version: 66.08
glider: 503
mission: 7
dive: 131
start: 12 9 110 13 56 43
data:
$ID,503
$MISSION,7
$DIVE,131
$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,-19651.053
$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,43
$R_STBD_OVSHOOT,31
$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
$GPS1,091210,135131,-7644.203,17203.451,57,1.0,57,130.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.2
$GPS2,091210,135614,-7644.205,17203.412,13,0.9,13,130.6
$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,306.0,207721,-18.2,-13.333
$D_GRID,662
$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,-219.0,0.0,0.0,0,164,0.00,0.00,-146.55,0.000,2,0.000,0.000,195,2791,3535,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.9,-8.5,24,189,8.85,1.62,-6.43,0.000,4,0.223,0.067,2516,3768,3855,0,0,0,0,0,0
$GC,441,-0.84,-219.0,65.7,-18.6,72,448,0.00,1.55,0.00,0.000,6,0.000,0.030,2516,2776,3859,0,0,0,0,0,0
$GC,582,-0.84,-219.0,91.6,-18.3,97,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2775,3859,0,0,0,0,0,0
$GC,718,-0.84,-219.0,116.4,-18.0,114,722,0.00,2.17,0.00,0.000,4,0.000,0.033,2516,1383,3859,0,0,0,0,0,0
$GC,762,-0.84,-219.0,124.4,-16.8,117,770,0.00,2.30,0.00,0.000,6,0.000,0.045,2506,2771,3858,0,0,0,0,0,0
$GC,896,-0.84,-219.0,148.8,-18.6,130,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2771,3859,0,0,0,0,0,0
$GC,1024,-0.84,-219.0,172.5,-18.5,142,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2770,3859,0,0,0,0,0,0
$GC,1151,-0.84,-219.0,195.9,-18.4,154,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2771,3859,0,0,0,0,0,0
$GC,1279,-0.84,-219.0,219.2,-18.1,166,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2771,3860,0,0,0,0,0,0
$GC,1406,-0.84,-219.0,242.2,-18.2,178,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2771,3859,0,0,0,0,0,0
$GC,1533,-0.84,-219.0,265.6,-18.5,190,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2771,3860,0,0,0,0,0,0
$GC,1726,-0.84,-219.0,300.7,-18.4,208,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2771,3859,0,0,0,0,0,0
$GC,1916,-0.84,-219.0,335.7,-18.4,226,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2771,3859,0,0,0,0,0,0
$GC,2107,-0.84,-219.0,370.3,-17.6,244,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2770,3859,0,0,0,0,0,0
$GC,2298,-0.84,-219.0,404.2,-17.8,262,2302,0.00,2.17,0.00,0.000,4,0.000,0.034,2506,1375,3859,0,0,0,0,0,0
$GC,2330,-0.84,-219.0,410.0,-17.1,264,2338,0.12,2.25,0.00,0.000,6,0.162,0.045,2530,2774,3859,0,0,0,0,0,0
$GC,2528,-0.84,-219.0,440.4,-15.1,283,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2775,3859,0,0,0,0,0,0
$GC,2720,-0.84,-219.0,469.2,-15.2,301,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2775,3859,0,0,0,0,0,0
$GC,2910,-0.84,-219.0,498.5,-15.3,319,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2775,3859,0,0,0,0,0,0
$GC,3104,-0.84,-219.0,528.2,-15.4,326,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2775,3859,0,0,0,0,0,0
$GC,3288,-0.84,-219.0,556.7,-15.4,332,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2775,3859,0,0,0,0,0,0
$GC,3471,-0.84,-219.0,584.9,-15.5,338,3475,0.00,2.15,0.00,0.000,4,0.000,0.031,2530,1375,3859,0,0,0,0,0,0
$GC,3508,-0.84,-219.0,590.6,-14.0,339,3513,0.00,2.25,0.00,0.000,6,0.000,0.044,2523,2762,3859,0,0,0,0,0,0
$GC,3716,-0.84,-219.0,622.6,-15.6,346,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2762,3859,0,0,0,0,0,0
$GC,3900,-0.84,-219.0,648.0,-13.4,352,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2762,3859,0,0,0,0,0,0
$GC,4084,-0.84,-219.0,648.0,-0.0,358,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2762,3859,0,0,0,0,0,0
$STATE,4143,end dive,NO_VERTICAL_VELOCITY
$STATE,4144,begin apogee
$GC,4148,-0.16,0.0,648.0,0.0,360,4336,0.60,0.00,180.05,1.123,4,0.076,0.000,2750,2762,2960,0,0,0,0,0,0
$STATE,4336,end apogee,CONTROL_FINISHED_OK
$STATE,4336,begin climb
$GC,4338,0.84,219.0,647.7,0.0,366,4540,0.93,0.00,196.20,1.066,6,0.070,0.000,3069,2762,2067,0,0,0,0,0,0
$GC,4744,0.93,295.1,618.5,10.2,379,4820,0.00,2.60,68.88,1.041,4,0.000,0.033,3080,1314,1757,0,0,1,0,0,0
$GC,4864,1.01,358.8,605.4,10.7,382,4930,0.08,2.47,59.53,1.017,6,0.053,0.041,3124,2689,1497,0,0,1,0,0,0
$GC,5114,1.01,358.8,561.7,18.4,390,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2688,1489,0,0,0,0,0,0
$GC,5297,1.01,358.8,526.2,19.5,396,5301,0.00,2.30,0.00,0.000,4,0.000,0.034,3134,1309,1487,0,0,0,0,0,0
$GC,5330,1.01,358.8,520.1,17.8,397,5335,0.00,2.30,0.00,0.000,6,0.000,0.043,3135,2680,1487,0,0,1,0,0,0
$GC,5524,1.01,358.8,480.7,21.2,408,5528,0.00,1.77,0.00,0.000,4,0.000,0.049,3135,3768,1485,0,0,0,0,0,0
$GC,5551,1.01,358.8,474.5,23.5,410,5560,0.00,1.75,0.00,0.000,6,0.000,0.031,3143,2683,1485,0,0,1,0,0,0
$GC,5749,1.01,358.8,431.0,21.7,429,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2683,1485,0,0,0,0,0,0
$GC,5941,1.01,358.8,388.6,22.2,447,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2683,1484,0,0,0,0,0,0
$GC,6133,1.01,358.8,344.5,24.1,465,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2683,1484,0,0,0,0,0,0
$GC,6323,1.01,358.8,299.2,23.6,483,6327,0.00,1.75,0.00,0.000,4,0.000,0.050,3143,3768,1484,0,0,0,0,0,0
$GC,6372,1.01,358.8,286.1,25.4,487,6380,0.00,1.70,0.00,0.000,6,0.000,0.031,3152,2684,1483,0,0,1,0,0,0
$GC,6571,1.01,358.8,237.1,24.9,506,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2684,1483,0,0,0,0,0,0
$GC,6698,1.01,358.8,205.9,24.8,518,6701,0.00,1.75,0.00,0.000,4,0.000,0.050,3151,3769,1483,0,0,0,0,0,0
$GC,6736,1.01,358.8,195.6,26.9,521,6744,0.10,1.70,0.00,0.000,6,0.145,0.031,3127,2690,1483,0,0,1,0,0,0
$GC,6870,1.01,358.8,166.0,21.4,534,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2688,1482,0,0,0,0,0,0
$GC,6998,1.01,358.8,139.0,21.5,546,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2689,1482,0,0,0,0,0,0
$GC,7125,1.01,358.8,112.6,20.4,558,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2689,1482,0,0,0,0,0,0
$GC,7255,1.01,358.8,85.5,21.0,576,7262,0.00,1.75,0.00,0.000,4,0.000,0.050,3127,3777,1482,0,0,0,0,0,0
$GC,7279,1.01,358.8,80.1,22.8,580,7286,0.00,1.73,0.00,0.000,6,0.000,0.032,3135,2684,1482,0,0,0,0,0,0
$GC,7422,1.01,358.8,48.2,23.6,605,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2684,1482,0,0,0,0,0,0
$GC,7563,1.01,358.8,16.4,22.3,630,7570,0.00,1.75,0.00,0.000,4,0.000,0.051,3135,3772,1482,0,0,0,0,0,0
$FREEZE,8.90,-1.797,-1.902,2,1,0
$FREEZE,7.53,-1.794,-1.901,2,1,0
$FREEZE,6.31,-1.797,-1.900,2,1,0
$FREEZE,5.10,-1.796,-1.900,2,1,0
$FREEZE,3.72,-1.795,-1.898,2,1,0
$GC,7616,1.01,358.8,3.7,24.8,639,7623,0.00,1.70,0.00,0.000,6,0.000,0.031,3143,2693,1482,0,0,0,0,0,0
$FREEZE,0.23,-1.782,-1.896,2,1,0
$STATE,7628,end climb,SURFACE_DEPTH_REACHED
$STATE,7628,begin surface coast
$FREEZE,0.21,-1.793,-1.894,2,1,0
$FREEZE,0.11,-1.732,-1.110,2,1,0
$FINISH,0.1,1.016402
$STATE,7642,end surface coast,FINISH_DEPTH_REACHED
$STATE,7642,begin surface
$SM_CCo,7657,136.65,0.103,0,0,445,616.92
$SM_GC,0.87,0.00,0.00,136.65,0.000,0.000,0.103,189,2795,445,-8.16,0.42,616.92
$IRIDIUM_FIX,-7603.11,17200.15,091210,111106
$TT8_MAMPS,0.027713
$HUMID,50.43
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.0
$24V_AH,22.0,7.850
$10V_AH,10.0,3.406
$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,18.475,43.650,504.650,136.650,0.000,22.437,36.871,117.242,2.500,0.000,16.219,1634.341,4228.610,706.023,1377.603,145.167,0.000,1411.272,0.000,1116.948,0.000,18.976,0.000
$DEVICE_MAMPS,222.615,78.795,1123.020,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,451.292,797.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,40394,643
$CAP_FILE_SIZE,94951,0
$CFSIZE,260165632,243937280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.027,114.7,1
$GPS,091210,160830,-7643.912,17209.941,74,1.9,74,130.4