version: 66.08
glider: 503
mission: 7
dive: 116
start: 12 8 110 4 51 59
data:
$ID,503
$MISSION,7
$DIVE,116
$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,1
$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,-19389.422
$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,50
$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,48
$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
$GPS1,081210,044524,-7646.140,17054.117,46,1.9,50,132.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-52.7
$GPS2,081210,045131,-7646.130,17053.881,12,1.8,29,132.5
$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,292.2,237992,-18.2,-13.333
$D_GRID,758
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,164,0.00,0.00,-145.45,0.000,2,0.000,0.000,157,2773,3483,0,0,0,0,0,0
$GC,167,-0.84,-219.0,3.7,-6.5,23,189,9.00,1.67,-8.10,0.000,4,0.219,0.068,2517,3764,3856,0,0,0,0,0,0
$GC,439,-0.84,-219.0,64.8,-18.5,71,446,0.00,1.55,0.00,0.000,6,0.000,0.031,2517,2778,3859,0,0,0,0,0,0
$GC,581,-0.84,-219.0,91.7,-20.0,96,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,724,-0.84,-219.0,118.7,-18.9,113,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,851,-0.84,-219.0,143.1,-19.0,125,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,979,-0.84,-219.0,166.8,-18.0,137,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,1107,-0.84,-219.0,188.6,-16.7,149,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,1234,-0.84,-219.0,210.1,-16.8,161,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,1361,-0.84,-219.0,232.1,-17.7,173,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,1489,-0.84,-219.0,254.7,-17.6,185,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,1679,-0.84,-219.0,288.9,-17.5,203,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3861,0,0,0,0,0,0
$GC,1871,-0.84,-219.0,321.7,-16.4,221,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3860,0,0,0,0,0,0
$GC,2062,-0.84,-219.0,353.3,-16.7,239,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3861,0,0,0,0,0,0
$GC,2253,-0.84,-219.0,384.4,-16.4,257,2257,0.00,1.60,0.00,0.000,4,0.000,0.051,2510,3760,3860,0,0,0,0,0,0
$GC,2299,-0.84,-219.0,392.3,-17.6,261,2303,0.00,1.52,0.00,0.000,6,0.000,0.032,2510,2778,3860,0,0,0,0,0,0
$GC,2502,-0.84,-219.0,427.3,-17.2,280,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3860,0,0,0,0,0,0
$GC,2693,-0.84,-219.0,459.3,-16.5,298,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3861,0,0,0,0,0,0
$GC,2886,-0.84,-219.0,490.1,-15.8,316,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3860,0,0,0,0,0,0
$GC,3071,-0.84,-219.0,519.9,-16.1,326,3074,0.00,1.60,0.00,0.000,4,0.000,0.052,2502,3763,3860,0,0,0,0,0,0
$GC,3105,-0.84,-219.0,525.7,-17.5,327,3108,0.00,1.52,0.00,0.000,6,0.000,0.033,2502,2782,3860,0,0,0,0,0,0
$GC,3323,-0.84,-219.0,562.7,-17.0,334,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3860,0,0,0,0,0,0
$GC,3506,-0.84,-219.0,594.5,-17.4,340,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3859,0,0,0,0,0,0
$STATE,3570,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3570,begin apogee
$GC,3575,-0.16,0.0,605.3,17.4,342,3763,0.73,0.00,179.45,1.092,4,0.129,0.000,2742,2684,2959,0,0,0,0,0,0
$STATE,3763,end apogee,CONTROL_FINISHED_OK
$STATE,3763,begin climb
$GC,3765,0.84,219.0,616.1,0.0,348,3965,0.95,0.00,194.48,1.040,6,0.076,0.000,3067,2683,2067,0,0,0,0,0,0
$GC,4167,0.84,219.0,568.3,15.9,361,4171,0.00,1.85,0.00,0.000,4,0.000,0.047,3067,3761,2055,0,0,0,0,0,0
$GC,4244,0.84,219.0,554.1,17.5,363,4249,0.00,1.73,0.00,0.000,6,0.000,0.030,3075,2720,2053,0,0,1,0,0,0
$GC,4452,0.84,219.0,519.2,16.8,370,4456,0.00,1.73,0.00,0.000,4,0.000,0.048,3075,3759,2051,0,0,0,0,0,0
$GC,4479,0.84,219.0,514.0,18.9,370,4486,0.00,1.73,0.00,0.000,6,0.000,0.031,3083,2709,2050,0,0,0,0,0,0
$GC,4674,0.84,219.0,479.8,17.8,383,4677,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3759,2050,0,0,0,0,0,0
$GC,4711,0.84,219.0,472.1,19.5,386,4719,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2727,2049,0,0,1,0,0,0
$GC,4910,0.84,219.0,436.1,17.9,405,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2726,2049,0,0,0,0,0,0
$GC,5101,0.84,219.0,401.0,18.1,423,5105,0.00,1.67,0.00,0.000,4,0.000,0.049,3092,3762,2048,0,0,0,0,0,0
$GC,5169,0.84,219.0,387.3,19.9,429,5173,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2732,2048,0,0,0,0,0,0
$GC,5372,0.84,219.0,350.0,17.6,448,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2730,2047,0,0,0,0,0,0
$GC,5563,0.84,219.0,316.1,17.4,466,5566,0.00,1.67,0.00,0.000,4,0.000,0.050,3099,3767,2047,0,0,0,0,0,0
$GC,5600,0.84,219.0,308.6,19.4,469,5608,0.10,1.65,0.00,0.000,6,0.160,0.031,3076,2734,2047,0,0,0,0,0,0
$GC,5800,0.84,219.0,277.7,15.7,488,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2734,2047,0,0,0,0,0,0
$GC,5990,0.84,219.0,246.6,17.0,506,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2734,2047,0,0,0,0,0,0
$GC,6117,0.84,219.0,225.6,16.3,518,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2734,2047,0,0,0,0,0,0
$GC,6245,0.84,219.0,205.2,15.7,530,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2733,2047,0,0,0,0,0,0
$GC,6372,0.84,219.0,186.3,14.6,542,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2734,2046,0,0,0,0,0,0
$GC,6500,0.84,219.0,168.0,14.3,554,6503,0.00,1.65,0.00,0.000,4,0.000,0.050,3076,3764,2047,0,0,0,0,0,0
$GC,6526,0.84,219.0,163.6,16.2,556,6535,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2729,2046,0,0,0,0,0,0
$GC,6661,0.84,219.0,143.0,15.3,569,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2728,2046,0,0,0,0,0,0
$GC,6788,0.84,219.0,123.2,15.7,581,6792,0.00,1.65,0.00,0.000,4,0.000,0.050,3083,3768,2046,0,0,0,0,0,0
$GC,6823,0.84,219.0,117.1,17.9,584,6826,0.00,1.60,0.00,0.000,6,0.000,0.032,3092,2747,2046,0,0,0,0,0,0
$GC,6958,0.84,219.0,92.4,20.0,600,6966,0.00,2.28,0.00,0.000,4,0.000,0.036,3103,1298,2046,0,0,0,0,0,0
$GC,6979,0.84,219.0,88.6,19.1,603,6987,0.12,2.33,0.00,0.000,6,0.164,0.044,3069,2737,2046,0,0,0,0,0,0
$GC,7122,0.84,219.0,62.9,17.7,628,7130,0.00,1.65,0.00,0.000,4,0.000,0.051,3069,3761,2046,0,0,0,0,0,0
$GC,7158,0.84,219.0,56.2,20.1,634,7165,0.00,1.60,0.00,0.000,6,0.000,0.033,3076,2742,2045,0,0,0,0,0,0
$GC,7301,0.84,219.0,33.2,15.3,659,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2742,2045,0,0,0,0,0,0
$FREEZE,8.10,-1.838,-1.902,2,1,0
$FREEZE,7.47,-1.838,-1.902,2,1,0
$GC,7443,0.84,219.0,7.5,17.2,684,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2741,2045,0,0,0,0,0,0
$FREEZE,5.84,-1.837,-1.900,2,1,0
$FREEZE,4.93,-1.837,-1.900,2,1,0
$FREEZE,4.12,-1.837,-1.899,2,1,0
$FREEZE,3.66,-1.835,-1.899,2,1,0
$FREEZE,2.94,-1.835,-1.898,2,1,0
$STATE,7476,end climb,SURFACE_DEPTH_REACHED
$STATE,7476,begin surface coast
$FREEZE,1.92,-1.835,-1.897,2,1,0
$FREEZE,1.06,-1.834,-1.897,2,1,0
$FREEZE,0.40,-1.831,-1.896,2,1,0
$FREEZE,0.32,-1.830,-1.896,2,1,0
$FINISH,0.3,1.027802
$STATE,7498,end surface coast,CONTROL_FINISHED_OK
$STATE,7498,begin surface
$SM_CCo,7513,206.25,0.102,0,0,445,616.92
$SM_GC,0.89,0.00,0.00,206.25,0.000,0.000,0.102,194,2739,445,-8.12,-1.16,616.92
$IRIDIUM_FIX,-7603.11,17052.36,081210,020245
$TT8_MAMPS,0.027713
$HUMID,48.66
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.1
$ALTIM_BOTTOM_PING,605.3,7.2
$24V_AH,22.1,6.250
$10V_AH,10.0,2.672
$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,18.550,41.000,373.925,206.250,0.000,29.362,41.690,179.975,2.500,0.000,31.775,1776.664,3972.724,684.516,1521.542,142.633,0.000,1390.397,0.000,1170.889,0.000,19.054,0.000
$DEVICE_MAMPS,218.790,84.915,1092.420,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.137,851.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258388
$DATA_FILE_SIZE,43768,694
$CAP_FILE_SIZE,96726,0
$CFSIZE,260165632,244596736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.146,195.4,1
$GPS,081210,070224,-7646.205,17058.703,49,1.4,67,132.4