version: 66.08
glider: 503
mission: 7
dive: 129
start: 12 9 110 9 15 50
data:
$ID,503
$MISSION,7
$DIVE,129
$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,-19648.348
$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,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
$GPS1,091210,090936,-7644.531,17151.881,93,1.9,93,130.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-65.9
$GPS2,091210,091522,-7644.513,17151.869,12,2.5,31,130.9
$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,305.2,212744,-18.2,-13.333
$D_GRID,702
$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,-219.0,0.0,0.0,0,159,0.00,0.00,-141.45,0.000,2,0.000,0.000,187,2769,3407,0,0,0,0,0,0
$GC,163,-0.84,-219.0,3.4,-6.1,23,189,8.88,2.22,-9.75,0.000,4,0.222,0.047,2522,1370,3856,0,0,0,0,0,0
$GC,280,-0.84,-219.0,29.7,-16.6,43,287,0.00,2.30,0.00,0.000,6,0.000,0.044,2512,2779,3859,0,0,0,0,0,0
$GC,420,-0.84,-219.0,57.7,-20.2,68,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3859,0,0,0,0,0,0
$GC,559,-0.84,-219.0,85.1,-19.0,93,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3859,0,0,0,0,0,0
$GC,698,-0.84,-219.0,113.2,-20.8,112,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,825,-0.84,-219.0,138.1,-19.3,124,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,953,-0.84,-219.0,163.1,-19.5,136,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2779,3860,0,0,0,0,0,0
$GC,1081,-0.84,-219.0,187.5,-18.8,148,1085,0.00,2.20,0.00,0.000,4,0.000,0.033,2512,1374,3860,0,0,0,0,0,0
$GC,1120,-0.84,-219.0,194.6,-17.7,151,1124,0.00,2.28,0.00,0.000,6,0.000,0.045,2502,2783,3860,0,0,0,0,0,0
$GC,1253,-0.84,-219.0,220.1,-19.6,163,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2783,3860,0,0,0,0,0,0
$GC,1381,-0.84,-219.0,244.9,-19.8,175,1385,0.00,1.58,0.00,0.000,4,0.000,0.051,2494,3760,3860,0,0,0,0,0,0
$GC,1415,-0.84,-219.0,251.8,-21.0,178,1419,0.08,1.52,0.00,0.000,6,0.148,0.031,2520,2776,3860,0,0,0,0,0,0
$GC,1619,-0.84,-219.0,289.4,-18.1,197,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2775,3860,0,0,0,0,0,0
$GC,1808,-0.84,-219.0,324.0,-18.1,215,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2775,3860,0,0,0,0,0,0
$GC,2000,-0.84,-219.0,358.3,-18.1,233,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2775,3860,0,0,0,0,0,0
$GC,2191,-0.84,-219.0,392.0,-17.6,251,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2775,3860,0,0,0,0,0,0
$GC,2382,-0.84,-219.0,424.8,-17.1,269,2386,0.00,1.60,0.00,0.000,4,0.000,0.052,2513,3760,3859,0,0,0,0,0,0
$GC,2427,-0.84,-219.0,433.0,-17.9,273,2431,0.00,1.50,0.00,0.000,6,0.000,0.032,2513,2794,3859,0,0,0,0,0,0
$GC,2632,-0.84,-219.0,469.2,-17.6,292,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2793,3860,0,0,0,0,0,0
$GC,2842,-0.84,-219.0,506.3,-17.5,310,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2793,3860,0,0,0,0,0,0
$GC,3025,-0.84,-219.0,538.4,-17.3,316,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2793,3859,0,0,0,0,0,0
$GC,3209,-0.84,-219.0,569.0,-16.6,322,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2793,3860,0,0,0,0,0,0
$GC,3392,-0.84,-219.0,599.2,-16.4,328,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2793,3860,0,0,0,0,0,0
$GC,3577,-0.84,-219.0,629.2,-16.3,334,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2793,3859,0,0,0,0,0,0
$STATE,3731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3731,begin apogee
$GC,3736,-0.16,0.0,654.0,16.1,339,3924,0.68,0.00,180.43,1.128,4,0.125,0.000,2740,2677,2959,0,0,0,0,0,0
$STATE,3925,end apogee,CONTROL_FINISHED_OK
$STATE,3925,begin climb
$GC,3927,0.84,219.0,662.4,0.0,345,4132,1.00,2.35,196.68,1.073,4,0.075,0.032,3070,1301,2067,0,0,0,0,0,0
$GC,4288,0.84,219.0,625.4,14.2,356,4293,0.00,2.47,0.00,0.000,6,0.000,0.041,3070,2727,2055,0,0,0,0,0,0
$GC,4496,0.84,219.0,591.9,16.4,363,4500,0.00,2.35,0.00,0.000,4,0.000,0.034,3081,1305,2051,0,0,0,0,0,0
$GC,4673,0.84,219.0,564.4,16.0,368,4678,0.00,2.35,0.00,0.000,6,0.000,0.042,3081,2694,2049,0,0,1,0,0,0
$GC,4875,0.84,219.0,530.3,17.1,375,4878,0.00,1.75,0.00,0.000,4,0.000,0.049,3081,3752,2049,0,0,0,0,0,0
$GC,4946,0.84,219.0,516.4,18.9,377,4951,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2713,2048,0,0,0,0,0,0
$GC,5142,0.84,219.0,481.8,17.6,388,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2713,2048,0,0,0,0,0,0
$GC,5333,0.84,219.0,449.3,17.0,406,5337,0.00,1.70,0.00,0.000,4,0.000,0.049,3090,3766,2047,0,0,0,0,0,0
$GC,5371,0.84,219.0,441.8,19.2,409,5380,0.00,1.67,0.00,0.000,6,0.000,0.031,3098,2717,2047,0,0,0,0,0,0
$GC,5569,0.84,219.0,406.5,18.2,428,5573,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3765,2046,0,0,0,0,0,0
$GC,5603,0.84,219.0,400.1,20.0,431,5607,0.12,1.65,0.00,0.000,6,0.183,0.032,3074,2701,2046,0,0,0,0,0,0
$GC,5806,0.84,219.0,366.9,16.2,450,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2701,2046,0,0,0,0,0,0
$GC,5996,0.84,219.0,336.1,15.6,468,6000,0.00,1.70,0.00,0.000,4,0.000,0.049,3074,3766,2046,0,0,0,0,0,0
$GC,6033,0.84,219.0,329.2,17.9,471,6041,0.00,1.65,0.00,0.000,6,0.000,0.031,3081,2721,2045,0,0,0,0,0,0
$GC,6232,0.84,219.0,296.7,16.1,490,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2720,2045,0,0,0,0,0,0
$GC,6424,0.84,219.0,265.7,16.3,508,6427,0.00,1.67,0.00,0.000,4,0.000,0.050,3081,3768,2045,0,0,0,0,0,0
$GC,6473,0.84,219.0,256.6,18.3,512,6481,0.00,1.65,0.00,0.000,6,0.000,0.030,3089,2719,2045,0,0,0,0,0,0
$GC,6671,0.84,219.0,223.9,17.0,531,6675,0.00,1.65,0.00,0.000,4,0.000,0.050,3089,3765,2045,0,0,0,0,0,0
$GC,6720,0.84,219.0,214.6,18.3,535,6728,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2733,2045,0,0,0,0,0,0
$GC,6855,0.84,219.0,191.3,17.4,548,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2733,2044,0,0,0,0,0,0
$GC,6982,0.84,219.0,169.1,17.3,560,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2733,2044,0,0,0,0,0,0
$GC,7109,0.84,219.0,146.9,17.7,572,7113,0.00,1.67,0.00,0.000,4,0.000,0.050,3097,3760,2044,0,0,0,0,0,0
$GC,7136,0.84,219.0,141.6,20.2,574,7144,0.10,1.60,0.00,0.000,6,0.158,0.032,3074,2746,2044,0,0,0,0,0,0
$GC,7271,0.84,219.0,119.8,15.5,587,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2746,2044,0,0,0,0,0,0
$GC,7398,0.84,219.0,100.0,15.6,599,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2746,2044,0,0,0,0,0,0
$GC,7533,0.84,219.0,79.5,15.2,622,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2746,2044,0,0,0,0,0,0
$GC,7673,0.84,219.0,58.6,15.2,647,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2746,2044,0,0,0,0,0,0
$GC,7815,0.84,219.0,37.7,14.7,672,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2746,2043,0,0,0,0,0,0
$GC,7956,0.84,219.0,17.1,14.3,697,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2746,2043,0,0,0,0,0,0
$FREEZE,8.44,-1.792,-1.902,2,1,0
$FREEZE,7.66,-1.793,-1.901,2,1,0
$FREEZE,6.90,-1.794,-1.901,2,1,0
$FREEZE,5.99,-1.796,-1.900,2,1,0
$FREEZE,5.28,-1.792,-1.899,2,1,0
$FREEZE,4.32,-1.792,-1.899,2,1,0
$FREEZE,3.62,-1.791,-1.898,2,1,0
$FREEZE,2.83,-1.791,-1.897,2,1,0
$STATE,8049,end climb,SURFACE_DEPTH_REACHED
$STATE,8049,begin surface coast
$FREEZE,1.84,-1.790,-1.897,2,1,0
$FREEZE,0.90,-1.788,-1.896,2,1,0
$FREEZE,0.28,-1.792,-1.895,2,1,0
$FINISH,0.3,1.027796
$STATE,8067,end surface coast,CONTROL_FINISHED_OK
$STATE,8067,begin surface
$SM_CCo,8082,206.55,0.102,0,0,445,616.92
$SM_GC,1.04,0.00,0.00,206.55,0.000,0.000,0.102,187,2745,445,-8.16,-0.99,616.92
$IRIDIUM_FIX,-7603.11,17200.15,091210,060606
$TT8_MAMPS,0.027713
$HUMID,49.72
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.0
$ALTIM_BOTTOM_PING,654.0,7.1
$24V_AH,22.0,7.555
$10V_AH,10.0,3.293
$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,18.425,48.200,377.100,206.550,0.000,29.787,49.559,137.644,3.000,0.000,35.128,1849.128,4346.114,691.589,1607.944,149.091,0.000,1450.758,0.000,1275.604,0.000,23.664,0.000
$DEVICE_MAMPS,221.850,70.380,1128.375,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.442,891.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258352
$DATA_FILE_SIZE,47023,717
$CAP_FILE_SIZE,102122,0
$CFSIZE,260165632,244031488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.040,172.4,1
$GPS,091210,113536,-7644.355,17157.936,54,1.6,59,130.7