version: 66.08
glider: 503
mission: 7
dive: 160
start: 12 11 110 22 26 54
data:
$ID,503
$MISSION,7
$DIVE,160
$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,-19688.107
$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,36
$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
$GPS1,111210,222156,-7640.286,17400.783,31,2.0,31,127.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-59.3
$GPS2,111210,222626,-7640.262,17400.758,15,1.9,15,127.3
$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,329.8,156473,-18.2,-13.333
$D_GRID,381
$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,-148.98,0.000,2,0.000,0.000,184,2794,3468,0,0,0,0,0,0
$GC,171,-0.84,-219.0,3.7,-8.0,24,193,8.82,1.60,-7.82,0.000,4,0.220,0.067,2514,3755,3856,0,0,0,0,0,0
$GC,431,-0.84,-219.0,63.7,-20.3,70,439,0.00,1.52,0.00,0.000,6,0.000,0.030,2513,2784,3859,0,0,0,0,0,0
$GC,574,-0.84,-219.0,91.1,-18.2,95,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,716,-0.84,-219.0,117.6,-17.5,112,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2784,3859,0,0,0,0,0,0
$GC,843,-0.84,-219.0,141.2,-18.8,124,847,0.00,2.20,0.00,0.000,4,0.000,0.033,2513,1374,3860,0,0,0,0,0,0
$GC,871,-0.84,-219.0,146.2,-17.9,126,875,0.00,2.25,0.00,0.000,6,0.000,0.045,2504,2768,3860,0,0,0,0,0,0
$GC,1004,-0.84,-219.0,171.0,-19.2,138,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2767,3860,0,0,0,0,0,0
$GC,1132,-0.84,-219.0,195.4,-19.1,150,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2767,3860,0,0,0,0,0,0
$GC,1259,-0.84,-219.0,219.9,-19.0,162,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2767,3861,0,0,0,0,0,0
$GC,1387,-0.84,-219.0,244.4,-19.1,174,1391,0.00,1.60,0.00,0.000,4,0.000,0.053,2496,3760,3860,0,0,0,0,0,0
$GC,1421,-0.84,-219.0,251.2,-20.5,177,1425,0.08,1.52,0.00,0.000,6,0.148,0.032,2522,2778,3860,0,0,0,0,0,0
$GC,1624,-0.84,-219.0,286.6,-17.1,196,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2778,3860,0,0,0,0,0,0
$GC,1817,-0.84,-219.0,318.3,-16.4,214,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2778,3860,0,0,0,0,0,0
$GC,2006,-0.84,-219.0,349.8,-16.2,232,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2778,3860,0,0,0,0,0,0
$GC,2197,-0.84,-219.0,380.6,-16.2,250,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2778,3860,0,0,0,0,0,0
$STATE,2207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2207,begin apogee
$GC,2212,-0.16,0.0,382.2,16.1,251,2393,0.65,0.00,175.02,0.964,4,0.125,0.000,2740,2695,2960,0,0,0,0,0,0
$STATE,2394,end apogee,CONTROL_FINISHED_OK
$STATE,2394,begin climb
$GC,2396,0.84,219.0,391.4,0.0,267,2598,1.00,2.38,188.55,0.910,4,0.079,0.033,3071,1299,2066,0,0,0,0,0,0
$GC,2768,0.84,219.0,354.3,13.7,300,2772,0.00,2.42,0.00,0.000,6,0.000,0.041,3071,2702,2054,0,0,0,0,0,0
$GC,2966,0.84,219.0,325.4,14.4,318,2970,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1306,2051,0,0,0,0,0,0
$GC,3143,0.84,219.0,301.0,13.6,333,3151,0.00,2.38,0.00,0.000,6,0.000,0.041,3082,2700,2050,0,0,0,0,0,0
$GC,3342,0.84,219.0,271.8,15.2,352,3346,0.00,1.75,0.00,0.000,4,0.000,0.050,3081,3759,2048,0,0,0,0,0,0
$GC,3388,0.84,219.0,264.4,17.0,356,3392,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2707,2048,0,0,1,0,0,0
$GC,3591,0.84,219.0,231.6,16.4,375,3595,0.00,1.75,0.00,0.000,4,0.000,0.050,3090,3754,2047,0,0,0,0,0,0
$GC,3640,0.84,219.0,222.7,17.7,379,3649,0.00,1.62,0.00,0.000,6,0.000,0.030,3098,2723,2047,0,0,1,0,0,0
$GC,3775,0.84,219.0,200.4,17.0,392,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2724,2047,0,0,0,0,0,0
$GC,3902,0.84,219.0,178.4,17.0,404,3906,0.00,1.67,0.00,0.000,4,0.000,0.051,3098,3764,2047,0,0,0,0,0,0
$GC,3951,0.84,219.0,168.8,19.6,408,3960,0.10,1.65,0.00,0.000,6,0.155,0.031,3075,2728,2046,0,0,0,0,0,0
$GC,4086,0.84,219.0,148.5,14.4,421,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2046,0,0,0,0,0,0
$GC,4213,0.84,219.0,129.9,14.5,433,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2046,0,0,0,0,0,0
$GC,4341,0.84,219.0,112.2,13.7,445,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2046,0,0,0,0,0,0
$GC,4471,0.84,219.0,94.3,13.7,460,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2046,0,0,0,0,0,0
$GC,4612,0.84,219.0,74.1,14.3,485,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2046,0,0,0,0,0,0
$GC,4753,0.84,219.0,54.7,14.1,510,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2046,0,0,0,0,0,0
$GC,4893,0.84,219.0,33.7,15.1,535,4900,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3765,2046,0,0,0,0,0,0
$GC,4934,0.84,219.0,26.2,18.1,542,4941,0.00,1.60,0.00,0.000,6,0.000,0.031,3082,2731,2045,0,0,1,0,0,0
$FREEZE,8.87,-1.562,-1.900,2,1,0
$FREEZE,8.13,-1.559,-1.899,2,1,0
$FREEZE,7.61,-1.556,-1.899,2,1,0
$FREEZE,6.78,-1.560,-1.898,2,1,0
$FREEZE,5.83,-1.558,-1.897,2,1,0
$FREEZE,4.97,-1.559,-1.897,2,1,0
$FREEZE,4.18,-1.556,-1.896,2,1,0
$FREEZE,3.15,-1.555,-1.895,2,1,0
$GC,5076,0.84,219.0,3.2,17.3,567,5084,0.00,1.70,0.00,0.000,4,0.000,0.052,3082,3765,2045,0,0,0,0,0,0
$FREEZE,0.54,-1.551,-1.893,2,1,0
$STATE,5090,end climb,SURFACE_DEPTH_REACHED
$STATE,5090,begin surface coast
$FREEZE,-0.02,-1.540,-1.892,2,1,0
$FREEZE,-0.13,-1.551,-1.881,2,1,0
$FREEZE,-0.10,-1.590,-1.869,2,1,0
$FINISH,-0.1,1.027425
$STATE,5107,end surface coast,CONTROL_FINISHED_OK
$STATE,5108,begin surface
$SM_CCo,5125,199.82,0.100,0,0,445,616.92
$SM_GC,0.60,0.00,0.00,199.82,0.000,0.000,0.100,190,2775,445,-8.15,-0.14,616.92
$IRIDIUM_FIX,-7554.21,17355.06,111210,202031
$TT8_MAMPS,0.027713
$HUMID,49.05
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,20.1
$24V_AH,22.4,11.337
$10V_AH,10.0,4.943
$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,18.425,36.900,363.575,199.825,0.000,29.507,37.280,102.758,1.500,0.000,18.410,1390.421,2232.494,670.585,1195.746,120.061,0.000,1255.644,0.000,954.108,0.000,7.757,0.000
$DEVICE_MAMPS,220.320,100.215,963.900,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.860,728.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,37102,572
$CAP_FILE_SIZE,76374,0
$CFSIZE,260165632,242585600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.132,318.0,1
$GPS,111210,235707,-7640.224,17402.785,51,0.9,51,127.3