version: 66.08
glider: 503
mission: 7
dive: 130
start: 12 9 110 11 41 14
data:
$ID,503
$MISSION,7
$DIVE,130
$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,-19649.701
$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,25
$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
$GPS1,091210,113536,-7644.355,17157.936,54,1.6,59,130.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.6
$GPS2,091210,114045,-7644.351,17157.895,11,2.4,30,130.7
$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,305.4,210122,-18.2,-13.333
$D_GRID,683
$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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,161,0.00,0.00,-142.93,0.000,2,0.000,0.000,185,2745,3430,0,0,0,0,0,0
$GC,164,-0.84,-219.0,3.2,-5.5,24,191,8.90,1.67,-9.30,0.000,4,0.223,0.070,2516,3767,3857,0,0,1,0,0,0
$GC,386,-0.84,-219.0,52.4,-18.8,63,393,0.00,1.58,0.00,0.000,6,0.000,0.031,2516,2767,3859,0,0,0,0,0,0
$GC,526,-0.84,-219.0,78.6,-19.4,88,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2766,3859,0,0,0,0,0,0
$GC,671,-0.84,-219.0,106.2,-19.9,111,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3860,0,0,0,0,0,0
$GC,799,-0.84,-219.0,129.5,-17.5,123,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3860,0,0,0,0,0,0
$GC,926,-0.84,-219.0,152.1,-17.8,135,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3860,0,0,0,0,0,0
$GC,1054,-0.84,-219.0,175.1,-18.1,147,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3860,0,0,0,0,0,0
$GC,1181,-0.84,-219.0,198.4,-18.4,159,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2766,3860,0,0,0,0,0,0
$GC,1308,-0.84,-219.0,222.1,-18.7,171,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3860,0,0,0,0,0,0
$GC,1435,-0.84,-219.0,245.6,-18.2,183,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2767,3860,0,0,0,0,0,0
$GC,1563,-0.84,-219.0,268.9,-18.1,195,1567,0.00,1.62,0.00,0.000,4,0.000,0.051,2508,3790,3860,0,0,0,0,0,0
$GC,1597,-0.84,-219.0,275.5,-19.2,198,1601,0.00,1.58,0.00,0.000,6,0.000,0.031,2508,2777,3860,0,0,0,0,0,0
$GC,1801,-0.84,-219.0,312.7,-18.1,217,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2776,3860,0,0,0,0,0,0
$GC,1993,-0.84,-219.0,347.1,-18.2,235,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2777,3860,0,0,0,0,0,0
$GC,2182,-0.84,-219.0,381.4,-17.7,253,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2777,3860,0,0,0,0,0,0
$GC,2375,-0.84,-219.0,414.5,-17.5,271,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2777,3860,0,0,0,0,0,0
$GC,2565,-0.84,-219.0,446.9,-16.7,289,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2777,3860,0,0,0,0,0,0
$GC,2757,-0.84,-219.0,479.3,-17.0,307,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2776,3859,0,0,0,0,0,0
$GC,2945,-0.84,-219.0,511.1,-16.9,321,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2777,3860,0,0,0,0,0,0
$GC,3129,-0.84,-219.0,542.0,-16.9,327,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2777,3859,0,0,0,0,0,0
$GC,3314,-0.84,-219.0,573.1,-16.9,333,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2777,3859,0,0,0,0,0,0
$STATE,3499,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3499,begin apogee
$GC,3505,-0.16,0.0,604.0,16.8,339,3692,0.70,0.00,179.40,1.099,4,0.129,0.000,2741,2696,2960,0,0,0,0,0,0
$STATE,3693,end apogee,CONTROL_FINISHED_OK
$STATE,3693,begin climb
$GC,3695,0.84,219.0,613.2,0.0,345,3899,1.00,2.38,195.07,1.041,4,0.076,0.034,3073,1304,2067,0,0,0,0,0,0
$GC,4010,0.84,219.0,579.8,14.8,354,4019,0.00,2.47,0.00,0.000,6,0.000,0.041,3072,2698,2057,0,0,1,0,0,0
$GC,4201,0.84,219.0,549.2,16.3,361,4205,0.00,2.35,0.00,0.000,4,0.000,0.035,3083,1304,2052,0,0,0,0,0,0
$GC,4400,0.84,219.0,518.9,14.6,367,4405,0.00,2.40,0.00,0.000,6,0.000,0.042,3083,2706,2050,0,0,0,0,0,0
$GC,4597,0.84,219.0,486.0,16.8,378,4601,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3768,2049,0,0,0,0,0,0
$GC,4635,0.84,219.0,478.5,19.8,381,4642,0.00,1.67,0.00,0.000,6,0.000,0.031,3090,2718,2049,0,0,1,0,0,0
$GC,4833,0.84,219.0,443.0,17.9,400,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2717,2048,0,0,0,0,0,0
$GC,5024,0.84,219.0,408.9,17.8,418,5027,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3765,2048,0,0,0,0,0,0
$GC,5069,0.84,219.0,400.1,20.1,422,5073,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2721,2047,0,0,1,0,0,0
$GC,5272,0.84,219.0,363.8,17.2,441,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2721,2047,0,0,0,0,0,0
$GC,5464,0.84,219.0,330.5,17.7,459,5468,0.00,1.67,0.00,0.000,4,0.000,0.049,3100,3767,2046,0,0,0,0,0,0
$GC,5524,0.84,219.0,318.2,20.6,464,5533,0.10,1.65,0.00,0.000,6,0.158,0.031,3076,2726,2046,0,0,0,0,0,0
$GC,5723,0.84,219.0,286.7,15.9,483,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2726,2046,0,0,0,0,0,0
$GC,5915,0.84,219.0,257.2,15.8,501,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2726,2045,0,0,0,0,0,0
$GC,6105,0.84,219.0,228.3,14.9,519,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2726,2046,0,0,0,0,0,0
$GC,6233,0.84,219.0,208.9,15.3,531,6237,0.00,1.65,0.00,0.000,4,0.000,0.050,3076,3765,2046,0,0,0,0,0,0
$GC,6290,0.84,219.0,198.9,18.1,536,6294,0.00,1.65,0.00,0.000,6,0.000,0.031,3083,2686,2045,0,0,0,0,0,0
$GC,6429,0.84,219.0,175.6,16.4,549,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2685,2045,0,0,0,0,0,0
$GC,6557,0.84,219.0,154.7,16.0,561,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2685,2045,0,0,0,0,0,0
$GC,6684,0.84,219.0,134.5,15.9,573,6687,0.00,1.73,0.00,0.000,4,0.000,0.050,3083,3770,2045,0,0,0,0,0,0
$GC,6721,0.84,219.0,127.7,17.5,576,6729,0.00,1.62,0.00,0.000,6,0.000,0.031,3092,2734,2045,0,0,0,0,0,0
$GC,6855,0.84,219.0,105.7,16.3,589,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2734,2045,0,0,0,0,0,0
$GC,6988,0.84,219.0,84.3,15.9,609,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2735,2045,0,0,0,0,0,0
$GC,7129,0.84,219.0,61.1,16.4,634,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2735,2044,0,0,0,0,0,0
$GC,7270,0.84,219.0,38.4,16.9,659,7277,0.00,1.67,0.00,0.000,4,0.000,0.050,3092,3761,2044,0,0,0,0,0,0
$GC,7305,0.84,219.0,32.2,17.2,665,7312,0.00,1.60,0.00,0.000,6,0.000,0.033,3100,2742,2044,0,0,0,0,0,0
$FREEZE,8.30,-1.788,-1.902,2,1,0
$GC,7448,0.84,219.0,8.3,16.4,690,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2742,2044,0,0,0,0,0,0
$FREEZE,5.63,-1.789,-1.900,2,1,0
$FREEZE,4.92,-1.788,-1.899,2,1,0
$FREEZE,4.09,-1.787,-1.899,2,1,0
$FREEZE,3.18,-1.786,-1.898,2,1,0
$FREEZE,2.34,-1.786,-1.897,2,1,0
$STATE,7481,end climb,SURFACE_DEPTH_REACHED
$STATE,7482,begin surface coast
$FREEZE,1.51,-1.790,-1.897,2,1,0
$FREEZE,0.58,-1.785,-1.896,2,1,0
$FREEZE,0.30,-1.797,-1.896,2,1,0
$FINISH,0.3,1.027802
$STATE,7499,end surface coast,CONTROL_FINISHED_OK
$STATE,7499,begin surface
$SM_CCo,7515,206.52,0.102,0,0,445,616.92
$SM_GC,0.95,0.00,0.00,206.52,0.000,0.000,0.102,196,2788,445,-8.14,0.25,616.92
$IRIDIUM_FIX,-7603.11,17149.54,091210,090924
$TT8_MAMPS,0.027713
$HUMID,49.01
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$ALTIM_BOTTOM_PING,604.0,11.0
$24V_AH,22.1,7.684
$10V_AH,10.0,3.351
$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,18.350,36.200,374.475,206.525,0.000,26.108,39.480,119.917,2.750,0.000,33.897,1778.819,3942.833,679.448,1503.311,139.404,0.000,1397.148,0.000,1209.727,0.000,21.890,0.000
$DEVICE_MAMPS,222.615,115.515,1098.540,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.624,860.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258360
$DATA_FILE_SIZE,43729,699
$CAP_FILE_SIZE,94966,0
$CFSIZE,260165632,243986432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.040,149.8,1
$GPS,091210,135131,-7644.203,17203.451,57,1.0,57,130.6