version: 66.08
glider: 503
mission: 7
dive: 159
start: 12 11 110 20 51 7
data:
$ID,503
$MISSION,7
$DIVE,159
$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,-19686.848
$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,48
$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
$GPS1,111210,204607,-7640.399,17358.264,32,1.5,33,127.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-60.1
$GPS2,111210,205038,-7640.372,17358.258,12,1.5,12,127.4
$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,325.4,157571,-18.2,-13.333
$D_GRID,394
$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,-219.0,0.0,0.0,0,166,0.00,0.00,-148.55,0.000,2,0.000,0.000,181,2770,3418,0,0,0,0,0,0
$GC,169,-0.84,-219.0,3.0,-6.1,24,196,8.80,1.65,-9.52,0.000,4,0.218,0.069,2517,3761,3856,0,0,0,0,0,0
$GC,407,-0.84,-219.0,56.0,-18.8,66,415,0.00,1.55,0.00,0.000,6,0.000,0.031,2517,2773,3859,0,0,0,0,0,0
$GC,551,-0.84,-219.0,83.4,-19.0,91,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3859,0,0,0,0,0,0
$GC,695,-0.84,-219.0,110.6,-18.5,112,699,0.00,2.20,0.00,0.000,4,0.000,0.033,2517,1379,3860,0,0,0,0,0,0
$GC,740,-0.84,-219.0,118.4,-16.1,116,744,0.00,2.28,0.00,0.000,6,0.000,0.045,2506,2783,3860,0,0,0,0,0,0
$GC,873,-0.84,-219.0,143.3,-19.2,128,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3859,0,0,0,0,0,0
$GC,1001,-0.84,-219.0,167.8,-19.2,140,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3860,0,0,0,0,0,0
$GC,1128,-0.84,-219.0,191.9,-18.3,152,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3859,0,0,0,0,0,0
$GC,1255,-0.84,-219.0,215.3,-18.6,164,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3859,0,0,0,0,0,0
$GC,1383,-0.84,-219.0,239.4,-18.6,176,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3860,0,0,0,0,0,0
$GC,1511,-0.84,-219.0,263.1,-18.3,188,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2783,3859,0,0,0,0,0,0
$GC,1702,-0.84,-219.0,297.2,-17.7,206,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3860,0,0,0,0,0,0
$GC,1894,-0.84,-219.0,331.1,-17.8,224,1898,0.00,2.20,0.00,0.000,4,0.000,0.032,2506,1371,3859,0,0,0,0,0,0
$GC,1928,-0.84,-219.0,337.4,-18.0,226,1936,0.12,2.28,0.00,0.000,6,0.161,0.044,2530,2780,3859,0,0,0,0,0,0
$GC,2127,-0.84,-219.0,368.4,-15.3,245,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2779,3859,0,0,0,0,0,0
$STATE,2294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2294,begin apogee
$GC,2299,-0.16,0.0,394.4,15.4,261,2481,0.62,0.00,175.23,0.971,4,0.123,0.000,2742,2694,2959,0,0,0,0,0,0
$STATE,2482,end apogee,CONTROL_FINISHED_OK
$STATE,2482,begin climb
$GC,2484,0.84,219.0,402.9,0.0,277,2682,1.00,2.38,188.75,0.917,4,0.077,0.033,3073,1297,2066,0,0,0,0,0,0
$GC,2855,0.84,219.0,363.1,13.8,310,2864,0.00,2.47,0.00,0.000,6,0.000,0.041,3073,2702,2054,0,0,0,0,0,0
$GC,3053,0.84,219.0,333.0,15.5,329,3057,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1304,2051,0,0,0,0,0,0
$GC,3227,0.84,219.0,307.1,14.1,344,3232,0.00,2.35,0.00,0.000,6,0.000,0.042,3084,2709,2050,0,0,0,0,0,0
$GC,3426,0.84,219.0,275.4,15.7,362,3430,0.00,1.70,0.00,0.000,4,0.000,0.050,3084,3765,2049,0,0,0,0,0,0
$GC,3475,0.84,219.0,266.4,17.6,366,3483,0.00,1.65,0.00,0.000,6,0.000,0.031,3092,2723,2048,0,0,1,0,0,0
$GC,3673,0.84,219.0,233.8,16.4,385,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2723,2048,0,0,0,0,0,0
$GC,3800,0.84,219.0,212.5,16.9,397,3804,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3771,2047,0,0,0,0,0,0
$GC,3846,0.84,219.0,204.1,18.6,401,3850,0.12,1.62,0.00,0.000,6,0.177,0.031,3068,2706,2047,0,0,1,0,0,0
$GC,3984,0.84,219.0,182.8,14.7,414,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2706,2047,0,0,0,0,0,0
$GC,4112,0.84,219.0,164.2,14.5,426,4115,0.00,1.70,0.00,0.000,4,0.000,0.050,3067,3763,2046,0,0,0,0,0,0
$GC,4146,0.84,219.0,158.5,16.2,429,4150,0.00,1.65,0.00,0.000,6,0.000,0.031,3075,2696,2046,0,0,0,0,0,0
$GC,4285,0.84,219.0,137.4,14.7,442,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2696,2046,0,0,0,0,0,0
$GC,4412,0.84,219.0,118.5,14.8,454,4416,0.00,1.75,0.00,0.000,4,0.000,0.050,3075,3758,2046,0,0,0,0,0,0
$GC,4457,0.84,219.0,111.3,17.0,458,4461,0.00,1.60,0.00,0.000,6,0.000,0.031,3083,2733,2046,0,0,1,0,0,0
$GC,4593,0.84,219.0,90.6,15.3,476,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2732,2046,0,0,0,0,0,0
$GC,4733,0.84,219.0,69.3,15.4,501,4740,0.00,1.70,0.00,0.000,4,0.000,0.051,3083,3765,2045,0,0,0,0,0,0
$GC,4763,0.84,219.0,64.1,16.8,506,4771,0.00,1.60,0.00,0.000,6,0.000,0.032,3091,2737,2045,0,0,1,0,0,0
$GC,4907,0.84,219.0,41.3,15.5,531,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2737,2045,0,0,0,0,0,0
$GC,5049,0.84,219.0,19.6,15.8,556,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2737,2045,0,0,0,0,0,0
$FREEZE,8.44,-1.589,-1.900,2,1,0
$FREEZE,7.49,-1.587,-1.899,2,1,0
$FREEZE,6.72,-1.582,-1.898,2,1,0
$FREEZE,5.88,-1.581,-1.898,2,1,0
$FREEZE,4.73,-1.580,-1.897,2,1,0
$FREEZE,3.76,-1.579,-1.896,2,1,0
$FREEZE,2.86,-1.571,-1.895,2,1,0
$STATE,5146,end climb,SURFACE_DEPTH_REACHED
$STATE,5146,begin surface coast
$FREEZE,2.20,-1.565,-1.895,2,1,0
$FREEZE,1.05,-1.571,-1.894,2,1,0
$FREEZE,0.18,-1.568,-1.893,2,1,0
$FINISH,0.2,1.027758
$STATE,5164,end surface coast,CONTROL_FINISHED_OK
$STATE,5164,begin surface
$SM_CCo,5180,199.55,0.100,0,0,445,616.92
$SM_GC,0.55,0.00,0.00,199.55,0.000,0.000,0.100,197,2793,445,-8.13,0.37,616.92
$IRIDIUM_FIX,-7554.21,17355.06,111210,191934
$TT8_MAMPS,0.027713
$HUMID,49.25
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.7
$24V_AH,22.4,11.227
$10V_AH,9.9,4.897
$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,18.350,38.525,363.975,199.550,0.000,28.899,38.133,105.529,1.000,0.000,15.509,1404.361,2259.877,670.346,1213.291,118.470,0.000,1260.246,0.000,968.377,0.000,7.758,0.000
$DEVICE_MAMPS,218.025,112.455,970.785,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.472,731.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37040,577
$CAP_FILE_SIZE,76781,0
$CFSIZE,260165632,242630656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.099,321.1,1
$GPS,111210,222156,-7640.286,17400.783,31,2.0,31,127.3