version: 66.08
glider: 503
mission: 7
dive: 136
start: 12 10 110 1 27 23
data:
$ID,503
$MISSION,7
$DIVE,136
$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,-19657.533
$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,20
$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
$GPS1,101210,012205,-7642.728,17231.516,70,0.9,80,129.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-68.0
$GPS2,101210,012655,-7642.707,17231.555,10,1.6,15,129.8
$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,330.2,195304,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,165,0.00,0.00,-146.62,0.000,2,0.000,0.000,192,2769,3429,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.1,-6.0,23,195,8.85,2.25,-9.27,0.000,4,0.223,0.047,2522,1384,3856,0,0,0,0,0,0
$GC,446,-0.84,-219.0,55.0,-15.3,72,453,0.00,2.30,0.00,0.000,6,0.000,0.044,2513,2790,3859,0,0,0,0,0,0
$GC,587,-0.84,-219.0,81.8,-19.9,97,595,0.00,2.25,0.00,0.000,4,0.000,0.033,2513,1374,3859,0,0,0,0,0,0
$GC,619,-0.84,-219.0,87.7,-18.9,102,626,0.00,2.30,0.00,0.000,6,0.000,0.046,2502,2783,3859,0,0,0,0,0,0
$GC,756,-0.84,-219.0,115.1,-19.9,120,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3859,0,0,0,0,0,0
$GC,883,-0.84,-219.0,140.4,-19.9,132,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2782,3859,0,0,0,0,0,0
$GC,1011,-0.84,-219.0,165.1,-19.2,144,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3860,0,0,0,0,0,0
$GC,1138,-0.84,-219.0,190.1,-19.5,156,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2783,3859,0,0,0,0,0,0
$GC,1265,-0.84,-219.0,214.5,-19.3,168,1269,0.00,2.20,0.00,0.000,4,0.000,0.032,2502,1373,3859,0,0,0,0,0,0
$GC,1304,-0.84,-219.0,221.7,-17.5,171,1309,0.12,2.25,0.00,0.000,6,0.161,0.045,2530,2772,3860,0,0,0,0,0,0
$GC,1438,-0.84,-219.0,243.6,-16.2,183,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2772,3860,0,0,0,0,0,0
$GC,1565,-0.84,-219.0,264.0,-15.7,195,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2772,3860,0,0,0,0,0,0
$GC,1757,-0.84,-219.0,294.6,-15.9,213,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3859,0,0,0,0,0,0
$GC,1949,-0.84,-219.0,324.8,-15.5,231,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3860,0,0,0,0,0,0
$GC,2139,-0.84,-219.0,354.6,-15.7,249,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3860,0,0,0,0,0,0
$GC,2330,-0.84,-219.0,383.9,-15.1,267,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3859,0,0,0,0,0,0
$GC,2523,-0.84,-219.0,412.7,-15.3,285,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3859,0,0,0,0,0,0
$GC,2713,-0.84,-219.0,441.4,-14.8,303,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3859,0,0,0,0,0,0
$GC,2904,-0.84,-219.0,470.4,-15.4,321,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3859,0,0,0,0,0,0
$GC,3096,-0.84,-219.0,500.0,-15.5,339,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3859,0,0,0,0,0,0
$GC,3279,-0.84,-219.0,528.1,-15.1,345,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2772,3859,0,0,0,0,0,0
$GC,3462,-0.84,-219.0,555.6,-14.8,351,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2772,3859,0,0,0,0,0,0
$STATE,3614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3615,begin apogee
$GC,3619,-0.16,0.0,578.6,14.9,356,3808,0.62,0.00,178.93,1.084,4,0.119,0.000,2743,2686,2958,0,0,0,0,0,0
$STATE,3809,end apogee,CONTROL_FINISHED_OK
$STATE,3809,begin climb
$GC,3810,0.84,219.0,587.4,0.0,362,4013,0.93,1.90,194.18,1.027,4,0.071,0.052,3067,3752,2067,0,0,1,0,0,0
$GC,4170,0.84,219.0,539.4,17.7,373,4174,0.00,1.70,0.00,0.000,6,0.000,0.028,3076,2709,2055,0,0,1,0,0,0
$GC,4382,0.84,219.0,505.6,15.8,380,4386,0.00,2.33,0.00,0.000,4,0.000,0.034,3087,1298,2052,0,0,0,0,0,0
$GC,4594,0.84,219.0,474.1,14.1,395,4601,0.00,2.38,0.00,0.000,6,0.000,0.042,3087,2704,2049,0,0,1,0,0,0
$GC,4792,0.84,219.0,442.4,16.3,414,4796,0.00,1.73,0.00,0.000,4,0.000,0.049,3087,3765,2048,0,0,0,0,0,0
$GC,4826,0.84,219.0,436.2,17.5,417,4830,0.00,1.67,0.00,0.000,6,0.000,0.031,3095,2701,2048,0,0,0,0,0,0
$GC,5029,0.84,219.0,402.1,16.7,436,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2701,2047,0,0,0,0,0,0
$GC,5221,0.84,219.0,369.7,17.1,454,5224,0.00,1.73,0.00,0.000,4,0.000,0.049,3095,3771,2047,0,0,0,0,0,0
$GC,5291,0.84,219.0,355.6,19.6,460,5300,0.10,1.67,0.00,0.000,6,0.152,0.030,3072,2707,2046,0,0,1,0,0,0
$GC,5490,0.84,219.0,324.8,14.7,479,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2707,2046,0,0,0,0,0,0
$GC,5681,0.84,219.0,297.0,14.3,497,5685,0.00,1.73,0.00,0.000,4,0.000,0.050,3072,3758,2046,0,0,0,0,0,0
$GC,5714,0.84,219.0,291.7,15.8,500,5718,0.00,1.65,0.00,0.000,6,0.000,0.031,3080,2686,2045,0,0,0,0,0,0
$GC,5917,0.84,219.0,262.4,14.4,519,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2684,2045,0,0,0,0,0,0
$GC,6108,0.84,219.0,234.4,14.8,537,6112,0.00,1.73,0.00,0.000,4,0.000,0.050,3081,3765,2045,0,0,0,0,0,0
$GC,6146,0.84,219.0,228.0,17.0,540,6154,0.00,1.62,0.00,0.000,6,0.000,0.031,3089,2721,2045,0,0,1,0,0,0
$GC,6280,0.84,219.0,207.0,16.0,553,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2721,2045,0,0,0,0,0,0
$GC,6408,0.84,219.0,186.5,15.9,565,6411,0.00,1.65,0.00,0.000,4,0.000,0.050,3089,3765,2045,0,0,0,0,0,0
$GC,6446,0.84,219.0,179.5,18.2,568,6453,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2716,2045,0,0,0,0,0,0
$GC,6580,0.84,219.0,156.6,17.4,581,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2716,2044,0,0,0,0,0,0
$GC,6707,0.84,219.0,135.8,15.9,593,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2715,2044,0,0,0,0,0,0
$GC,6835,0.84,219.0,115.1,16.4,605,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2716,2044,0,0,0,0,0,0
$GC,6964,0.84,219.0,94.1,16.3,620,6970,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3761,2044,0,0,0,0,0,0
$GC,7000,0.84,219.0,87.6,18.9,626,7007,0.10,1.62,0.00,0.000,6,0.155,0.033,3072,2730,2044,0,0,0,0,0,0
$GC,7141,0.84,219.0,66.2,15.0,651,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2730,2044,0,0,0,0,0,0
$GC,7281,0.84,219.0,45.5,14.1,676,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2730,2044,0,0,0,0,0,0
$GC,7422,0.84,219.0,25.4,14.0,701,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2730,2044,0,0,0,0,0,0
$FREEZE,8.60,-1.579,-1.902,2,1,0
$FREEZE,7.76,-1.599,-1.901,2,1,0
$FREEZE,6.99,-1.603,-1.900,2,1,0
$FREEZE,6.34,-1.564,-1.899,2,1,0
$FREEZE,5.57,-1.551,-1.899,2,1,0
$GC,7564,0.84,219.0,5.6,14.6,726,7571,0.00,1.67,0.00,0.000,4,0.000,0.051,3072,3759,2044,0,0,0,0,0,0
$FREEZE,3.19,-1.572,-1.897,2,1,0
$FREEZE,2.29,-1.552,-1.896,2,1,0
$STATE,7582,end climb,SURFACE_DEPTH_REACHED
$STATE,7583,begin surface coast
$FREEZE,1.23,-1.546,-1.895,2,1,0
$FREEZE,0.38,-1.533,-1.894,2,1,0
$FREEZE,0.04,-1.530,-1.097,2,1,0
$FINISH,0.0,1.016201
$STATE,7600,end surface coast,FINISH_DEPTH_REACHED
$STATE,7600,begin surface
$SM_CCo,7617,201.23,0.102,0,0,445,616.92
$SM_GC,0.73,0.00,0.00,201.23,0.000,0.000,0.102,190,2770,445,-8.16,-0.28,616.92
$IRIDIUM_FIX,-7603.11,17229.27,091210,232328
$TT8_MAMPS,0.027713
$HUMID,48.93
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.2
$ALTIM_BOTTOM_PING,551.0,71.4
$24V_AH,22.1,8.494
$10V_AH,10.0,3.700
$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,18.300,45.325,373.100,201.225,0.000,31.214,37.033,114.458,2.500,0.000,17.859,1859.532,3906.573,684.575,1525.927,144.734,0.000,1424.497,0.000,1253.553,0.000,17.520,0.000
$DEVICE_MAMPS,223.380,81.855,1084.005,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.926,887.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47057,732
$CAP_FILE_SIZE,97946,0
$CFSIZE,260165632,243671040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.073,350.5,1
$GPS,101210,033924,-7642.506,17236.480,47,1.3,64,129.6