version: 66.08
glider: 503
mission: 7
dive: 135
start: 12 9 110 23 11 1
data:
$ID,503
$MISSION,7
$DIVE,135
$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,-19656.178
$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,24
$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
$GPS1,091210,230607,-7642.966,17226.229,27,1.1,32,129.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.4
$GPS2,091210,231032,-7642.961,17226.285,8,1.3,8,129.9
$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,329.3,197623,-18.2,-13.333
$D_GRID,579
$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,-219.0,0.0,0.0,0,167,0.00,0.00,-150.05,0.000,2,0.000,0.000,190,2749,3548,0,0,0,0,0,0
$GC,171,-0.84,-219.0,3.9,-8.8,24,192,8.82,2.25,-6.15,0.000,4,0.221,0.046,2524,1365,3856,0,0,0,0,0,0
$GC,387,-0.84,-219.0,48.6,-15.9,62,395,0.00,2.33,0.00,0.000,6,0.000,0.045,2514,2785,3859,0,0,0,0,0,0
$GC,531,-0.84,-219.0,75.2,-19.0,87,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,678,-0.84,-219.0,102.6,-18.0,112,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3860,0,0,0,0,0,0
$GC,805,-0.84,-219.0,126.0,-18.2,124,809,0.00,2.22,0.00,0.000,4,0.000,0.032,2514,1374,3860,0,0,0,0,0,0
$GC,828,-0.84,-219.0,130.1,-18.0,126,832,0.00,2.28,0.00,0.000,6,0.000,0.045,2503,2780,3860,0,0,0,0,0,0
$GC,962,-0.84,-219.0,154.1,-18.6,138,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$GC,1089,-0.84,-219.0,177.9,-18.4,150,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$GC,1216,-0.84,-219.0,201.6,-18.7,162,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$GC,1344,-0.84,-219.0,225.6,-18.6,174,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2780,3860,0,0,0,0,0,0
$GC,1472,-0.84,-219.0,249.7,-19.1,186,1476,0.00,2.20,0.00,0.000,4,0.000,0.033,2503,1370,3860,0,0,1,0,0,0
$GC,1505,-0.84,-219.0,256.1,-18.6,189,1510,0.12,2.25,0.00,0.000,6,0.163,0.046,2530,2768,3860,0,0,0,0,0,0
$GC,1703,-0.84,-219.0,289.2,-16.8,207,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$GC,1894,-0.84,-219.0,320.9,-16.3,225,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$GC,2086,-0.84,-219.0,351.6,-15.9,243,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$GC,2276,-0.84,-219.0,381.5,-15.1,261,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$GC,2468,-0.84,-219.0,411.5,-15.5,279,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2769,3860,0,0,0,0,0,0
$GC,2658,-0.84,-219.0,441.5,-15.9,297,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2769,3860,0,0,0,0,0,0
$GC,2850,-0.84,-219.0,471.7,-15.7,315,2854,0.00,1.60,0.00,0.000,4,0.000,0.052,2524,3764,3859,0,0,0,0,0,0
$GC,2884,-0.84,-219.0,477.3,-16.9,318,2888,0.00,1.55,0.00,0.000,6,0.000,0.031,2523,2764,3859,0,0,0,0,0,0
$GC,3096,-0.84,-219.0,510.8,-15.8,334,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2764,3860,0,0,0,0,0,0
$GC,3279,-0.84,-219.0,540.2,-16.0,340,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2764,3860,0,0,0,0,0,0
$GC,3463,-0.84,-219.0,569.4,-16.0,346,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2764,3860,0,0,0,0,0,0
$STATE,3553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3553,begin apogee
$GC,3558,-0.16,0.0,583.7,15.6,349,3747,0.65,0.00,178.75,1.086,4,0.124,0.000,2743,2697,2960,0,0,0,0,0,0
$STATE,3748,end apogee,CONTROL_FINISHED_OK
$STATE,3748,begin climb
$GC,3750,0.84,219.0,592.4,0.0,355,3953,1.00,2.38,194.18,1.031,4,0.077,0.033,3073,1301,2067,0,0,0,0,0,0
$GC,4054,0.84,219.0,561.5,14.4,364,4059,0.00,2.47,0.00,0.000,6,0.000,0.041,3073,2707,2057,0,0,0,0,0,0
$GC,4244,0.84,219.0,531.5,15.7,370,4248,0.00,2.38,0.00,0.000,4,0.000,0.034,3083,1300,2051,0,0,0,0,0,0
$GC,4437,0.84,219.0,501.8,15.5,375,4445,0.00,2.40,0.00,0.000,6,0.000,0.042,3083,2697,2050,0,0,0,0,0,0
$GC,4635,0.84,219.0,469.3,17.2,392,4638,0.00,1.75,0.00,0.000,4,0.000,0.050,3084,3773,2049,0,0,0,0,0,0
$GC,4679,0.84,219.0,461.1,18.8,396,4683,0.00,1.67,0.00,0.000,6,0.000,0.031,3092,2711,2048,0,0,0,0,0,0
$GC,4884,0.84,219.0,425.8,16.8,415,4888,0.00,1.73,0.00,0.000,4,0.000,0.050,3092,3769,2047,0,0,0,0,0,0
$GC,4920,0.84,219.0,418.9,19.9,418,4923,0.00,1.62,0.00,0.000,6,0.000,0.031,3101,2716,2047,0,0,1,0,0,0
$GC,5123,0.84,219.0,381.6,18.4,437,5124,0.12,0.00,0.00,0.000,6,0.178,0.000,3068,2713,2047,0,0,0,0,0,0
$GC,5314,0.84,219.0,350.9,15.7,455,5318,0.00,1.70,0.00,0.000,4,0.000,0.050,3069,3769,2047,0,0,0,0,0,0
$GC,5374,0.84,219.0,340.2,17.9,460,5382,0.00,1.65,0.00,0.000,6,0.000,0.030,3077,2719,2046,0,0,1,0,0,0
$GC,5573,0.84,219.0,308.7,16.1,479,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2719,2046,0,0,0,0,0,0
$GC,5765,0.84,219.0,279.1,15.2,497,5769,0.00,1.67,0.00,0.000,4,0.000,0.050,3077,3770,2046,0,0,0,0,0,0
$GC,5814,0.84,219.0,270.3,17.8,501,5822,0.00,1.65,0.00,0.000,6,0.000,0.031,3084,2727,2046,0,0,0,0,0,0
$GC,6013,0.84,219.0,238.0,16.3,520,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2727,2046,0,0,0,0,0,0
$GC,6140,0.84,219.0,217.3,16.3,532,6144,0.00,1.67,0.00,0.000,4,0.000,0.050,3083,3778,2046,0,0,0,0,0,0
$GC,6175,0.84,219.0,211.4,18.9,535,6178,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2703,2046,0,0,0,0,0,0
$GC,6314,0.84,219.0,188.2,16.3,548,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2701,2045,0,0,0,0,0,0
$GC,6441,0.84,219.0,166.9,17.2,560,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2702,2045,0,0,0,0,0,0
$GC,6569,0.84,219.0,145.4,16.9,572,6572,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3771,2045,0,0,0,0,0,0
$GC,6617,0.84,219.0,136.0,19.5,576,6626,0.08,1.62,0.00,0.000,6,0.161,0.031,3076,2741,2045,0,0,0,0,0,0
$GC,6752,0.84,219.0,114.7,15.7,589,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2741,2045,0,0,0,0,0,0
$GC,6880,0.84,219.0,95.9,15.3,603,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2741,2045,0,0,0,0,0,0
$GC,7022,0.84,219.0,75.2,15.3,628,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2741,2045,0,0,0,0,0,0
$GC,7161,0.84,219.0,54.7,14.2,653,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2741,2045,0,0,0,0,0,0
$GC,7303,0.84,219.0,34.0,15.0,678,7310,0.00,1.67,0.00,0.000,4,0.000,0.050,3076,3770,2045,0,0,0,0,0,0
$GC,7344,0.84,219.0,27.3,16.6,685,7351,0.00,1.60,0.00,0.000,6,0.000,0.031,3083,2743,2044,0,0,0,0,0,0
$FREEZE,8.52,-1.665,-1.902,2,1,0
$FREEZE,7.70,-1.661,-1.901,2,1,0
$FREEZE,6.72,-1.650,-1.900,2,1,0
$FREEZE,5.89,-1.645,-1.899,2,1,0
$GC,7485,0.84,219.0,5.9,15.3,710,7493,0.00,1.67,0.00,0.000,4,0.000,0.050,3083,3768,2044,0,0,0,0,0,0
$FREEZE,3.56,-1.627,-1.897,2,1,0
$FREEZE,2.56,-1.621,-1.896,2,1,0
$STATE,7504,end climb,SURFACE_DEPTH_REACHED
$STATE,7504,begin surface coast
$FREEZE,1.65,-1.608,-1.896,2,1,0
$FREEZE,0.73,-1.597,-1.895,2,1,0
$FREEZE,0.04,-1.565,-1.894,2,1,0
$FINISH,0.0,1.027772
$STATE,7523,end surface coast,CONTROL_FINISHED_OK
$STATE,7523,begin surface
$SM_CCo,7540,202.25,0.102,0,0,444,616.92
$SM_GC,0.73,0.00,0.00,202.25,0.000,0.000,0.102,193,2769,444,-8.15,-0.31,616.92
$IRIDIUM_FIX,-7554.21,17230.49,091210,202014
$TT8_MAMPS,0.027713
$HUMID,49.05
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,19.2
$24V_AH,22.1,8.368
$10V_AH,10.0,3.640
$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,18.350,52.975,372.925,202.250,0.000,22.678,36.486,109.710,2.250,0.000,11.098,1830.406,3871.257,687.356,1491.098,139.981,0.000,1428.614,0.000,1240.718,0.000,14.612,0.000
$DEVICE_MAMPS,221.085,135.405,1086.300,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.676,873.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258284
$DATA_FILE_SIZE,46994,716
$CAP_FILE_SIZE,98861,0
$CFSIZE,260165632,243720192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.100,350.0,1
$GPS,101210,012205,-7642.728,17231.516,70,0.9,80,129.8