,2044,0,0,0,0,0,0
$GC,7418,0.84,219.0,119.5,15.6,604,7422,0.00,1.70,0.00,0.000,4,0.000,0.051,3088,3767,2044,0,0,0,0,0,0
$GC,7444,0.84,219.0,114.8,16.4,606,7452,0.00,1.62,0.00,0.000,6,0.000,0.032,3097,2729,2044,0,0,0,0,0,0
$GC,7580,0.84,219.0,92.9,16.2,623,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2729,2044,0,0,0,0,0,0
$GC,7720,0.84,219.0,70.6,16.4,648,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2729,2044,0,0,0,0,0,0
$GC,7861,0.84,219.0,46.9,17.5,673,7869,0.00,1.67,0.00,0.000,4,0.000,0.051,3097,3760,2044,0,0,0,0,0,0
$GC,7920,0.84,219.0,35.1,22.0,683,7928,0.10,1.60,0.00,0.000,6,0.157,0.033,3072,2741,2044,0,0,0,0,0,0
$GC,8060,0.84,219.0,13.6,15.0,708,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2741,2044,0,0,0,0,0,0
$FREEZE,8.14,-1.812,-1.901,2,1,0
$FREEZE,7.41,-1.813,-1.900,2,1,0
$FREEZE,6.61,-1.803,-1.900,2,1,0
$FREEZE,5.87,-1.799,-1.899,2,1,0
$FREEZE,5.24,-1.802,-1.899,2,1,0
$FREEZE,4.46,-1.798,-1.898,2,1,0
$FREEZE,3.61,-1.797,-1.897,2,1,0
$FREEZE,2.96,-1.798,-1.897,2,1,0
$STATE,8130,end climb,SURFACE_DEPTH_REACHED
$STATE,8130,begin surface coast
$FREEZE,1.89,-1.789,-1.896,2,1,0
$FREEZE,1.22,-1.790,-1.895,2,1,0
$FREEZE,0.41,-1.788,-1.894,2,1,0
$FINISH,0.4,1.027779
$STATE,8149,end surface coast,CONTROL_FINISHED_OK
$STATE,8149,begin surface
$SM_CCo,8164,204.98,0.101,0,0,445,616.92
$SM_GC,0.82,0.00,0.00,204.98,0.000,0.000,0.101,193,2787,445,-8.14,0.20,616.92
$IRIDIUM_FIX,-7603.11,17132.32,081210,232314
$TT8_MAMPS,0.027713
$HUMID,48.85
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.5
$ALTIM_BOTTOM_PING,650.0,6.7
$24V_AH,22.0,7.152
$10V_AH,10.0,3.105
$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,18.550,63.775,376.950,204.975,0.000,29.238,36.664,111.483,3.000,0.000,19.456,1882.392,4346.562,699.065,1581.767,157.603,0.000,1485.223,0.000,1305.812,0.000,23.587,0.000
$DEVICE_MAMPS,223.380,116.280,1126.845,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.158,891.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258492
$DATA_FILE_SIZE,47054,724
$CAP_FILE_SIZE,108742,0
$CFSIZE,260165632,244203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.040,352.7,1
$GPS,091210,035907,-7644.663,17139.770,45,2.0,46,131.2