version: 66.08
glider: 503
mission: 7
dive: 158
start: 12 11 110 19 15 27
data:
$ID,503
$MISSION,7
$DIVE,158
$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,-19685.592
$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,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
$GPS1,111210,191007,-7640.509,17355.441,22,1.1,27,127.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-61.4
$GPS2,111210,191458,-7640.474,17355.432,11,2.2,30,127.5
$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,325.7,158807,-18.2,-13.333
$D_GRID,403
$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,-219.0,0.0,0.0,0,172,0.00,0.00,-152.82,0.000,2,0.000,0.000,158,2749,3551,0,0,0,0,0,0
$GC,174,-0.84,-219.0,3.9,-9.3,25,196,8.88,1.70,-6.12,0.000,4,0.217,0.066,2514,3776,3856,0,0,1,0,0,0
$GC,337,-0.84,-219.0,43.7,-19.4,53,343,0.00,1.58,0.00,0.000,6,0.000,0.030,2514,2773,3859,0,0,0,0,0,0
$GC,477,-0.84,-219.0,70.0,-18.9,78,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2773,3859,0,0,0,0,0,0
$GC,618,-0.84,-219.0,97.0,-19.4,103,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2773,3859,0,0,0,0,0,0
$GC,752,-0.84,-219.0,123.2,-19.6,117,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2773,3859,0,0,0,0,0,0
$GC,879,-0.84,-219.0,147.3,-18.6,129,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2773,3860,0,0,0,0,0,0
$GC,1007,-0.84,-219.0,170.5,-18.3,141,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2773,3859,0,0,0,0,0,0
$GC,1134,-0.84,-219.0,194.6,-18.8,153,1138,0.00,1.62,0.00,0.000,4,0.000,0.052,2506,3790,3860,0,0,0,0,0,0
$GC,1168,-0.84,-219.0,201.4,-20.6,156,1171,0.00,1.58,0.00,0.000,6,0.000,0.031,2506,2784,3859,0,0,0,0,0,0
$GC,1307,-0.84,-219.0,228.6,-19.3,169,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2784,3860,0,0,0,0,0,0
$GC,1435,-0.84,-219.0,252.3,-18.4,181,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2784,3859,0,0,0,0,0,0
$GC,1626,-0.84,-219.0,286.9,-18.0,199,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3860,0,0,0,0,0,0
$GC,1817,-0.84,-219.0,321.8,-17.8,217,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2784,3859,0,0,0,0,0,0
$GC,2009,-0.84,-219.0,356.3,-18.0,235,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2784,3860,0,0,0,0,0,0
$GC,2199,-0.84,-219.0,390.5,-17.8,253,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2784,3859,0,0,0,0,0,0
$STATE,2272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2272,begin apogee
$GC,2277,-0.16,0.0,403.4,17.9,260,2457,0.73,0.00,175.32,0.978,4,0.130,0.000,2745,2684,2959,0,0,0,0,0,0
$STATE,2458,end apogee,CONTROL_FINISHED_OK
$STATE,2458,begin climb
$GC,2460,0.84,219.0,412.2,0.0,276,2663,0.98,2.35,189.45,0.922,4,0.077,0.034,3069,1312,2066,0,0,0,0,0,0
$GC,2767,0.84,219.0,382.1,13.8,303,2775,0.00,2.45,0.00,0.000,6,0.000,0.041,3069,2698,2056,0,0,1,0,0,0
$GC,2967,0.84,219.0,352.2,14.8,322,2971,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1315,2052,0,0,0,0,0,0
$GC,3123,0.84,219.0,329.2,14.5,335,3130,0.00,2.35,0.00,0.000,6,0.000,0.042,3080,2709,2050,0,0,0,0,0,0
$GC,3320,0.84,219.0,297.7,16.2,354,3324,0.00,1.73,0.00,0.000,4,0.000,0.050,3080,3771,2049,0,0,0,0,0,0
$GC,3380,0.84,219.0,286.7,18.2,359,3388,0.00,1.65,0.00,0.000,6,0.000,0.030,3088,2729,2048,0,0,1,0,0,0
$GC,3578,0.84,219.0,254.4,16.1,378,3582,0.00,1.67,0.00,0.000,4,0.000,0.050,3088,3763,2048,0,0,0,0,0,0
$GC,3616,0.84,219.0,247.2,19.2,381,3623,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2724,2048,0,0,1,0,0,0
$GC,3751,0.84,219.0,224.7,16.9,394,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2724,2047,0,0,0,0,0,0
$GC,3878,0.84,219.0,203.2,16.8,406,3882,0.00,1.73,0.00,0.000,4,0.000,0.050,3097,3761,2047,0,0,0,0,0,0
$GC,3927,0.84,219.0,193.8,19.2,410,3936,0.08,1.62,0.00,0.000,6,0.160,0.031,3080,2731,2046,0,0,1,0,0,0
$GC,4062,0.84,219.0,172.6,15.6,423,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2731,2046,0,0,0,0,0,0
$GC,4189,0.84,219.0,153.0,15.4,435,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2731,2047,0,0,0,0,0,0
$GC,4317,0.84,219.0,133.4,15.4,447,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2731,2046,0,0,0,0,0,0
$GC,4444,0.84,219.0,114.2,15.1,459,4448,0.00,1.65,0.00,0.000,4,0.000,0.051,3080,3764,2046,0,0,0,0,0,0
$GC,4478,0.84,219.0,108.6,16.3,462,4482,0.00,1.62,0.00,0.000,6,0.000,0.032,3088,2739,2045,0,0,0,0,0,0
$GC,4615,0.84,219.0,87.1,15.8,482,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2738,2045,0,0,0,0,0,0
$GC,4758,0.84,219.0,65.7,14.9,507,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2738,2045,0,0,0,0,0,0
$GC,4897,0.84,219.0,43.8,15.5,532,4904,0.00,1.67,0.00,0.000,4,0.000,0.051,3087,3761,2044,0,0,0,0,0,0
$GC,4971,0.84,219.0,31.0,17.7,545,4978,0.00,1.60,0.00,0.000,6,0.000,0.031,3095,2743,2044,0,0,0,0,0,0
$FREEZE,8.29,-1.620,-1.900,2,1,0
$FREEZE,7.40,-1.619,-1.899,2,1,0
$GC,5110,0.84,219.0,7.4,16.1,570,5118,0.00,1.67,0.00,0.000,4,0.000,0.052,3095,3767,2044,0,0,0,0,0,0
$FREEZE,4.68,-1.616,-1.897,2,1,0
$FREEZE,3.69,-1.616,-1.896,2,1,0
$FREEZE,2.76,-1.619,-1.895,2,1,0
$STATE,5134,end climb,SURFACE_DEPTH_REACHED
$STATE,5135,begin surface coast
$FREEZE,1.93,-1.609,-1.895,2,1,0
$FREEZE,1.00,-1.607,-1.894,2,1,0
$FREEZE,0.01,-1.604,-1.893,2,1,0
$FINISH,0.0,1.027761
$STATE,5151,end surface coast,CONTROL_FINISHED_OK
$STATE,5152,begin surface
$SM_CCo,5169,199.70,0.099,0,0,444,616.92
$SM_GC,0.54,0.00,0.00,199.70,0.000,0.000,0.099,190,2770,444,-8.14,-0.28,616.92
$IRIDIUM_FIX,-7554.21,17345.78,111210,171723
$TT8_MAMPS,0.027713
$HUMID,49.52
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.2
$24V_AH,22.3,11.116
$10V_AH,10.0,4.850
$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,18.300,35.900,364.775,199.700,0.000,31.340,39.096,103.146,1.250,0.000,34.512,1391.638,2272.950,679.506,1211.853,119.645,0.000,1264.847,0.000,952.750,0.000,9.475,0.000
$DEVICE_MAMPS,217.260,83.385,978.435,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.106,726.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37037,577
$CAP_FILE_SIZE,76694,0
$CFSIZE,260165632,242675712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.083,308.0,1
$GPS,111210,204607,-7640.399,17358.264,32,1.5,33,127.4