version: 66.08
glider: 503
mission: 7
dive: 155
start: 12 11 110 14 17 32
data:
$ID,503
$MISSION,7
$DIVE,155
$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,-19681.818
$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,46
$R_STBD_OVSHOOT,27
$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
$GPS1,111210,141207,-7640.885,17345.428,25,2.0,30,127.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-60.2
$GPS2,111210,141704,-7640.890,17345.490,16,2.6,35,127.8
$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,309.5,163167,-18.2,-13.333
$D_GRID,415
$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,-219.0,0.0,0.0,0,167,0.00,0.00,-149.05,0.000,2,0.000,0.000,165,2756,3452,0,0,0,0,0,0
$GC,171,-0.84,-219.0,3.4,-7.0,24,198,8.93,1.70,-8.35,0.000,4,0.220,0.067,2515,3775,3857,0,0,0,0,0,0
$GC,449,-0.84,-219.0,66.0,-20.0,73,455,0.00,1.58,0.00,0.000,6,0.000,0.030,2515,2774,3859,0,0,0,0,0,0
$GC,591,-0.84,-219.0,92.9,-18.4,98,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2774,3859,0,0,0,0,0,0
$GC,728,-0.84,-219.0,118.4,-19.2,114,732,0.00,2.20,0.00,0.000,4,0.000,0.034,2515,1371,3860,0,0,0,0,0,0
$GC,793,-0.84,-219.0,130.5,-16.8,119,800,0.00,2.30,0.00,0.000,6,0.000,0.046,2505,2767,3859,0,0,0,0,0,0
$GC,927,-0.84,-219.0,155.2,-19.3,132,931,0.00,1.60,0.00,0.000,4,0.000,0.052,2497,3753,3859,0,0,0,0,0,0
$GC,973,-0.84,-219.0,164.2,-19.4,136,977,0.08,1.50,0.00,0.000,6,0.149,0.031,2522,2797,3860,0,0,0,0,0,0
$GC,1111,-0.84,-219.0,188.9,-17.5,149,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2797,3860,0,0,0,0,0,0
$GC,1239,-0.84,-219.0,210.9,-17.0,161,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2797,3860,0,0,0,0,0,0
$GC,1367,-0.84,-219.0,232.2,-16.6,173,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2797,3860,0,0,0,0,0,0
$GC,1495,-0.84,-219.0,253.6,-17.0,185,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2797,3860,0,0,0,0,0,0
$GC,1686,-0.84,-219.0,285.8,-16.9,203,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2796,3860,0,0,0,0,0,0
$GC,1877,-0.84,-219.0,318.0,-16.7,221,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2796,3860,0,0,0,0,0,0
$GC,2069,-0.84,-219.0,350.3,-16.6,239,2073,0.00,1.58,0.00,0.000,4,0.000,0.051,2516,3765,3859,0,0,0,0,0,0
$GC,2118,-0.84,-219.0,359.6,-18.1,243,2125,0.00,1.50,0.00,0.000,6,0.000,0.031,2516,2800,3859,0,0,0,0,0,0
$GC,2317,-0.84,-219.0,393.6,-17.2,262,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2800,3859,0,0,0,0,0,0
$STATE,2442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2442,begin apogee
$GC,2447,-0.16,0.0,415.4,16.9,274,2628,0.68,0.00,175.82,0.985,4,0.127,0.000,2740,2683,2960,0,0,0,0,0,0
$STATE,2628,end apogee,CONTROL_FINISHED_OK
$STATE,2629,begin climb
$GC,2630,0.84,219.0,425.5,0.0,290,2830,1.00,2.35,189.48,0.930,4,0.079,0.034,3070,1312,2066,0,0,0,0,0,0
$GC,3009,0.84,223.3,389.5,13.2,324,3016,0.00,2.38,0.00,0.000,6,0.000,0.043,3070,2698,2054,0,0,1,0,0,0
$GC,3207,0.84,223.3,361.6,14.3,343,3211,0.00,2.30,0.00,0.000,4,0.000,0.036,3081,1316,2051,0,0,0,0,0,0
$GC,3393,0.84,223.3,336.1,13.4,359,3397,0.00,2.30,0.00,0.000,6,0.000,0.044,3081,2703,2050,0,0,1,0,0,0
$GC,3590,0.84,223.3,306.3,14.7,377,3594,0.00,1.73,0.00,0.000,4,0.000,0.049,3081,3769,2049,0,0,0,0,0,0
$GC,3639,0.84,223.3,297.7,17.1,381,3647,0.00,1.67,0.00,0.000,6,0.000,0.031,3089,2719,2048,0,0,1,0,0,0
$GC,3838,0.84,223.3,266.8,15.6,400,3842,0.00,1.70,0.00,0.000,4,0.000,0.049,3089,3767,2048,0,0,0,0,0,0
$GC,3872,0.84,223.3,260.8,17.6,403,3876,0.00,1.62,0.00,0.000,6,0.000,0.031,3097,2713,2047,0,0,1,0,0,0
$GC,4076,0.84,223.3,226.4,17.1,422,4079,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3765,2047,0,0,0,0,0,0
$GC,4102,0.84,223.3,221.1,18.3,424,4110,0.10,1.67,0.00,0.000,6,0.158,0.031,3074,2720,2047,0,0,0,0,0,0
$GC,4237,0.84,223.3,200.4,15.1,437,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2720,2047,0,0,0,0,0,0
$GC,4364,0.84,223.3,180.8,15.4,449,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2720,2046,0,0,0,0,0,0
$GC,4492,0.84,223.3,161.4,15.0,461,4495,0.00,1.67,0.00,0.000,4,0.000,0.049,3074,3767,2046,0,0,0,0,0,0
$GC,4526,0.84,223.3,155.9,16.2,464,4530,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2701,2046,0,0,1,0,0,0
$GC,4666,0.84,223.3,134.5,15.3,477,4669,0.00,1.70,0.00,0.000,4,0.000,0.051,3081,3765,2045,0,0,1,0,0,0
$GC,4714,0.84,223.3,125.9,17.9,481,4722,0.00,1.58,0.00,0.000,6,0.000,0.031,3089,2756,2045,0,0,1,0,0,0
$GC,4849,0.84,223.3,105.6,14.6,494,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2756,2045,0,0,0,0,0,0
$GC,4980,0.84,223.3,86.7,14.5,514,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2756,2045,0,0,0,0,0,0
$GC,5121,0.84,223.3,65.9,14.7,539,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2756,2045,0,0,0,0,0,0
$GC,5263,0.84,223.3,43.3,15.9,564,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2756,2044,0,0,0,0,0,0
$GC,5403,0.84,223.3,21.2,16.2,589,5410,0.00,1.65,0.00,0.000,4,0.000,0.050,3089,3766,2045,0,0,0,0,0,0
$GC,5453,0.84,223.3,11.7,19.9,598,5460,0.00,1.58,0.00,0.000,6,0.000,0.032,3097,2762,2044,0,0,0,0,0,0
$FREEZE,8.99,-1.677,-1.900,2,1,0
$FREEZE,8.21,-1.676,-1.900,2,1,0
$FREEZE,7.48,-1.676,-1.899,2,1,0
$FREEZE,6.88,-1.675,-1.899,2,1,0
$FREEZE,6.00,-1.675,-1.898,2,1,0
$FREEZE,5.29,-1.674,-1.898,2,1,0
$FREEZE,4.54,-1.673,-1.897,2,1,0
$FREEZE,3.83,-1.673,-1.896,2,1,0
$FREEZE,2.80,-1.673,-1.896,2,1,0
$STATE,5512,end climb,SURFACE_DEPTH_REACHED
$STATE,5512,begin surface coast
$FREEZE,1.79,-1.673,-1.895,2,1,0
$FREEZE,0.59,-1.671,-1.894,2,1,0
$FREEZE,-0.03,-1.668,-1.893,2,1,0
$FINISH,-0.0,1.027763
$STATE,5531,end surface coast,CONTROL_FINISHED_OK
$STATE,5532,begin surface
$SM_CCo,5546,199.27,0.100,0,0,445,616.92
$SM_GC,0.43,0.00,0.00,199.27,0.000,0.000,0.100,187,2760,445,-8.15,-0.57,616.92
$IRIDIUM_FIX,-7554.21,17336.50,111210,121253
$TT8_MAMPS,0.027713
$HUMID,49.44
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,19.0
$24V_AH,22.3,10.778
$10V_AH,9.9,4.707
$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,18.525,43.300,365.300,199.275,0.000,25.542,37.224,108.139,1.500,0.000,39.388,1494.801,2449.807,680.143,1308.030,123.971,0.000,1307.274,0.000,1035.537,0.000,12.414,0.000
$DEVICE_MAMPS,219.555,71.145,984.555,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.006,761.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,40506,612
$CAP_FILE_SIZE,82025,0
$CFSIZE,260165632,242802688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.014,307.9,1
$GPS,111210,155425,-7640.812,17348.867,16,1.0,28,127.7