version: 66.08
glider: 503
mission: 7
dive: 138
start: 12 10 110 6 3 48
data:
$ID,503
$MISSION,7
$DIVE,138
$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,-19660.148
$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,42
$R_STBD_OVSHOOT,34
$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
$GPS1,101210,055537,-7642.361,17241.260,63,1.8,64,129.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-68.4
$GPS2,101210,060320,-7642.336,17241.273,12,1.2,12,129.5
$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,320.3,191050,-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,13,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,167,0.00,0.00,-148.85,0.000,2,0.000,0.000,188,2793,3452,0,0,0,0,0,0
$GC,171,-0.84,-219.0,3.2,-7.3,24,198,8.93,1.60,-8.68,0.000,4,0.224,0.068,2513,3760,3858,0,0,0,0,0,0
$GC,409,-0.84,-219.0,58.1,-20.6,66,417,0.00,1.55,0.00,0.000,6,0.000,0.030,2513,2773,3860,0,0,0,0,0,0
$GC,552,-0.84,-219.0,87.0,-19.8,91,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2773,3860,0,0,0,0,0,0
$GC,695,-0.84,-219.0,116.0,-20.2,110,699,0.00,2.17,0.00,0.000,4,0.000,0.032,2514,1375,3860,0,0,0,0,0,0
$GC,726,-0.84,-219.0,122.5,-18.5,112,734,0.00,2.30,0.00,0.000,6,0.000,0.044,2503,2767,3860,0,0,0,0,0,0
$GC,861,-0.84,-219.0,148.6,-19.7,125,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2768,3860,0,0,0,0,0,0
$GC,989,-0.84,-219.0,172.9,-18.8,137,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2768,3860,0,0,0,0,0,0
$GC,1116,-0.84,-219.0,196.7,-18.8,149,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2768,3861,0,0,0,0,0,0
$GC,1243,-0.84,-219.0,220.5,-18.6,161,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2768,3860,0,0,0,0,0,0
$GC,1371,-0.84,-219.0,244.6,-19.2,173,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2768,3860,0,0,0,0,0,0
$GC,1498,-0.84,-219.0,268.6,-18.6,185,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2768,3861,0,0,0,0,0,0
$GC,1690,-0.84,-219.0,303.8,-18.2,203,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2768,3860,0,0,0,0,0,0
$GC,1881,-0.84,-219.0,338.5,-18.3,221,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2768,3860,0,0,0,0,0,0
$GC,2072,-0.84,-219.0,373.9,-18.9,239,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2768,3860,0,0,0,0,0,0
$GC,2263,-0.84,-219.0,408.7,-18.2,257,2267,0.00,2.15,0.00,0.000,4,0.000,0.033,2504,1375,3860,0,0,0,0,0,0
$GC,2294,-0.84,-219.0,414.7,-17.1,259,2302,0.08,2.28,0.00,0.000,6,0.132,0.045,2531,2769,3860,0,0,0,0,0,0
$GC,2492,-0.84,-219.0,445.6,-15.7,278,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2769,3860,0,0,0,0,0,0
$GC,2685,-0.84,-219.0,475.4,-15.8,296,2686,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2769,3860,0,0,0,0,0,0
$GC,2884,-0.84,-219.0,506.3,-15.1,313,2888,0.00,1.58,0.00,0.000,4,0.000,0.051,2524,3760,3860,0,0,0,0,0,0
$GC,2922,-0.84,-219.0,512.7,-17.1,314,2926,0.00,1.52,0.00,0.000,6,0.000,0.031,2524,2772,3860,0,0,0,0,0,0
$GC,3136,-0.84,-219.0,546.3,-15.9,321,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2772,3860,0,0,0,0,0,0
$STATE,3318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3318,begin apogee
$GC,3323,-0.16,0.0,575.3,15.6,327,3510,0.65,0.00,179.10,1.082,4,0.125,0.000,2743,2684,2959,0,0,0,0,0,0
$STATE,3511,end apogee,CONTROL_FINISHED_OK
$STATE,3511,begin climb
$GC,3513,0.84,219.0,583.6,0.0,333,3712,0.95,0.00,193.95,1.024,6,0.074,0.000,3067,2684,2067,0,0,0,0,0,0
$GC,3914,0.84,219.0,534.5,15.9,346,3917,0.00,1.85,0.00,0.000,4,0.000,0.047,3066,3767,2055,0,0,0,0,0,0
$GC,3981,0.84,219.0,522.8,17.7,348,3985,0.00,1.67,0.00,0.000,6,0.000,0.030,3075,2724,2053,0,0,1,0,0,0
$GC,4180,0.84,219.0,490.5,15.8,357,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2723,2052,0,0,0,0,0,0
$GC,4372,0.84,219.0,460.1,16.1,375,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2723,2050,0,0,0,0,0,0
$GC,4564,0.84,219.0,429.6,15.9,393,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2723,2050,0,0,0,0,0,0
$GC,4754,0.84,219.0,399.5,16.0,411,4758,0.00,1.67,0.00,0.000,4,0.000,0.048,3074,3764,2049,0,0,0,0,0,0
$GC,4823,0.84,219.0,387.5,17.8,417,4827,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2700,2049,0,0,0,0,0,0
$GC,5026,0.84,219.0,354.6,15.5,436,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2700,2048,0,0,0,0,0,0
$GC,5217,0.84,219.0,324.5,15.4,454,5220,0.00,1.70,0.00,0.000,4,0.000,0.047,3084,3764,2048,0,0,0,0,0,0
$GC,5274,0.84,219.0,314.8,17.0,459,5278,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2696,2048,0,0,0,0,0,0
$GC,5477,0.84,219.0,281.5,16.6,478,5481,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3764,2047,0,0,0,0,0,0
$GC,5511,0.84,219.0,275.6,18.2,481,5515,0.00,1.62,0.00,0.000,6,0.000,0.032,3100,2736,2047,0,0,0,0,0,0
$GC,5714,0.84,219.0,241.0,17.0,500,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2734,2047,0,0,0,0,0,0
$GC,5841,0.84,219.0,219.3,17.1,512,5845,0.00,1.67,0.00,0.000,4,0.000,0.050,3100,3755,2047,0,0,0,0,0,0
$GC,5890,0.84,219.0,209.8,18.7,516,5899,0.10,1.62,0.00,0.000,6,0.155,0.031,3075,2729,2046,0,0,0,0,0,0
$GC,6025,0.84,219.0,188.9,15.1,529,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2729,2047,0,0,0,0,0,0
$GC,6152,0.84,219.0,169.7,14.9,541,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2729,2046,0,0,0,0,0,0
$GC,6280,0.84,219.0,149.6,15.6,553,6283,0.00,1.65,0.00,0.000,4,0.000,0.050,3076,3764,2046,0,0,0,0,0,0
$GC,6325,0.84,219.0,141.8,17.5,557,6329,0.00,1.60,0.00,0.000,6,0.000,0.031,3083,2743,2047,0,0,0,0,0,0
$GC,6465,0.84,219.0,119.9,15.3,570,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2742,2046,0,0,0,0,0,0
$GC,6592,0.84,219.0,100.7,15.2,582,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2742,2046,0,0,0,0,0,0
$GC,6725,0.84,219.0,80.7,15.7,605,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2742,2047,0,0,0,0,0,0
$GC,6864,0.84,219.0,59.1,15.8,630,6872,0.00,1.65,0.00,0.000,4,0.000,0.050,3083,3757,2047,0,0,0,0,0,0
$GC,6900,0.84,219.0,52.9,18.6,636,6907,0.00,1.58,0.00,0.000,6,0.000,0.031,3091,2749,2046,0,0,0,0,0,0
$GC,7042,0.84,219.0,29.2,16.7,661,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2748,2046,0,0,0,0,0,0
$FREEZE,8.50,-1.685,-1.901,2,1,0
$FREEZE,7.85,-1.685,-1.901,2,1,0
$FREEZE,7.02,-1.683,-1.900,2,1,0
$GC,7183,0.84,219.0,7.0,15.4,686,7191,0.00,1.65,0.00,0.000,4,0.000,0.050,3091,3762,2046,0,0,0,0,0,0
$FREEZE,4.89,-1.681,-1.898,2,1,0
$FREEZE,4.18,-1.681,-1.898,2,1,0
$FREEZE,3.16,-1.681,-1.897,2,1,0
$FREEZE,2.24,-1.681,-1.896,2,1,0
$STATE,7212,end climb,SURFACE_DEPTH_REACHED
$STATE,7212,begin surface coast
$FREEZE,1.04,-1.679,-1.895,2,1,0
$FREEZE,0.17,-1.678,-1.895,2,1,0
$FREEZE,-0.02,-1.720,-1.083,2,1,0
$FINISH,-0.0,1.016001
$STATE,7230,end surface coast,FINISH_DEPTH_REACHED
$STATE,7230,begin surface
$SM_CCo,7246,199.62,0.100,0,0,445,616.92
$SM_GC,0.58,0.00,0.00,199.62,0.000,0.000,0.100,192,2778,445,-8.15,-0.06,616.92
$IRIDIUM_FIX,-7554.21,17259.44,101210,050514
$TT8_MAMPS,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.6
$24V_AH,22.1,8.750
$10V_AH,9.9,3.817
$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,18.375,41.725,373.050,199.625,0.000,61.819,111.887,121.706,2.500,0.000,15.317,1763.701,3782.310,673.617,1554.630,146.443,0.000,1376.376,0.000,1173.712,0.000,17.514,0.000
$DEVICE_MAMPS,224.145,99.450,1082.475,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.147,845.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258236
$DATA_FILE_SIZE,43714,694
$CAP_FILE_SIZE,94944,0
$CFSIZE,260165632,243568640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.019,222.3,1
$GPS,101210,080936,-7642.287,17246.555,52,1.6,64,129.4