version: 66.08
glider: 503
mission: 7
dive: 137
start: 12 10 110 3 44 43
data:
$ID,503
$MISSION,7
$DIVE,137
$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,-19658.887
$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,48
$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
$GPS1,101210,033924,-7642.506,17236.480,47,1.3,64,129.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-66.7
$GPS2,101210,034414,-7642.480,17236.482,14,1.7,14,129.6
$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,325.8,193138,-18.2,-13.333
$D_GRID,575
$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,15,-0.84,-219.0,0.0,0.0,0,165,0.00,0.00,-147.15,0.000,2,0.000,0.000,189,2771,3440,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.2,-6.1,24,195,8.85,2.25,-8.93,0.000,4,0.223,0.047,2521,1381,3856,0,0,0,0,0,0
$GC,446,-0.84,-219.0,57.2,-16.4,73,453,0.00,2.28,0.00,0.000,6,0.000,0.044,2510,2780,3858,0,0,0,0,0,0
$GC,585,-0.84,-219.0,84.3,-19.9,98,593,0.00,2.22,0.00,0.000,4,0.000,0.033,2510,1375,3858,0,0,1,0,0,0
$GC,644,-0.84,-219.0,95.2,-17.3,108,651,0.00,2.30,0.00,0.000,6,0.000,0.044,2500,2786,3858,0,0,0,0,0,0
$GC,780,-0.84,-219.0,122.8,-21.0,123,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2786,3859,0,0,0,0,0,0
$GC,908,-0.84,-219.0,148.7,-19.8,135,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2785,3859,0,0,0,0,0,0
$GC,1035,-0.84,-219.0,174.1,-19.9,147,1039,0.00,2.20,0.00,0.000,4,0.000,0.033,2500,1376,3859,0,0,0,0,0,0
$GC,1064,-0.84,-219.0,179.8,-19.1,149,1069,0.12,2.25,0.00,0.000,6,0.164,0.046,2529,2773,3859,0,0,0,0,0,0
$GC,1197,-0.84,-219.0,202.5,-16.9,161,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,1325,-0.84,-219.0,224.3,-16.7,173,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,1452,-0.84,-219.0,245.8,-16.4,185,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,1580,-0.84,-219.0,267.0,-16.9,197,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,1772,-0.84,-219.0,299.1,-16.7,215,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3858,0,0,0,0,0,0
$GC,1962,-0.84,-219.0,330.6,-16.2,233,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,2154,-0.84,-219.0,361.0,-16.0,251,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3858,0,0,0,0,0,0
$GC,2345,-0.84,-219.0,391.4,-16.0,269,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,2536,-0.84,-219.0,421.8,-16.1,287,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,2727,-0.84,-219.0,452.4,-16.0,305,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,2919,-0.84,-219.0,482.2,-15.4,323,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2773,3859,0,0,0,0,0,0
$GC,3107,-0.84,-219.0,510.4,-14.7,337,3111,0.00,2.17,0.00,0.000,4,0.000,0.033,2529,1367,3858,0,0,0,0,0,0
$GC,3144,-0.84,-219.0,516.0,-13.8,338,3148,0.00,2.30,0.00,0.000,6,0.000,0.045,2520,2776,3858,0,0,0,0,0,0
$GC,3352,-0.84,-219.0,548.2,-16.0,345,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2775,3858,0,0,0,0,0,0
$STATE,3534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3534,begin apogee
$GC,3539,-0.16,0.0,576.8,15.5,351,3727,0.68,0.00,178.73,1.083,4,0.124,0.000,2747,2691,2958,0,0,0,0,0,0
$STATE,3728,end apogee,CONTROL_FINISHED_OK
$STATE,3728,begin climb
$GC,3730,0.84,219.0,585.5,0.0,357,3934,0.98,2.38,194.02,1.027,4,0.075,0.033,3071,1297,2066,0,0,0,0,0,0
$GC,4000,0.84,219.0,558.8,14.5,365,4005,0.00,2.50,0.00,0.000,6,0.000,0.041,3071,2692,2058,0,0,1,0,0,0
$GC,4202,0.84,219.0,527.0,15.8,372,4207,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1307,2051,0,0,0,0,0,0
$GC,4386,0.84,219.0,498.7,15.9,377,4390,0.00,2.38,0.00,0.000,6,0.000,0.041,3082,2703,2049,0,0,1,0,0,0
$GC,4590,0.84,219.0,465.0,16.5,396,4594,0.00,1.73,0.00,0.000,4,0.000,0.049,3082,3765,2049,0,0,0,0,0,0
$GC,4616,0.84,219.0,459.9,17.8,398,4625,0.00,1.67,0.00,0.000,6,0.000,0.031,3090,2720,2048,0,0,1,0,0,0
$GC,4817,0.84,219.0,426.4,16.9,417,4820,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3765,2048,0,0,0,0,0,0
$GC,4843,0.84,219.0,420.9,18.8,419,4851,0.00,1.67,0.00,0.000,6,0.000,0.031,3098,2713,2047,0,0,1,0,0,0
$GC,5041,0.84,219.0,385.9,17.8,438,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2712,2046,0,0,0,0,0,0
$GC,5233,0.84,219.0,353.1,16.8,456,5236,0.00,1.70,0.00,0.000,4,0.000,0.050,3098,3766,2046,0,0,0,0,0,0
$GC,5293,0.84,219.0,341.5,19.5,461,5301,0.10,1.67,0.00,0.000,6,0.152,0.031,3074,2720,2046,0,0,0,0,0,0
$GC,5491,0.84,219.0,311.3,15.1,480,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2720,2046,0,0,0,0,0,0
$GC,5682,0.84,219.0,282.5,14.9,498,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2720,2046,0,0,0,0,0,0
$GC,5873,0.84,219.0,253.5,15.1,516,5876,0.00,1.67,0.00,0.000,4,0.000,0.049,3074,3767,2046,0,0,0,0,0,0
$GC,5908,0.84,219.0,247.9,16.9,519,5912,0.00,1.65,0.00,0.000,6,0.000,0.031,3082,2691,2045,0,0,0,0,0,0
$GC,6047,0.84,219.0,225.7,15.5,532,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2690,2045,0,0,0,0,0,0
$GC,6175,0.84,219.0,206.4,15.2,544,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2690,2046,0,0,0,0,0,0
$GC,6302,0.84,219.0,186.8,15.1,556,6306,0.00,1.70,0.00,0.000,4,0.000,0.050,3082,3765,2045,0,0,0,0,0,0
$GC,6347,0.84,219.0,179.1,17.5,560,6351,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2731,2045,0,0,0,0,0,0
$GC,6487,0.84,219.0,156.8,15.9,573,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2729,2045,0,0,0,0,0,0
$GC,6614,0.84,219.0,136.8,15.2,585,6618,0.00,1.65,0.00,0.000,4,0.000,0.050,3090,3767,2045,0,0,0,0,0,0
$GC,6648,0.84,219.0,131.1,17.8,588,6651,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2732,2045,0,0,0,0,0,0
$GC,6787,0.84,219.0,109.0,16.2,601,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2731,2045,0,0,0,0,0,0
$GC,6918,0.84,219.0,89.0,15.6,619,6925,0.00,1.67,0.00,0.000,4,0.000,0.051,3098,3757,2045,0,0,0,0,0,0
$GC,6954,0.84,219.0,83.0,17.5,625,6961,0.10,1.60,0.00,0.000,6,0.153,0.032,3074,2742,2044,0,0,0,0,0,0
$GC,7097,0.84,219.0,62.8,14.0,650,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2742,2044,0,0,0,0,0,0
$GC,7239,0.84,219.0,43.0,14.0,675,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2742,2044,0,0,0,0,0,0
$GC,7378,0.84,219.0,22.8,15.5,700,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2742,2044,0,0,0,0,0,0
$FREEZE,8.18,-1.666,-1.901,2,1,0
$FREEZE,7.41,-1.661,-1.900,2,1,0
$FREEZE,6.57,-1.668,-1.900,2,1,0
$FREEZE,5.90,-1.648,-1.899,2,1,0
$FREEZE,5.08,-1.635,-1.897,2,1,0
$FREEZE,4.28,-1.631,-1.898,2,1,0
$FREEZE,3.33,-1.631,-1.897,2,1,0
$FREEZE,2.66,-1.621,-1.896,2,1,0
$STATE,7518,end climb,SURFACE_DEPTH_REACHED
$STATE,7518,begin surface coast
$FREEZE,1.58,-1.602,-1.895,2,1,0
$FREEZE,0.89,-1.601,-1.895,2,1,0
$FREEZE,0.18,-1.596,-1.895,2,1,0
$FINISH,0.2,1.027781
$STATE,7535,end surface coast,CONTROL_FINISHED_OK
$STATE,7535,begin surface
$SM_CCo,7550,200.85,0.101,0,0,445,616.92
$SM_GC,0.74,0.00,0.00,200.85,0.000,0.000,0.101,188,2793,445,-8.16,0.37,616.92
$IRIDIUM_FIX,-7554.21,17221.24,101210,010139
$TT8_MAMPS,0.027713
$HUMID,49.29
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.4
$24V_AH,22.1,8.620
$10V_AH,10.0,3.759
$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,18.425,51.075,372.750,200.850,0.000,26.408,38.296,118.754,2.000,0.000,16.995,1857.118,3847.083,682.090,1520.968,147.311,0.000,1422.486,0.000,1248.257,0.000,14.621,0.000
$DEVICE_MAMPS,222.615,115.515,1083.240,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.232,891.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258268
$DATA_FILE_SIZE,47037,728
$CAP_FILE_SIZE,98992,0
$CFSIZE,260165632,243613696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.041,342.2,1
$GPS,101210,055537,-7642.361,17241.260,63,1.8,64,129.5