version: 66.08
glider: 503
mission: 7
dive: 133
start: 12 9 110 18 36 17
data:
$ID,503
$MISSION,7
$DIVE,133
$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,-19653.662
$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,40
$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
$GPS1,091210,183055,-7643.487,17215.678,26,1.0,31,130.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.7
$GPS2,091210,183549,-7643.489,17215.715,11,1.4,16,130.2
$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,315.5,202278,-18.2,-13.333
$D_GRID,613
$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,-219.0,0.0,0.0,0,164,0.00,0.00,-146.00,0.000,2,0.000,0.000,188,2797,3460,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.3,-6.5,24,195,8.95,2.33,-8.43,0.000,4,0.227,0.046,2522,1369,3856,0,0,0,0,0,0
$GC,373,-0.84,-219.0,46.3,-16.8,60,380,0.00,2.30,0.00,0.000,6,0.000,0.044,2511,2773,3859,0,0,0,0,0,0
$GC,514,-0.84,-219.0,74.5,-19.8,85,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2773,3859,0,0,0,0,0,0
$GC,654,-0.84,-219.0,102.5,-19.7,109,658,0.00,1.60,0.00,0.000,4,0.000,0.051,2504,3757,3859,0,0,0,0,0,0
$GC,680,-0.84,-219.0,108.5,-21.9,111,688,0.00,1.52,0.00,0.000,6,0.000,0.031,2504,2781,3859,0,0,0,0,0,0
$GC,814,-0.84,-219.0,136.6,-21.4,124,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2781,3859,0,0,0,0,0,0
$GC,942,-0.84,-219.0,163.0,-20.8,136,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2781,3860,0,0,0,0,0,0
$GC,1069,-0.84,-219.0,190.2,-21.8,148,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2781,3859,0,0,0,0,0,0
$GC,1197,-0.84,-219.0,217.3,-21.1,160,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2781,3860,0,0,0,0,0,0
$GC,1324,-0.84,-219.0,243.4,-20.2,172,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2781,3860,0,0,0,0,0,0
$GC,1452,-0.84,-219.0,268.8,-19.8,184,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2781,3860,0,0,0,0,0,0
$GC,1643,-0.84,-219.0,306.5,-19.6,202,1646,0.00,1.60,0.00,0.000,4,0.000,0.051,2496,3763,3859,0,0,0,0,0,0
$GC,1677,-0.84,-219.0,313.5,-21.2,205,1682,0.08,1.52,0.00,0.000,6,0.153,0.031,2522,2782,3860,0,0,0,0,0,0
$GC,1880,-0.84,-219.0,349.9,-17.4,224,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2782,3860,0,0,0,0,0,0
$GC,2073,-0.84,-219.0,383.1,-17.1,242,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2782,3859,0,0,0,0,0,0
$GC,2263,-0.84,-219.0,416.1,-16.9,260,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2783,3860,0,0,0,0,0,0
$GC,2454,-0.84,-219.0,448.5,-16.9,278,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2782,3860,0,0,0,0,0,0
$GC,2647,-0.84,-219.0,480.2,-15.9,296,2650,0.00,1.60,0.00,0.000,4,0.000,0.051,2514,3766,3859,0,0,0,0,0,0
$GC,2684,-0.84,-219.0,487.2,-16.5,299,2691,0.00,1.50,0.00,0.000,6,0.000,0.031,2514,2794,3859,0,0,0,0,0,0
$GC,2890,-0.84,-219.0,520.6,-16.5,311,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2793,3859,0,0,0,0,0,0
$GC,3072,-0.84,-219.0,551.4,-16.8,317,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2794,3859,0,0,0,0,0,0
$GC,3256,-0.84,-219.0,581.9,-16.6,323,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2794,3859,0,0,0,0,0,0
$GC,3439,-0.84,-219.0,613.0,-16.9,329,3442,0.00,1.58,0.00,0.000,4,0.000,0.051,2507,3767,3859,0,0,0,0,0,0
$STATE,3447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3447,begin apogee
$GC,3453,-0.16,0.0,615.0,17.1,329,3639,0.70,0.00,179.82,1.106,4,0.129,0.000,2739,2696,2960,0,0,0,0,0,0
$STATE,3640,end apogee,CONTROL_FINISHED_OK
$STATE,3640,begin climb
$GC,3642,0.84,219.0,623.7,0.0,335,3846,1.00,2.42,195.12,1.050,4,0.079,0.034,3067,1291,2067,0,0,0,0,0,0
$GC,3974,0.84,219.0,590.4,14.3,344,3981,0.00,2.50,0.00,0.000,6,0.000,0.041,3067,2696,2056,0,0,0,0,0,0
$GC,4165,0.84,219.0,561.1,15.5,351,4169,0.00,2.35,0.00,0.000,4,0.000,0.035,3078,1299,2052,0,0,0,0,0,0
$GC,4353,0.84,219.0,533.4,14.7,356,4361,0.00,2.38,0.00,0.000,6,0.000,0.042,3078,2700,2050,0,0,1,0,0,0
$GC,4545,0.84,219.0,503.8,15.7,363,4549,0.00,1.73,0.00,0.000,4,0.000,0.050,3078,3767,2049,0,0,0,0,0,0
$GC,4590,0.84,219.0,495.7,18.3,365,4594,0.00,1.65,0.00,0.000,6,0.000,0.031,3087,2707,2048,0,0,1,0,0,0
$GC,4795,0.84,219.0,462.6,16.2,384,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2706,2048,0,0,0,0,0,0
$GC,4984,0.84,219.0,430.2,17.0,402,4988,0.00,1.73,0.00,0.000,4,0.000,0.050,3087,3772,2047,0,0,0,0,0,0
$GC,5018,0.84,219.0,423.7,18.8,405,5022,0.00,1.62,0.00,0.000,6,0.000,0.031,3095,2710,2047,0,0,1,0,0,0
$GC,5221,0.84,219.0,387.6,17.4,424,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2708,2047,0,0,0,0,0,0
$GC,5414,0.84,219.0,354.7,17.0,442,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2708,2047,0,0,0,0,0,0
$GC,5603,0.84,219.0,322.2,17.1,460,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2708,2046,0,0,0,0,0,0
$GC,5795,0.84,219.0,289.7,16.7,478,5798,0.00,1.70,0.00,0.000,4,0.000,0.050,3095,3773,2046,0,0,0,0,0,0
$GC,5832,0.84,219.0,282.2,20.0,481,5840,0.10,1.67,0.00,0.000,6,0.161,0.031,3071,2710,2045,0,0,0,0,0,0
$GC,6031,0.84,219.0,252.1,15.3,500,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2710,2045,0,0,0,0,0,0
$GC,6222,0.84,219.0,223.5,14.8,518,6225,0.00,1.67,0.00,0.000,4,0.000,0.050,3071,3768,2046,0,0,0,0,0,0
$GC,6268,0.84,219.0,216.1,17.1,522,6272,0.00,1.65,0.00,0.000,6,0.000,0.031,3080,2692,2045,0,0,0,0,0,0
$GC,6409,0.84,219.0,194.4,15.0,535,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2690,2045,0,0,0,0,0,0
$GC,6535,0.84,219.0,174.8,15.5,547,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2690,2045,0,0,0,0,0,0
$GC,6663,0.84,219.0,155.6,15.1,559,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2690,2045,0,0,0,0,0,0
$GC,6791,0.84,219.0,136.7,14.5,571,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2690,2045,0,0,0,0,0,0
$GC,6918,0.84,219.0,117.9,15.1,583,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2691,2045,0,0,0,0,0,0
$GC,7045,0.84,219.0,99.3,14.6,595,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2691,2044,0,0,0,0,0,0
$GC,7184,0.84,219.0,78.7,15.2,620,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2690,2044,0,0,0,0,0,0
$GC,7325,0.84,219.0,57.8,14.9,645,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2690,2044,0,0,0,0,0,0
$GC,7464,0.84,219.0,37.4,15.1,670,7472,0.00,1.75,0.00,0.000,4,0.000,0.050,3079,3790,2044,0,0,0,0,0,0
$GC,7506,0.84,219.0,30.7,16.9,677,7512,0.00,1.65,0.00,0.000,6,0.000,0.031,3088,2733,2044,0,0,0,0,0,0
$GC,7647,0.84,219.0,9.1,14.7,702,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2733,2044,0,0,0,0,0,0
$FREEZE,6.91,-1.744,-1.901,2,1,0
$FREEZE,6.13,-1.750,-1.900,2,1,0
$FREEZE,5.36,-1.744,-1.899,2,1,0
$FREEZE,4.45,-1.737,-1.899,2,1,0
$FREEZE,3.65,-1.728,-1.898,2,1,0
$FREEZE,2.82,-1.730,-1.897,2,1,0
$STATE,7686,end climb,SURFACE_DEPTH_REACHED
$STATE,7686,begin surface coast
$FREEZE,1.99,-1.724,-1.896,2,1,0
$FREEZE,1.10,-1.710,-1.896,2,1,0
$FREEZE,0.26,-1.709,-1.895,2,1,0
$FINISH,0.3,1.027787
$STATE,7704,end surface coast,CONTROL_FINISHED_OK
$STATE,7704,begin surface
$SM_CCo,7720,203.18,0.102,0,0,445,616.92
$SM_GC,0.77,0.00,0.00,203.18,0.000,0.000,0.102,185,2808,445,-8.17,0.76,616.92
$IRIDIUM_FIX,-7554.21,17210.72,091210,161655
$TT8_MAMPS,0.027713
$HUMID,49.40
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,602.6,39.8
$24V_AH,22.1,8.109
$10V_AH,9.9,3.523
$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,18.450,43.800,374.950,203.175,0.000,22.955,39.485,122.423,2.500,0.000,19.423,1818.103,4069.847,685.242,1510.591,146.377,0.000,1419.240,0.000,1230.403,0.000,19.151,0.000
$DEVICE_MAMPS,227.205,93.330,1106.190,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.620,881.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258320
$DATA_FILE_SIZE,46941,712
$CAP_FILE_SIZE,98058,0
$CFSIZE,260165632,243826688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.074,339.5,1
$GPS,091210,204955,-7643.160,17221.080,56,2.0,57,130.1