version: 66.08
glider: 503
mission: 7
dive: 128
start: 12 9 110 6 35 34
data:
$ID,503
$MISSION,7
$DIVE,128
$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,-19647.09
$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,49
$R_STBD_OVSHOOT,25
$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
$GPS1,091210,062926,-7644.601,17145.729,49,2.5,68,131.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.0
$GPS2,091210,063506,-7644.581,17145.658,41,1.0,41,131.1
$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,314.2,215423,-18.2,-13.333
$D_GRID,728
$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
$STATE,13,begin dive
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$GC,158,-0.84,-219.0,3.1,-4.8,22,186,8.90,1.67,-12.48,0.000,4,0.223,0.071,2513,3766,3856,0,0,1,0,0,0
$GC,352,-0.84,-219.0,44.8,-19.5,56,360,0.00,1.58,0.00,0.000,6,0.000,0.031,2513,2772,3859,0,0,0,0,0,0
$GC,494,-0.84,-219.0,72.1,-18.9,81,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,633,-0.84,-219.0,100.0,-20.5,106,640,0.00,2.20,0.00,0.000,4,0.000,0.033,2513,1372,3859,0,0,0,0,0,0
$GC,658,-0.84,-219.0,105.1,-20.3,109,662,0.00,2.30,0.00,0.000,6,0.000,0.045,2502,2789,3860,0,0,0,0,0,0
$GC,792,-0.84,-219.0,132.0,-19.5,121,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2789,3860,0,0,0,0,0,0
$GC,920,-0.84,-219.0,156.8,-19.6,133,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2789,3860,0,0,0,0,0,0
$GC,1047,-0.84,-219.0,181.0,-18.6,145,1051,0.00,2.22,0.00,0.000,4,0.000,0.033,2502,1373,3860,0,0,0,0,0,0
$GC,1075,-0.84,-219.0,186.5,-19.0,147,1080,0.12,2.28,0.00,0.000,6,0.164,0.046,2529,2777,3860,0,0,0,0,0,0
$GC,1209,-0.84,-219.0,208.3,-16.0,159,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2777,3860,0,0,0,0,0,0
$GC,1336,-0.84,-219.0,229.1,-16.3,171,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2777,3860,0,0,0,0,0,0
$GC,1463,-0.84,-219.0,249.8,-16.3,183,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2777,3860,0,0,0,0,0,0
$GC,1591,-0.84,-219.0,270.7,-16.4,195,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2777,3860,0,0,0,0,0,0
$GC,1784,-0.84,-219.0,301.0,-15.4,213,1788,0.00,2.17,0.00,0.000,4,0.000,0.032,2529,1376,3860,0,0,0,0,0,0
$GC,1812,-0.84,-219.0,305.7,-15.5,215,1816,0.00,2.25,0.00,0.000,6,0.000,0.045,2520,2779,3860,0,0,0,0,0,0
$GC,2010,-0.84,-219.0,338.0,-16.8,233,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3859,0,0,0,0,0,0
$GC,2200,-0.84,-219.0,371.9,-18.6,251,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3860,0,0,0,0,0,0
$GC,2392,-0.84,-219.0,406.0,-17.5,269,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3860,0,0,0,0,0,0
$GC,2583,-0.84,-219.0,438.1,-16.6,287,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3859,0,0,0,0,0,0
$GC,2775,-0.84,-219.0,469.8,-16.4,305,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3859,0,0,0,0,0,0
$GC,2967,-0.84,-219.0,501.7,-16.6,323,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3860,0,0,0,0,0,0
$GC,3150,-0.84,-219.0,532.3,-16.5,329,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3860,0,0,0,0,0,0
$GC,3333,-0.84,-219.0,562.1,-16.1,335,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3860,0,0,0,0,0,0
$GC,3517,-0.84,-219.0,591.3,-15.9,341,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2778,3859,0,0,0,0,0,0
$GC,3702,-0.84,-219.0,620.3,-15.8,347,3706,0.00,2.15,0.00,0.000,4,0.000,0.032,2520,1372,3859,0,0,0,0,0,0
$GC,3730,-0.84,-219.0,625.0,-15.3,348,3734,0.00,2.22,0.00,0.000,6,0.000,0.046,2510,2769,3859,0,0,0,0,0,0
$GC,3942,-0.84,-219.0,660.0,-17.0,355,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2769,3859,0,0,0,0,0,0
$GC,4127,-0.84,-219.0,678.0,-6.1,361,4131,0.00,2.15,0.00,0.000,4,0.000,0.034,2510,1376,3859,0,0,0,0,0,0
$STATE,4260,end dive,NO_VERTICAL_VELOCITY
$STATE,4261,begin apogee
$GC,4268,-0.16,0.0,678.1,0.0,365,4456,0.65,0.00,180.88,1.142,4,0.089,0.000,2748,2704,2959,0,0,0,0,0,0
$STATE,4457,end apogee,CONTROL_FINISHED_OK
$STATE,4457,begin climb
$GC,4459,0.84,219.0,678.0,0.0,371,4666,0.95,1.88,197.73,1.080,4,0.076,0.051,3068,3756,2066,0,0,0,0,0,0
$GC,4760,0.84,219.0,650.9,13.9,380,4765,0.00,1.77,0.00,0.000,6,0.000,0.028,3077,2707,2056,0,0,1,0,0,0
$GC,4963,0.84,222.6,624.7,13.2,387,4967,0.00,1.83,0.00,0.000,4,0.000,0.049,3077,3758,2052,0,0,0,0,0,0
$GC,5219,0.84,222.6,580.6,18.1,394,5223,0.00,1.70,0.00,0.000,6,0.000,0.029,3085,2699,2050,0,0,1,0,0,0
$GC,5416,0.84,222.6,548.1,16.6,401,5420,0.00,1.75,0.00,0.000,4,0.000,0.048,3085,3768,2049,0,0,0,0,0,0
$GC,5509,0.84,222.6,530.2,19.2,403,5517,0.00,1.67,0.00,0.000,6,0.000,0.030,3093,2727,2049,0,0,0,0,0,0
$GC,5700,0.84,222.6,496.9,17.5,410,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2726,2049,0,0,0,0,0,0
$GC,5892,0.84,222.6,463.7,16.8,428,5895,0.00,1.67,0.00,0.000,4,0.000,0.049,3093,3763,2048,0,0,0,0,0,0
$GC,5981,0.84,222.6,446.5,18.8,436,5985,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2698,2047,0,0,0,0,0,0
$GC,6184,0.84,222.6,411.4,17.3,455,6188,0.00,1.70,0.00,0.000,4,0.000,0.049,3101,3762,2047,0,0,0,0,0,0
$GC,6232,0.84,222.6,401.7,20.0,459,6241,0.10,1.62,0.00,0.000,6,0.153,0.031,3077,2742,2047,0,0,0,0,0,0
$GC,6432,0.84,222.6,371.4,15.1,478,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,2047,0,0,0,0,0,0
$GC,6622,0.84,222.6,343.1,14.7,496,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2742,2047,0,0,0,0,0,0
$GC,6813,0.84,222.6,315.1,14.4,514,6817,0.00,1.62,0.00,0.000,4,0.000,0.050,3076,3764,2047,0,0,0,0,0,0
$GC,6848,0.84,222.6,309.8,15.7,517,6852,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2733,2046,0,0,0,0,0,0
$GC,7052,0.84,222.6,279.7,14.4,536,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2730,2046,0,0,0,0,0,0
$GC,7242,0.84,222.6,251.5,14.8,554,7245,0.00,1.65,0.00,0.000,4,0.000,0.050,3083,3768,2046,0,0,0,0,0,0
$GC,7277,0.84,222.6,245.8,17.1,557,7280,0.00,1.60,0.00,0.000,6,0.000,0.031,3092,2749,2046,0,0,0,0,0,0
$GC,7416,0.84,222.6,223.9,15.6,570,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2748,2046,0,0,0,0,0,0
$GC,7543,0.84,222.6,203.9,15.8,582,7547,0.00,1.65,0.00,0.000,4,0.000,0.050,3092,3759,2046,0,0,0,0,0,0
$GC,7578,0.84,222.6,198.1,17.8,585,7582,0.00,1.58,0.00,0.000,6,0.000,0.032,3100,2754,2046,0,0,0,0,0,0
$GC,7718,0.84,222.6,175.2,16.1,598,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2754,2046,0,0,0,0,0,0
$GC,7845,0.84,222.6,154.1,17.0,610,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2754,2046,0,0,0,0,0,0
$GC,7973,0.84,222.6,133.2,16.3,622,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2754,2046,0,0,0,0,0,0
$GC,8100,0.84,222.6,113.1,16.3,634,8103,0.00,1.62,0.00,0.000,4,0.000,0.050,3100,3781,2045,0,0,0,0,0,0
$GC,8144,0.84,222.6,105.2,18.4,638,8149,0.08,1.60,0.00,0.000,6,0.155,0.032,3074,2760,2045,0,0,0,0,0,0
$GC,8283,0.85,230.3,85.3,13.0,660,8296,0.00,0.00,7.15,0.761,6,0.000,0.000,3074,2761,2021,0,0,0,0,0,0
$GC,8432,0.85,230.3,64.0,14.1,686,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2760,2020,0,0,0,0,0,0
$GC,8572,0.85,230.3,44.2,13.9,711,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2761,2020,0,0,0,0,0,0
$GC,8712,0.85,230.3,24.6,14.8,736,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2760,2020,0,0,0,0,0,0
$FREEZE,8.73,-1.805,-1.902,2,1,0
$FREEZE,7.89,-1.806,-1.901,2,1,0
$FREEZE,7.18,-1.805,-1.900,2,1,0
$FREEZE,6.36,-1.804,-1.900,2,1,0
$FREEZE,5.63,-1.803,-1.899,2,1,0
$FREEZE,4.85,-1.803,-1.899,2,1,0
$GC,8854,0.85,230.3,4.9,14.3,761,8861,0.00,1.62,0.00,0.000,4,0.000,0.052,3074,3755,2019,0,0,0,0,0,0
$FREEZE,2.91,-1.802,-1.897,2,1,0
$STATE,8866,end climb,SURFACE_DEPTH_REACHED
$STATE,8867,begin surface coast
$FREEZE,2.06,-1.801,-1.897,2,1,0
$FREEZE,1.22,-1.800,-1.896,2,1,0
$FREEZE,0.35,-1.802,-1.895,2,1,0
$FREEZE,0.33,-1.859,-1.882,2,1,0
$FINISH,0.3,1.027601
$STATE,8888,end surface coast,CONTROL_FINISHED_OK
$STATE,8889,begin surface
$SM_CCo,8905,204.75,0.103,0,0,445,616.92
$SM_GC,0.87,0.00,0.00,204.75,0.000,0.000,0.103,189,2769,445,-8.15,-0.31,616.92
$IRIDIUM_FIX,-7554.21,17142.94,091210,040443
$TT8_MAMPS,0.027713
$HUMID,49.05
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,19.5
$24V_AH,22.0,7.421
$10V_AH,10.0,3.232
$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,18.400,58.750,385.750,204.750,0.000,30.459,42.155,125.907,3.250,0.000,43.965,2000.538,4880.857,691.765,1719.284,167.638,0.000,1513.993,0.000,1392.876,0.000,23.549,0.000
$DEVICE_MAMPS,222.615,71.145,1142.145,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.227,953.138,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,50323,767
$CAP_FILE_SIZE,111605,0
$CFSIZE,260165632,244076544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.041,160.0,1
$GPS,091210,090936,-7644.531,17151.881,93,1.9,93,130.9