version: 66.08
glider: 503
mission: 7
dive: 132
start: 12 9 110 16 14 5
data:
$ID,503
$MISSION,7
$DIVE,132
$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,-19652.311
$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,47
$R_STBD_OVSHOOT,37
$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
$GPS1,091210,160830,-7643.912,17209.941,74,1.9,74,130.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.0
$GPS2,091210,161336,-7643.912,17209.941,38,0.8,43,130.4
$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,309.9,204852,-18.2,-13.333
$D_GRID,633
$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,14,-0.84,-219.0,0.0,0.0,0,161,0.00,0.00,-143.85,0.000,2,0.000,0.000,189,2796,3389,0,0,0,0,0,0
$GC,165,-0.84,-219.0,3.1,-5.8,24,192,8.95,2.28,-10.25,0.000,4,0.226,0.044,2523,1374,3856,0,0,0,0,0,0
$GC,404,-0.84,-219.0,52.4,-17.8,66,412,0.00,2.28,0.00,0.000,6,0.000,0.044,2513,2770,3858,0,0,0,0,0,0
$GC,548,-0.84,-219.0,82.6,-21.6,91,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2770,3859,0,0,0,0,0,0
$GC,687,-0.84,-219.0,111.4,-21.1,111,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2770,3859,0,0,0,0,0,0
$GC,814,-0.84,-219.0,138.2,-20.7,123,818,0.00,2.20,0.00,0.000,4,0.000,0.034,2513,1368,3859,0,0,0,0,0,0
$GC,845,-0.84,-219.0,144.9,-19.0,125,853,0.00,2.30,0.00,0.000,6,0.000,0.045,2502,2768,3859,0,0,0,0,0,0
$GC,980,-0.84,-219.0,171.8,-20.7,138,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2767,3859,0,0,0,0,0,0
$GC,1108,-0.84,-219.0,198.5,-20.8,150,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2768,3859,0,0,0,0,0,0
$GC,1235,-0.84,-219.0,223.9,-19.5,162,1239,0.00,2.17,0.00,0.000,4,0.000,0.034,2502,1376,3859,0,0,0,0,0,0
$GC,1267,-0.84,-219.0,230.3,-19.4,164,1275,0.08,2.28,0.00,0.000,6,0.141,0.046,2522,2760,3859,0,0,0,0,0,0
$GC,1402,-0.84,-219.0,254.2,-18.0,177,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3859,0,0,0,0,0,0
$GC,1593,-0.84,-219.0,288.7,-17.8,195,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3859,0,0,0,0,0,0
$GC,1784,-0.84,-219.0,322.6,-17.3,213,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3859,0,0,0,0,0,0
$GC,1976,-0.84,-219.0,357.0,-17.9,231,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3859,0,0,0,0,0,0
$GC,2166,-0.84,-219.0,390.2,-17.5,249,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3859,0,0,0,0,0,0
$GC,2358,-0.84,-219.0,423.6,-17.0,267,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3859,0,0,0,0,0,0
$GC,2548,-0.84,-219.0,457.1,-17.3,285,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3858,0,0,0,0,0,0
$GC,2741,-0.84,-219.0,489.4,-16.8,303,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3858,0,0,0,0,0,0
$GC,2925,-0.84,-219.0,521.7,-17.3,313,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2760,3859,0,0,0,0,0,0
$GC,3112,-0.84,-219.0,553.4,-17.1,319,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3859,0,0,0,0,0,0
$GC,3293,-0.84,-219.0,584.8,-17.0,325,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3859,0,0,0,0,0,0
$GC,3477,-0.84,-219.0,615.7,-16.8,331,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2760,3858,0,0,0,0,0,0
$STATE,3598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3598,begin apogee
$GC,3603,-0.16,0.0,636.3,16.8,335,3791,0.65,0.00,180.25,1.118,4,0.126,0.000,2741,2687,2960,0,0,0,0,0,0
$STATE,3792,end apogee,CONTROL_FINISHED_OK
$STATE,3792,begin climb
$GC,3793,0.84,219.0,641.9,0.0,341,3998,1.00,2.35,195.88,1.060,4,0.075,0.033,3072,1311,2067,0,0,0,0,0,0
$GC,4044,0.84,219.0,621.9,13.9,349,4048,0.00,2.47,0.00,0.000,6,0.000,0.041,3071,2698,2060,0,0,1,0,0,0
$GC,4255,0.84,219.0,588.8,15.8,356,4259,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1314,2052,0,0,0,0,0,0
$GC,4427,0.84,219.0,563.5,14.6,361,4432,0.00,2.35,0.00,0.000,6,0.000,0.041,3082,2698,2050,0,0,1,0,0,0
$GC,4635,0.84,219.0,530.5,16.1,368,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2698,2048,0,0,0,0,0,0
$GC,4819,0.84,219.0,500.0,16.7,374,4823,0.00,1.70,0.00,0.000,4,0.000,0.049,3082,3761,2048,0,0,0,0,0,0
$GC,4868,0.84,219.0,490.5,18.9,376,4876,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2730,2047,0,0,0,0,0,0
$GC,5068,0.84,219.0,455.5,18.0,395,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2729,2047,0,0,0,0,0,0
$GC,5258,0.84,219.0,422.4,17.1,413,5261,0.00,1.67,0.00,0.000,4,0.000,0.049,3091,3768,2046,0,0,0,0,0,0
$GC,5295,0.84,219.0,414.8,19.1,416,5303,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2717,2046,0,0,1,0,0,0
$GC,5494,0.84,219.0,379.8,18.3,435,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2717,2046,0,0,0,0,0,0
$GC,5686,0.84,219.0,346.3,17.2,453,5689,0.00,1.73,0.00,0.000,4,0.000,0.050,3099,3764,2046,0,0,0,0,0,0
$GC,5731,0.84,219.0,337.6,19.2,457,5735,0.12,1.65,0.00,0.000,6,0.179,0.031,3074,2690,2045,0,0,0,0,0,0
$GC,5933,0.84,219.0,306.4,15.0,476,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2690,2045,0,0,0,0,0,0
$GC,6124,0.84,219.0,277.8,15.0,494,6128,0.00,1.70,0.00,0.000,4,0.000,0.049,3074,3762,2045,0,0,0,0,0,0
$GC,6158,0.84,219.0,272.3,16.6,497,6162,0.00,1.65,0.00,0.000,6,0.000,0.031,3082,2684,2045,0,0,0,0,0,0
$GC,6361,0.84,219.0,240.3,16.3,516,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2684,2045,0,0,0,0,0,0
$GC,6488,0.84,219.0,219.9,16.0,528,6492,0.00,1.75,0.00,0.000,4,0.000,0.051,3082,3753,2045,0,0,0,0,0,0
$GC,6525,0.84,219.0,212.9,18.3,531,6533,0.00,1.60,0.00,0.000,6,0.000,0.031,3089,2735,2044,0,0,0,0,0,0
$GC,6660,0.84,219.0,190.6,16.5,544,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2735,2045,0,0,0,0,0,0
$GC,6787,0.84,219.0,169.9,16.2,556,6790,0.00,1.62,0.00,0.000,4,0.000,0.050,3090,3762,2044,0,0,0,0,0,0
$GC,6821,0.84,219.0,164.0,18.1,559,6825,0.00,1.60,0.00,0.000,6,0.000,0.032,3098,2744,2044,0,0,0,0,0,0
$GC,6961,0.84,219.0,140.5,17.1,572,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2744,2044,0,0,0,0,0,0
$GC,7088,0.84,219.0,118.5,17.1,584,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2744,2044,0,0,0,0,0,0
$GC,7216,0.84,219.0,97.4,16.3,597,7223,0.00,1.65,0.00,0.000,4,0.000,0.050,3098,3758,2044,0,0,0,0,0,0
$GC,7247,0.84,219.0,92.2,18.0,602,7255,0.10,1.60,0.00,0.000,6,0.155,0.032,3074,2739,2044,0,0,0,0,0,0
$GC,7391,0.84,219.0,72.0,13.5,627,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2739,2043,0,0,0,0,0,0
$GC,7532,0.84,219.0,53.1,13.4,652,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2739,2044,0,0,0,0,0,0
$GC,7672,0.84,219.0,34.2,13.8,677,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2739,2044,0,0,0,0,0,0
$GC,7814,0.84,219.0,14.3,14.1,702,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2739,2044,0,0,0,0,0,0
$FREEZE,8.46,-1.783,-1.902,2,1,0
$FREEZE,7.92,-1.780,-1.902,2,1,0
$FREEZE,7.13,-1.778,-1.901,2,1,0
$FREEZE,6.38,-1.780,-1.901,2,1,0
$FREEZE,5.64,-1.772,-1.900,2,1,0
$FREEZE,4.86,-1.766,-1.899,2,1,0
$FREEZE,4.14,-1.767,-1.899,2,1,0
$FREEZE,3.35,-1.759,-1.898,2,1,0
$FREEZE,2.73,-1.759,-1.897,2,1,0
$STATE,7896,end climb,SURFACE_DEPTH_REACHED
$STATE,7896,begin surface coast
$FREEZE,2.01,-1.754,-1.897,2,1,0
$FREEZE,1.20,-1.751,-1.896,2,1,0
$FREEZE,0.43,-1.745,-1.896,2,1,0
$FREEZE,0.13,-1.748,-1.002,2,1,0
$FINISH,0.1,1.014788
$STATE,7920,end surface coast,FINISH_DEPTH_REACHED
$STATE,7920,begin surface
$SM_CCo,7936,203.52,0.102,0,0,445,616.92
$SM_GC,0.85,0.00,0.00,203.52,0.000,0.000,0.102,188,2797,445,-8.16,0.48,616.92
$IRIDIUM_FIX,-7554.21,17201.45,091210,131354
$TT8_MAMPS,0.027713
$HUMID,48.85
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.7
$24V_AH,22.0,7.980
$10V_AH,10.0,3.466
$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,18.475,46.375,376.125,203.525,0.000,27.976,40.019,106.982,2.500,0.000,46.210,1839.252,4261.404,690.054,1526.216,142.067,0.000,1428.136,0.000,1233.333,0.000,18.965,0.000
$DEVICE_MAMPS,226.440,107.100,1118.430,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.028,892.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258328
$DATA_FILE_SIZE,47069,721
$CAP_FILE_SIZE,99527,0
$CFSIZE,260165632,243875840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.029, 46.6,1
$GPS,091210,183055,-7643.487,17215.678,26,1.0,31,130.2