version: 66.08
glider: 503
mission: 7
dive: 157
start: 12 11 110 17 39 24
data:
$ID,503
$MISSION,7
$DIVE,157
$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,-19684.334
$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,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
$GPS1,111210,173356,-7640.661,17352.355,21,1.9,22,127.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-57.9
$GPS2,111210,173855,-7640.631,17352.432,43,1.1,43,127.6
$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,322.9,160130,-18.2,-13.333
$D_GRID,405
$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,-219.0,0.0,0.0,0,171,0.00,0.00,-152.25,0.000,2,0.000,0.000,180,2746,3523,0,0,0,0,0,0
$GC,174,-0.84,-219.0,3.7,-8.3,25,195,8.88,1.70,-6.75,0.000,4,0.221,0.068,2514,3769,3856,0,0,1,0,0,0
$GC,416,-0.84,-219.0,61.2,-20.4,68,423,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2778,3859,0,0,0,0,0,0
$GC,559,-0.84,-219.0,88.6,-19.2,93,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2779,3859,0,0,0,0,0,0
$GC,696,-0.84,-219.0,115.9,-19.9,111,700,0.00,1.62,0.00,0.000,4,0.000,0.053,2507,3790,3859,0,0,0,0,0,0
$GC,741,-0.84,-219.0,125.1,-21.1,115,745,0.00,1.55,0.00,0.000,6,0.000,0.031,2506,2806,3860,0,0,0,0,0,0
$GC,880,-0.84,-219.0,152.9,-19.9,128,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2806,3860,0,0,0,0,0,0
$GC,1008,-0.84,-219.0,177.8,-19.2,140,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2806,3860,0,0,0,0,0,0
$GC,1136,-0.84,-219.0,201.8,-18.5,152,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2806,3860,0,0,0,0,0,0
$GC,1263,-0.84,-219.0,225.9,-19.0,164,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2806,3860,0,0,0,0,0,0
$GC,1393,-0.84,-219.0,250.1,-19.3,176,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2806,3860,0,0,0,0,0,0
$GC,1581,-0.84,-219.0,285.6,-18.5,194,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2806,3860,0,0,0,0,0,0
$GC,1772,-0.84,-219.0,320.1,-18.1,212,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2806,3860,0,0,0,0,0,0
$GC,1963,-0.84,-219.0,353.9,-17.6,230,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2806,3860,0,0,0,0,0,0
$GC,2155,-0.84,-219.0,387.5,-17.2,248,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2806,3860,0,0,0,0,0,0
$STATE,2259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2259,begin apogee
$GC,2263,-0.16,0.0,406.0,17.4,258,2445,0.73,0.00,175.50,0.980,4,0.129,0.000,2746,2689,2959,0,0,0,0,0,0
$STATE,2446,end apogee,CONTROL_FINISHED_OK
$STATE,2446,begin climb
$GC,2447,0.84,219.0,414.6,0.0,274,2647,0.98,2.38,189.43,0.923,4,0.076,0.034,3070,1301,2066,0,0,0,0,0,0
$GC,2768,0.84,219.0,382.6,14.1,303,2775,0.00,2.47,0.00,0.000,6,0.000,0.042,3070,2694,2055,0,0,0,0,0,0
$GC,2966,0.84,219.0,352.1,15.6,322,2970,0.00,2.33,0.00,0.000,4,0.000,0.035,3081,1306,2051,0,0,0,0,0,0
$GC,3131,0.84,219.0,327.6,14.0,336,3140,0.00,2.38,0.00,0.000,6,0.000,0.042,3081,2704,2049,0,0,1,0,0,0
$GC,3330,0.84,219.0,295.8,16.0,355,3334,0.00,1.75,0.00,0.000,4,0.000,0.050,3081,3756,2048,0,0,0,0,0,0
$GC,3367,0.84,219.0,288.7,17.9,358,3375,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2721,2047,0,0,1,0,0,0
$GC,3567,0.84,219.0,256.0,16.6,377,3570,0.00,1.70,0.00,0.000,4,0.000,0.050,3089,3771,2047,0,0,0,0,0,0
$GC,3604,0.84,219.0,248.6,18.4,380,3613,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2726,2047,0,0,1,0,0,0
$GC,3739,0.84,219.0,225.6,17.0,393,3743,0.00,1.70,0.00,0.000,4,0.000,0.051,3097,3769,2046,0,0,0,0,0,0
$GC,3774,0.84,219.0,219.1,18.7,396,3778,0.12,1.62,0.00,0.000,6,0.179,0.032,3073,2710,2046,0,0,1,0,0,0
$GC,3913,0.84,219.0,197.6,14.8,409,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2710,2046,0,0,0,0,0,0
$GC,4040,0.84,219.0,178.5,14.9,421,4044,0.00,1.73,0.00,0.000,4,0.000,0.051,3072,3754,2046,0,0,0,0,0,0
$GC,4078,0.84,219.0,172.1,16.3,424,4086,0.00,1.60,0.00,0.000,6,0.000,0.031,3080,2745,2046,0,0,0,0,0,0
$GC,4212,0.84,219.0,151.3,15.4,437,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2745,2046,0,0,0,0,0,0
$GC,4340,0.84,219.0,131.2,15.3,449,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2745,2046,0,0,0,0,0,0
$GC,4468,0.84,219.0,111.1,15.8,461,4471,0.00,1.67,0.00,0.000,4,0.000,0.050,3080,3762,2046,0,0,0,0,0,0
$GC,4551,0.84,219.0,96.6,16.7,470,4558,0.00,1.60,0.00,0.000,6,0.000,0.032,3087,2748,2045,0,0,0,0,0,0
$GC,4695,0.84,219.0,74.3,15.6,495,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2747,2045,0,0,0,0,0,0
$GC,4834,0.84,219.0,52.5,15.9,520,4842,0.00,1.67,0.00,0.000,4,0.000,0.052,3087,3766,2045,0,0,0,0,0,0
$GC,4897,0.84,219.0,41.1,18.5,531,4904,0.00,1.60,0.00,0.000,6,0.000,0.032,3096,2750,2045,0,0,0,0,0,0
$GC,5041,0.85,229.3,21.5,12.9,556,5049,0.00,0.00,6.35,0.711,6,0.000,0.000,3096,2750,2025,0,0,0,0,0,0
$FREEZE,8.29,-1.681,-1.900,2,1,0
$FREEZE,7.41,-1.680,-1.899,2,1,0
$FREEZE,6.43,-1.681,-1.899,2,1,0
$FREEZE,5.58,-1.677,-1.898,2,1,0
$FREEZE,4.77,-1.678,-1.897,2,1,0
$FREEZE,3.77,-1.674,-1.897,2,1,0
$FREEZE,2.82,-1.671,-1.896,2,1,0
$STATE,5148,end climb,SURFACE_DEPTH_REACHED
$STATE,5148,begin surface coast
$FREEZE,1.97,-1.673,-1.895,2,1,0
$FREEZE,1.05,-1.672,-1.895,2,1,0
$FREEZE,0.21,-1.671,-1.894,2,1,0
$FINISH,0.2,1.027773
$STATE,5165,end surface coast,CONTROL_FINISHED_OK
$STATE,5165,begin surface
$SM_CCo,5180,197.38,0.100,0,0,445,616.92
$SM_GC,0.54,0.00,0.00,197.38,0.000,0.000,0.100,182,2748,445,-8.16,-0.90,616.92
$IRIDIUM_FIX,-7603.11,17344.76,111210,151552
$TT8_MAMPS,0.027713
$HUMID,49.52
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,18.9
$24V_AH,22.3,11.004
$10V_AH,9.9,4.803
$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,18.400,36.050,371.275,197.375,0.000,27.523,40.084,102.676,1.250,0.000,45.538,1400.416,2267.408,671.980,1232.878,118.822,0.000,1260.892,0.000,961.407,0.000,9.473,0.000
$DEVICE_MAMPS,221.085,71.910,979.965,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.906,724.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,37042,578
$CAP_FILE_SIZE,76740,0
$CFSIZE,260165632,242720768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.068,325.4,1
$GPS,111210,191007,-7640.509,17355.441,22,1.1,27,127.5