version: 66.08
glider: 503
mission: 7
dive: 134
start: 12 9 110 20 58 35
data:
$ID,503
$MISSION,7
$DIVE,134
$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,-19654.92
$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,43
$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
$GPS1,091210,204955,-7643.160,17221.080,56,2.0,57,130.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-65.7
$GPS2,091210,205807,-7643.178,17221.219,36,0.9,36,130.1
$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,325.0,199846,-18.2,-13.333
$D_GRID,594
$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,17,-0.84,-219.0,0.0,0.0,0,167,0.00,0.00,-147.15,0.000,2,0.000,0.000,184,2808,3478,0,0,0,0,0,0
$GC,170,-0.84,-219.0,3.6,-7.2,24,197,8.93,2.35,-7.93,0.000,4,0.224,0.044,2522,1369,3856,0,0,0,0,0,0
$GC,437,-0.84,-219.0,57.0,-17.0,71,444,0.00,2.28,0.00,0.000,6,0.000,0.045,2512,2764,3859,0,0,0,0,0,0
$GC,578,-0.84,-219.0,85.1,-20.2,96,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2763,3860,0,0,0,0,0,0
$GC,716,-0.84,-219.0,112.7,-19.0,115,720,0.00,1.62,0.00,0.000,4,0.000,0.052,2504,3793,3860,0,0,0,0,0,0
$GC,762,-0.84,-219.0,122.3,-21.8,119,766,0.00,1.58,0.00,0.000,6,0.000,0.031,2504,2789,3860,0,0,0,0,0,0
$GC,901,-0.84,-219.0,149.9,-19.5,132,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3860,0,0,0,0,0,0
$GC,1029,-0.84,-219.0,174.8,-19.9,144,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3860,0,0,0,0,0,0
$GC,1156,-0.84,-219.0,199.9,-19.8,156,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3860,0,0,0,0,0,0
$GC,1284,-0.84,-219.0,225.2,-19.9,168,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3860,0,0,0,0,0,0
$GC,1412,-0.84,-219.0,249.8,-19.5,180,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3860,0,0,0,0,0,0
$GC,1538,-0.84,-219.0,274.1,-19.2,192,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2788,3860,0,0,0,0,0,0
$GC,1730,-0.84,-219.0,311.3,-20.1,210,1733,0.00,1.58,0.00,0.000,4,0.000,0.051,2495,3754,3860,0,0,0,0,0,0
$GC,1768,-0.84,-219.0,319.3,-20.8,213,1776,0.08,1.50,0.00,0.000,6,0.154,0.030,2521,2783,3860,0,0,0,0,0,0
$GC,1966,-0.84,-219.0,355.1,-17.8,232,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2783,3860,0,0,0,0,0,0
$GC,2157,-0.84,-219.0,389.6,-18.1,250,2161,0.00,1.60,0.00,0.000,4,0.000,0.051,2515,3767,3859,0,0,0,0,0,0
$GC,2202,-0.84,-219.0,398.0,-18.4,254,2206,0.00,1.52,0.00,0.000,6,0.000,0.031,2515,2784,3860,0,0,0,0,0,0
$GC,2405,-0.84,-219.0,433.7,-17.2,273,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2784,3860,0,0,0,0,0,0
$GC,2597,-0.84,-219.0,465.7,-16.5,291,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2784,3860,0,0,0,0,0,0
$GC,2787,-0.84,-219.0,497.5,-16.6,309,2791,0.00,1.58,0.00,0.000,4,0.000,0.051,2507,3756,3859,0,0,0,0,0,0
$GC,2837,-0.84,-219.0,506.6,-18.1,312,2841,0.00,1.48,0.00,0.000,6,0.000,0.031,2507,2799,3859,0,0,0,0,0,0
$GC,3039,-0.84,-219.0,541.1,-17.0,319,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2798,3859,0,0,0,0,0,0
$GC,3222,-0.84,-219.0,573.3,-17.6,325,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2798,3859,0,0,0,0,0,0
$STATE,3343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3343,begin apogee
$GC,3348,-0.16,0.0,595.1,17.7,329,3536,0.70,0.00,179.15,1.094,4,0.129,0.000,2740,2682,2961,0,0,0,0,0,0
$STATE,3537,end apogee,CONTROL_FINISHED_OK
$STATE,3537,begin climb
$GC,3539,0.84,219.0,604.3,0.0,335,3742,1.00,2.38,194.90,1.040,4,0.077,0.034,3071,1302,2067,0,0,0,0,0,0
$GC,3881,0.84,219.0,569.0,14.1,345,3885,0.00,2.47,0.00,0.000,6,0.000,0.041,3071,2692,2056,0,0,0,0,0,0
$GC,4078,0.84,219.0,538.1,16.1,352,4082,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1313,2051,0,0,0,0,0,0
$GC,4277,0.84,219.0,507.5,14.6,358,4282,0.00,2.35,0.00,0.000,6,0.000,0.041,3081,2701,2050,0,0,1,0,0,0
$GC,4475,0.84,219.0,476.1,15.8,373,4479,0.00,1.73,0.00,0.000,4,0.000,0.049,3081,3766,2049,0,0,0,0,0,0
$GC,4520,0.84,219.0,468.3,17.5,377,4524,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2719,2048,0,0,1,0,0,0
$GC,4724,0.84,219.0,434.0,17.0,396,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2717,2048,0,0,0,0,0,0
$GC,4916,0.84,219.0,401.6,16.9,414,4919,0.00,1.70,0.00,0.000,4,0.000,0.048,3089,3770,2047,0,0,0,0,0,0
$GC,4965,0.84,219.0,391.6,19.9,418,4972,0.00,1.67,0.00,0.000,6,0.000,0.030,3098,2706,2047,0,0,1,0,0,0
$GC,5163,0.84,219.0,356.8,17.9,437,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2706,2047,0,0,0,0,0,0
$GC,5354,0.84,219.0,323.6,17.3,455,5358,0.00,1.73,0.00,0.000,4,0.000,0.050,3098,3774,2047,0,0,0,0,0,0
$GC,5392,0.84,219.0,316.1,19.3,458,5400,0.10,1.67,0.00,0.000,6,0.154,0.031,3074,2718,2046,0,0,0,0,0,0
$GC,5590,0.84,219.0,284.2,15.6,477,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2718,2046,0,0,0,0,0,0
$GC,5781,0.84,219.0,254.5,15.4,495,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2718,2046,0,0,0,0,0,0
$GC,5973,0.84,219.0,225.0,15.9,513,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2718,2046,0,0,0,0,0,0
$GC,6100,0.84,219.0,204.8,15.8,525,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2717,2046,0,0,0,0,0,0
$GC,6227,0.84,219.0,184.3,16.2,537,6231,0.00,1.67,0.00,0.000,4,0.000,0.049,3074,3774,2046,0,0,0,0,0,0
$GC,6271,0.84,219.0,176.6,18.3,541,6275,0.00,1.67,0.00,0.000,6,0.000,0.030,3081,2707,2046,0,0,0,0,0,0
$GC,6410,0.84,219.0,153.7,16.3,554,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2706,2045,0,0,0,0,0,0
$GC,6538,0.84,219.0,133.1,16.2,566,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2706,2045,0,0,0,0,0,0
$GC,6666,0.84,219.0,113.1,15.3,578,6669,0.00,1.67,0.00,0.000,4,0.000,0.050,3081,3767,2045,0,0,0,0,0,0
$GC,6703,0.84,219.0,106.5,17.2,581,6711,0.00,1.60,0.00,0.000,6,0.000,0.031,3089,2741,2045,0,0,0,0,0,0
$GC,6842,0.84,219.0,84.2,16.7,602,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2742,2045,0,0,0,0,0,0
$GC,6982,0.84,219.0,61.8,16.8,627,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2742,2045,0,0,0,0,0,0
$GC,7125,0.84,219.0,38.7,17.2,652,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2742,2045,0,0,0,0,0,0
$GC,7267,0.84,219.0,15.6,16.3,677,7274,0.00,1.65,0.00,0.000,4,0.000,0.050,3089,3757,2045,0,0,0,0,0,0
$GC,7296,0.84,219.0,10.2,18.9,682,7303,0.00,1.58,0.00,0.000,6,0.000,0.031,3098,2750,2045,0,0,0,0,0,0
$FREEZE,7.92,-1.643,-1.901,2,1,0
$FREEZE,7.08,-1.644,-1.900,2,1,0
$FREEZE,6.33,-1.637,-1.900,2,1,0
$FREEZE,5.52,-1.635,-1.899,2,1,0
$FREEZE,4.72,-1.623,-1.898,2,1,0
$FREEZE,3.95,-1.640,-1.898,2,1,0
$FREEZE,3.21,-1.635,-1.897,2,1,0
$FREEZE,2.30,-1.644,-1.896,2,1,0
$STATE,7345,end climb,SURFACE_DEPTH_REACHED
$STATE,7345,begin surface coast
$FREEZE,1.29,-1.647,-1.896,2,1,0
$FREEZE,0.47,-1.652,-1.894,2,1,0
$FREEZE,0.03,-1.617,-1.894,2,1,0
$FINISH,0.0,1.027772
$STATE,7363,end surface coast,CONTROL_FINISHED_OK
$STATE,7363,begin surface
$SM_CCo,7378,202.12,0.102,0,0,445,616.92
$SM_GC,0.76,0.00,0.00,202.12,0.000,0.000,0.102,190,2749,445,-8.15,-0.88,616.92
$IRIDIUM_FIX,-7603.11,17209.44,091210,202025
$TT8_MAMPS,0.027713
$HUMID,49.21
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.3
$24V_AH,22.1,8.242
$10V_AH,9.9,3.583
$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,18.425,46.675,374.050,202.125,0.000,57.943,116.095,127.363,2.000,0.000,39.590,1778.014,3836.956,679.939,1642.950,145.824,0.000,1414.935,0.000,1231.062,0.000,14.620,0.000
$DEVICE_MAMPS,224.145,69.615,1093.950,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,488.039,852.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258292
$DATA_FILE_SIZE,43668,694
$CAP_FILE_SIZE,97737,0
$CFSIZE,260165632,243777536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.096,  0.4,1
$GPS,091210,230607,-7642.966,17226.229,27,1.1,32,129.9