version: 66.08
glider: 503
mission: 7
dive: 127
start: 12 9 110 4 4 50
data:
$ID,503
$MISSION,7
$DIVE,127
$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,-19645.836
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,091210,035907,-7644.663,17139.770,45,2.0,46,131.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-62.6
$GPS2,091210,040422,-7644.655,17139.689,12,6.5,31,131.2
$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,318.3,218001,-18.2,-13.333
$D_GRID,740
$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,15,-0.84,-219.0,0.0,0.0,0,153,0.00,0.00,-135.88,0.000,2,0.000,0.000,181,2787,3291,0,0,0,0,0,0
$GC,157,-0.84,-219.0,3.0,-4.9,22,184,8.88,1.62,-12.82,0.000,4,0.223,0.068,2517,3766,3856,0,0,0,0,0,0
$GC,335,-0.84,-219.0,43.1,-18.2,53,341,0.00,1.58,0.00,0.000,6,0.000,0.031,2517,2766,3859,0,0,0,0,0,0
$GC,476,-0.84,-219.0,67.9,-17.8,78,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3859,0,0,0,0,0,0
$GC,617,-0.84,-219.0,94.2,-18.7,103,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3860,0,0,0,0,0,0
$GC,757,-0.84,-219.0,119.8,-17.6,119,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3860,0,0,0,0,0,0
$GC,884,-0.84,-219.0,141.2,-16.6,131,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3860,0,0,0,0,0,0
$GC,1012,-0.84,-219.0,163.1,-17.3,143,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3860,0,0,0,0,0,0
$GC,1139,-0.84,-219.0,185.0,-17.2,155,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3860,0,0,0,0,0,0
$GC,1266,-0.84,-219.0,207.2,-17.2,167,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3860,0,0,0,0,0,0
$GC,1394,-0.84,-219.0,229.2,-17.2,179,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3860,0,0,0,0,0,0
$GC,1522,-0.84,-219.0,251.9,-17.8,191,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2766,3860,0,0,0,0,0,0
$GC,1713,-0.84,-219.0,285.6,-17.5,209,1717,0.00,1.62,0.00,0.000,4,0.000,0.050,2509,3794,3860,0,0,0,0,0,0
$GC,1759,-0.84,-219.0,294.2,-19.2,213,1762,0.00,1.58,0.00,0.000,6,0.000,0.031,2509,2778,3860,0,0,0,0,0,0
$GC,1962,-0.84,-219.0,330.6,-17.5,232,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3860,0,0,0,0,0,0
$GC,2153,-0.84,-219.0,363.9,-17.1,250,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3860,0,0,0,0,0,0
$GC,2344,-0.84,-219.0,396.4,-16.4,268,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3859,0,0,0,0,0,0
$GC,2535,-0.84,-219.0,428.0,-16.4,286,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2778,3860,0,0,0,0,0,0
$GC,2727,-0.84,-219.0,459.6,-16.9,304,2731,0.00,2.15,0.00,0.000,4,0.000,0.033,2509,1377,3859,0,0,0,0,0,0
$GC,2776,-0.84,-219.0,467.9,-15.8,308,2781,0.10,2.22,0.00,0.000,6,0.173,0.045,2526,2771,3859,0,0,0,0,0,0
$GC,2975,-0.84,-219.0,498.3,-15.8,326,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2770,3860,0,0,0,0,0,0
$GC,3179,-0.84,-219.0,530.4,-15.7,334,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2771,3859,0,0,0,0,0,0
$GC,3362,-0.84,-219.0,559.1,-15.7,340,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2771,3859,0,0,0,0,0,0
$GC,3546,-0.84,-219.0,587.2,-15.3,346,3550,0.00,1.58,0.00,0.000,4,0.000,0.052,2519,3755,3860,0,0,0,0,0,0
$GC,3589,-0.84,-219.0,594.3,-15.3,347,3594,0.00,1.52,0.00,0.000,6,0.000,0.031,2519,2772,3859,0,0,0,0,0,0
$GC,3797,-0.84,-219.0,625.9,-15.3,354,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2771,3859,0,0,0,0,0,0
$STATE,3982,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3982,begin apogee
$GC,3987,-0.16,0.0,654.0,15.3,360,4176,0.68,0.00,180.62,1.129,4,0.124,0.000,2745,2686,2959,0,0,0,0,0,0
$STATE,4177,end apogee,CONTROL_FINISHED_OK
$STATE,4177,begin climb
$GC,4179,0.84,219.0,663.4,0.0,366,4386,0.98,2.38,196.55,1.072,4,0.075,0.034,3068,1309,2066,0,0,0,0,0,0
$GC,4501,0.84,219.0,629.9,14.4,376,4506,0.00,2.45,0.00,0.000,6,0.000,0.041,3068,2690,2056,0,0,1,0,0,0
$GC,4715,0.84,219.0,595.4,16.5,383,4719,0.00,2.30,0.00,0.000,4,0.000,0.034,3079,1313,2051,0,0,0,0,0,0
$GC,4887,0.84,219.0,568.7,15.0,388,4892,0.00,2.38,0.00,0.000,6,0.000,0.041,3079,2710,2050,0,0,1,0,0,0
$GC,5096,0.84,219.0,534.1,16.7,395,5099,0.00,1.70,0.00,0.000,4,0.000,0.048,3079,3766,2048,0,0,0,0,0,0
$GC,5144,0.84,219.0,524.5,19.7,396,5149,0.00,1.65,0.00,0.000,6,0.000,0.030,3087,2732,2047,0,0,1,0,0,0
$GC,5338,0.84,219.0,491.7,16.7,404,5341,0.00,1.67,0.00,0.000,4,0.000,0.049,3087,3765,2047,0,0,0,0,0,0
$GC,5376,0.84,219.0,484.3,18.8,407,5383,0.00,1.67,0.00,0.000,6,0.000,0.031,3095,2727,2047,0,0,0,0,0,0
$GC,5576,0.84,219.0,450.7,17.1,426,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2727,2046,0,0,0,0,0,0
$GC,5765,0.84,219.0,417.2,17.8,444,5768,0.00,1.67,0.00,0.000,4,0.000,0.049,3095,3768,2046,0,0,0,0,0,0
$GC,5822,0.84,219.0,406.5,20.3,449,5826,0.12,1.65,0.00,0.000,6,0.179,0.031,3070,2705,2046,0,0,0,0,0,0
$GC,6025,0.84,219.0,375.1,14.8,468,6028,0.00,1.70,0.00,0.000,4,0.000,0.049,3070,3766,2046,0,0,0,0,0,0
$GC,6059,0.84,219.0,369.3,16.8,471,6063,0.00,1.62,0.00,0.000,6,0.000,0.031,3078,2740,2046,0,0,0,0,0,0
$GC,6262,0.84,219.0,337.6,15.5,490,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2738,2046,0,0,0,0,0,0
$GC,6453,0.84,219.0,307.2,15.9,508,6456,0.00,1.65,0.00,0.000,4,0.000,0.050,3078,3769,2046,0,0,0,0,0,0
$GC,6510,0.84,219.0,297.1,18.6,513,6513,0.00,1.62,0.00,0.000,6,0.000,0.031,3085,2736,2045,0,0,0,0,0,0
$GC,6712,0.84,219.0,263.0,16.5,532,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2734,2045,0,0,0,0,0,0
$GC,6904,0.84,219.0,231.0,17.4,550,6908,0.00,1.65,0.00,0.000,4,0.000,0.050,3085,3772,2045,0,0,0,0,0,0
$GC,6983,0.84,219.0,216.3,18.5,557,6987,0.00,1.60,0.00,0.000,6,0.000,0.031,3093,2753,2044,0,0,0,0,0,0
$GC,7123,0.84,219.0,192.7,16.5,570,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2752,2044,0,0,0,0,0,0
$GC,7251,0.84,219.0,171.9,16.5,582,7254,0.00,1.62,0.00,0.000,4,0.000,0.051,3093,3776,2044,0,0,0,0,0,0
$GC,7279,0.84,219.0,166.6,17.8,584,7286,0.08,1.60,0.00,0.000,6,0.165,0.031,3076,2760,2044,0,0,0,0,0,0
$GC,7412,0.84,219.0,146.2,15.1,597,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2760,2044,0,0,0,0,0,0
$GC,7540,0.84,219.0,126.6,15.1,609,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2760,2044,0,0,0,0,0,0
$GC,7667,0.84,219.0,108.2,14.2,621,7671,0.00,1.62,0.00,0.000,4,0.000,0.050,3076,3761,2044,0,0,0,0,0,0
$GC,7711,0.84,219.0,101.3,16.1,625,7715,0.00,1.58,0.00,0.000,6,0.000,0.032,3083,2754,2044,0,0,0,0,0,0
$GC,7850,0.84,219.0,80.7,15.0,649,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2753,2044,0,0,0,0,0,0
$GC,7994,0.84,219.0,58.2,15.6,674,8000,0.00,1.65,0.00,0.000,4,0.000,0.050,3083,3766,2044,0,0,0,0,0,0
$GC,8045,0.84,219.0,49.2,18.6,683,8051,0.00,1.58,0.00,0.000,6,0.000,0.032,3091,2759,2044,0,0,0,0,0,0
$GC,8187,0.84,219.0,25.5,17.1,708,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2759,2044,0,0,0,0,0,0
$FREEZE,8.87,-1.799,-1.901,2,1,0
$FREEZE,7.94,-1.798,-1.901,2,1,0
$FREEZE,7.18,-1.794,-1.900,2,1,0
$FREEZE,6.31,-1.795,-1.900,2,1,0
$FREEZE,5.62,-1.795,-1.899,2,1,0
$FREEZE,4.95,-1.794,-1.898,2,1,0
$FREEZE,4.02,-1.794,-1.898,2,1,0
$FREEZE,2.96,-1.796,-1.897,2,1,0
$STATE,8322,end climb,SURFACE_DEPTH_REACHED
$STATE,8322,begin surface coast
$FREEZE,1.89,-1.795,-1.896,2,1,0
$FREEZE,0.93,-1.793,-1.895,2,1,0
$FREEZE,0.30,-1.793,-1.895,2,1,0
$FREEZE,0.23,-1.802,-1.037,2,1,0
$FINISH,0.2,1.015310
$STATE,8346,end surface coast,FINISH_DEPTH_REACHED
$STATE,8346,begin surface
$SM_CCo,8361,206.18,0.102,0,0,445,616.92
$SM_GC,0.85,0.00,0.00,206.18,0.000,0.000,0.102,192,2757,445,-8.13,-0.65,616.92
$IRIDIUM_FIX,-7554.21,17141.59,091210,010130
$TT8_MAMPS,0.027713
$HUMID,49.01
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,654.0,6.8
$24V_AH,22.0,7.285
$10V_AH,10.0,3.166
$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,18.475,52.975,377.175,206.175,0.000,30.925,36.036,120.392,3.000,0.000,35.269,1910.880,4531.029,677.117,1616.023,157.902,0.000,1456.560,0.000,1314.359,0.000,23.592,0.000
$DEVICE_MAMPS,222.615,99.450,1129.140,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.396,911.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258368
$DATA_FILE_SIZE,47016,736
$CAP_FILE_SIZE,105869,0
$CFSIZE,260165632,244146176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.020,308.2,1
$GPS,091210,062926,-7644.601,17145.729,49,2.5,68,131.1