version: 66.08
glider: 503
mission: 7
dive: 153
start: 12 11 110 10 50 7
data:
$ID,503
$MISSION,7
$DIVE,153
$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,-19679.305
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,111210,104437,-7640.954,17338.559,46,0.9,46,128.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-55.6
$GPS2,111210,104938,-7640.946,17338.568,8,1.6,8,128.0
$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,298.6,166150,-18.2,-13.333
$D_GRID,441
$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,-219.0,0.0,0.0,0,166,0.00,0.00,-148.02,0.000,2,0.000,0.000,192,2782,3423,0,0,0,0,0,0
$GC,169,-0.84,-219.0,3.4,-7.3,24,196,8.82,1.65,-9.10,0.000,4,0.220,0.070,2518,3766,3857,0,0,0,0,0,0
$GC,446,-0.84,-219.0,64.1,-19.6,73,453,0.00,1.55,0.00,0.000,6,0.000,0.030,2519,2777,3859,0,0,0,0,0,0
$GC,586,-0.84,-219.0,91.1,-17.8,98,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2777,3859,0,0,0,0,0,0
$GC,724,-0.84,-219.0,116.6,-18.1,115,728,0.00,1.62,0.00,0.000,4,0.000,0.051,2510,3793,3859,0,0,0,0,0,0
$GC,747,-0.84,-219.0,121.2,-19.0,117,751,0.00,1.60,0.00,0.000,6,0.000,0.031,2510,2773,3859,0,0,0,0,0,0
$GC,886,-0.84,-219.0,146.8,-18.2,130,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2773,3859,0,0,0,0,0,0
$GC,1014,-0.84,-219.0,171.0,-19.3,142,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2773,3860,0,0,0,0,0,0
$GC,1142,-0.84,-219.0,194.9,-18.4,154,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2773,3860,0,0,0,0,0,0
$GC,1269,-0.84,-219.0,218.5,-18.7,166,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2773,3860,0,0,0,0,0,0
$GC,1396,-0.84,-219.0,242.1,-18.2,178,1400,0.00,1.62,0.00,0.000,4,0.000,0.050,2502,3797,3860,0,0,0,0,0,0
$GC,1434,-0.84,-219.0,249.7,-19.7,181,1445,0.00,1.58,0.00,0.000,6,0.000,0.030,2502,2778,3860,0,0,0,0,0,0
$GC,1568,-0.84,-219.0,274.6,-18.7,194,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2778,3860,0,0,0,0,0,0
$GC,1759,-0.84,-219.0,310.0,-18.3,212,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2778,3860,0,0,0,0,0,0
$GC,1951,-0.84,-219.0,344.9,-18.0,230,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2778,3860,0,0,0,0,0,0
$GC,2141,-0.84,-219.0,379.9,-18.7,248,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2778,3860,0,0,0,0,0,0
$GC,2333,-0.84,-219.0,414.9,-18.3,266,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2778,3860,0,0,0,0,0,0
$STATE,2480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2480,begin apogee
$GC,2484,-0.16,0.0,442.3,18.2,280,2665,0.73,0.00,175.95,1.002,4,0.130,0.000,2742,2698,2960,0,0,0,0,0,0
$STATE,2666,end apogee,CONTROL_FINISHED_OK
$STATE,2666,begin climb
$GC,2668,0.84,219.0,452.1,0.0,296,2868,1.00,2.38,190.27,0.948,4,0.078,0.034,3072,1307,2066,0,0,0,0,0,0
$GC,3020,0.84,219.0,417.0,14.6,328,3025,0.00,2.40,0.00,0.000,6,0.000,0.043,3073,2702,2054,0,0,1,0,0,0
$GC,3218,0.84,219.0,387.1,15.3,346,3222,0.00,2.33,0.00,0.000,4,0.000,0.036,3083,1308,2051,0,0,0,0,0,0
$GC,3391,0.84,219.0,361.7,14.4,361,3395,0.00,2.33,0.00,0.000,6,0.000,0.044,3083,2709,2050,0,0,1,0,0,0
$GC,3590,0.84,219.0,330.4,16.3,379,3594,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3764,2048,0,0,0,0,0,0
$GC,3636,0.84,219.0,322.1,18.1,383,3640,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2717,2047,0,0,1,0,0,0
$GC,3839,0.84,219.0,287.9,17.1,402,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2716,2047,0,0,0,0,0,0
$GC,4031,0.84,219.0,255.1,17.6,420,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2716,2047,0,0,0,0,0,0
$GC,4221,0.84,219.0,222.4,16.7,438,4225,0.00,1.70,0.00,0.000,4,0.000,0.049,3091,3768,2047,0,0,0,0,0,0
$GC,4303,0.84,219.0,206.5,19.0,445,4311,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2712,2047,0,0,0,0,0,0
$GC,4438,0.84,219.0,183.4,17.0,458,4441,0.00,1.70,0.00,0.000,4,0.000,0.050,3100,3766,2047,0,0,0,0,0,0
$GC,4472,0.84,219.0,177.0,19.5,461,4476,0.15,1.65,0.00,0.000,6,0.170,0.032,3066,2703,2046,0,0,0,0,0,0
$GC,4611,0.84,223.0,157.2,13.2,474,4615,0.00,1.70,0.00,0.000,4,0.000,0.050,3066,3765,2046,0,0,0,0,0,0
$GC,4637,0.84,223.0,153.3,14.0,476,4645,0.00,1.65,0.00,0.000,6,0.000,0.031,3074,2727,2046,0,0,0,0,0,0
$GC,4772,0.86,234.2,135.9,12.9,489,4785,0.00,0.00,11.10,0.814,6,0.000,0.000,3074,2727,2004,0,0,0,0,0,0
$GC,4909,0.86,234.2,116.9,14.2,502,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2727,2002,0,0,0,0,0,0
$GC,5036,0.86,234.2,98.6,14.8,514,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2727,2001,0,0,0,0,0,0
$GC,5178,0.86,234.2,78.0,13.9,539,5185,0.00,1.70,0.00,0.000,4,0.000,0.049,3074,3761,2001,0,0,0,0,0,0
$GC,5219,0.86,234.2,71.6,16.3,546,5227,0.00,1.62,0.00,0.000,6,0.000,0.032,3082,2732,2000,0,0,0,0,0,0
$GC,5363,0.86,234.2,49.6,15.4,571,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2732,2000,0,0,0,0,0,0
$GC,5502,0.86,234.2,27.7,16.8,596,5509,0.00,1.67,0.00,0.000,4,0.000,0.050,3082,3754,2000,0,0,0,0,0,0
$GC,5553,0.86,234.2,18.5,17.7,605,5560,0.00,1.58,0.00,0.000,6,0.000,0.032,3090,2740,2000,0,0,1,0,0,0
$FREEZE,8.96,-1.647,-1.900,2,1,0
$FREEZE,8.05,-1.648,-1.900,2,1,0
$FREEZE,7.06,-1.647,-1.899,2,1,0
$FREEZE,6.14,-1.647,-1.898,2,1,0
$FREEZE,5.14,-1.647,-1.897,2,1,0
$FREEZE,4.25,-1.647,-1.897,2,1,0
$FREEZE,3.41,-1.648,-1.896,2,1,0
$FREEZE,2.49,-1.647,-1.895,2,1,0
$STATE,5648,end climb,SURFACE_DEPTH_REACHED
$STATE,5648,begin surface coast
$FREEZE,1.55,-1.647,-1.895,2,1,0
$FREEZE,0.70,-1.646,-1.894,2,1,0
$FREEZE,-0.03,-1.647,-1.893,2,1,0
$FINISH,-0.0,1.027768
$STATE,5666,end surface coast,CONTROL_FINISHED_OK
$STATE,5666,begin surface
$SM_CCo,5681,194.85,0.101,0,0,445,616.92
$SM_GC,0.61,0.00,0.00,194.85,0.000,0.000,0.101,192,2790,445,-8.14,0.28,616.92
$IRIDIUM_FIX,-7554.21,17326.16,111210,080844
$TT8_MAMPS,0.027713
$HUMID,49.56
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.4
$24V_AH,22.3,10.545
$10V_AH,10.0,4.607
$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,18.375,39.175,377.325,194.850,0.000,27.864,38.823,128.259,1.250,0.000,11.658,1519.515,2563.242,677.248,1304.751,126.616,0.000,1303.263,0.000,1033.772,0.000,9.467,0.000
$DEVICE_MAMPS,220.320,110.160,1002.150,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.336,769.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,40389,625
$CAP_FILE_SIZE,81794,0
$CFSIZE,260165632,242896896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.072,193.8,1
$GPS,111210,122928,-7640.913,17341.920,26,2.2,46,127.9