version: 66.08
glider: 503
mission: 7
dive: 161
start: 12 12 110 0 2 19
data:
$ID,503
$MISSION,7
$DIVE,161
$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,-19689.367
$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,44
$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
$GPS1,111210,235707,-7640.224,17402.785,51,0.9,51,127.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-56.6
$GPS2,121210,000150,-7640.201,17402.707,15,1.2,15,127.3
$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,334.2,155623,-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,-219.0,0.0,0.0,0,166,0.00,0.00,-147.62,0.000,2,0.000,0.000,175,2775,3419,0,0,0,0,0,0
$GC,169,-0.84,-219.0,3.4,-7.6,24,196,8.85,1.62,-9.40,0.000,4,0.219,0.067,2516,3773,3855,0,0,0,0,0,0
$GC,385,-0.84,-219.0,51.2,-20.4,62,392,0.00,1.58,0.00,0.000,6,0.000,0.030,2517,2771,3858,0,0,0,0,0,0
$GC,527,-0.84,-219.0,77.8,-18.4,87,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3857,0,0,0,0,0,0
$GC,673,-0.84,-219.0,105.3,-20.2,111,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,801,-0.84,-219.0,130.0,-19.2,123,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,928,-0.84,-219.0,154.0,-18.7,135,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,1056,-0.84,-219.0,177.2,-17.9,147,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,1183,-0.84,-219.0,199.8,-17.4,159,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,1311,-0.84,-219.0,221.8,-17.3,171,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3858,0,0,0,0,0,0
$GC,1438,-0.84,-219.0,243.4,-16.7,183,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,1567,-0.84,-219.0,264.9,-16.8,195,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2771,3858,0,0,0,0,0,0
$GC,1756,-0.84,-219.0,297.6,-17.2,213,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,1948,-0.84,-219.0,330.1,-17.0,231,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,2141,-0.84,-219.0,362.7,-17.0,249,2144,0.00,1.62,0.00,0.000,4,0.000,0.051,2509,3796,3857,0,0,0,0,0,0
$GC,2185,-0.84,-219.0,371.2,-18.8,253,2189,0.00,1.58,0.00,0.000,6,0.000,0.031,2509,2780,3857,0,0,0,0,0,0
$STATE,2248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2249,begin apogee
$GC,2253,-0.16,0.0,382.6,17.6,259,2433,0.70,0.00,174.60,0.965,4,0.127,0.000,2741,2700,2960,0,0,0,0,0,0
$STATE,2434,end apogee,CONTROL_FINISHED_OK
$STATE,2434,begin climb
$GC,2436,0.84,219.0,392.1,0.0,275,2639,1.00,2.38,188.68,0.911,4,0.078,0.033,3073,1303,2066,0,0,0,0,0,0
$GC,2785,0.84,219.0,358.3,13.9,306,2789,0.00,2.42,0.00,0.000,6,0.000,0.041,3072,2701,2055,0,0,0,0,0,0
$GC,2982,0.84,219.0,328.1,15.7,324,2986,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1307,2051,0,0,0,0,0,0
$GC,3155,0.84,219.0,303.5,13.5,339,3159,0.00,2.35,0.00,0.000,6,0.000,0.042,3083,2710,2050,0,0,0,0,0,0
$GC,3354,0.84,219.0,272.0,16.0,357,3358,0.00,1.70,0.00,0.000,4,0.000,0.050,3083,3764,2049,0,0,0,0,0,0
$GC,3403,0.84,219.0,262.9,17.9,361,3411,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2725,2048,0,0,1,0,0,0
$GC,3602,0.84,219.0,230.8,15.9,380,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2724,2047,0,0,0,0,0,0
$GC,3729,0.84,219.0,210.1,16.3,392,3732,0.00,1.67,0.00,0.000,4,0.000,0.050,3091,3764,2047,0,0,0,0,0,0
$GC,3796,0.84,219.0,198.0,18.1,398,3800,0.00,1.65,0.00,0.000,6,0.000,0.031,3100,2704,2047,0,0,0,0,0,0
$GC,3935,0.84,219.0,174.3,16.7,411,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2703,2047,0,0,0,0,0,0
$GC,4063,0.84,219.0,153.1,16.9,423,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2703,2047,0,0,0,0,0,0
$GC,4190,0.84,219.0,131.8,16.6,435,4194,0.00,1.73,0.00,0.000,4,0.000,0.050,3100,3772,2047,0,0,0,0,0,0
$GC,4217,0.84,219.0,126.6,18.5,437,4225,0.10,1.65,0.00,0.000,6,0.151,0.031,3075,2720,2046,0,0,1,0,0,0
$GC,4351,0.84,219.0,106.3,14.5,450,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2720,2046,0,0,0,0,0,0
$GC,4484,0.84,219.0,87.1,14.7,469,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2720,2046,0,0,0,0,0,0
$GC,4624,0.84,219.0,66.6,15.2,494,4631,0.00,1.70,0.00,0.000,4,0.000,0.050,3075,3758,2045,0,0,0,0,0,0
$GC,4676,0.84,219.0,58.5,16.6,503,4683,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2728,2044,0,0,0,0,0,0
$GC,4820,0.84,219.0,36.8,16.0,528,4827,0.00,1.70,0.00,0.000,4,0.000,0.053,3083,3762,2045,0,0,0,0,0,0
$GC,4867,0.84,219.0,28.9,17.0,536,4875,0.00,1.58,0.00,0.000,6,0.000,0.032,3091,2748,2044,0,0,1,0,0,0
$FREEZE,8.81,-1.562,-1.900,2,1,0
$FREEZE,8.01,-1.561,-1.899,2,1,0
$FREEZE,7.06,-1.564,-1.898,2,1,0
$FREEZE,6.52,-1.562,-1.898,2,1,0
$GC,5009,0.84,219.0,6.5,14.8,561,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2747,2045,0,0,0,0,0,0
$FREEZE,4.86,-1.561,-1.897,2,1,0
$FREEZE,4.04,-1.563,-1.896,2,1,0
$FREEZE,3.17,-1.560,-1.895,2,1,0
$FREEZE,2.20,-1.560,-1.894,2,1,0
$STATE,5036,end climb,SURFACE_DEPTH_REACHED
$STATE,5036,begin surface coast
$FREEZE,1.08,-1.559,-1.894,2,1,0
$FREEZE,0.42,-1.553,-1.893,2,1,0
$FREEZE,-0.12,-1.545,-1.085,2,1,0
$FINISH,-0.1,1.016033
$STATE,5055,end surface coast,FINISH_DEPTH_REACHED
$STATE,5055,begin surface
$SM_CCo,5070,200.05,0.100,0,0,444,616.92
$SM_GC,0.49,0.00,0.00,200.05,0.000,0.000,0.100,181,2746,444,-8.15,-0.96,616.92
$IRIDIUM_FIX,-7554.21,17405.31,111210,222220
$TT8_MAMPS,0.027713
$HUMID,49.40
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.8
$24V_AH,22.4,11.448
$10V_AH,10.0,4.990
$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,18.300,32.600,363.275,200.050,0.000,30.927,44.593,107.452,1.000,0.000,17.964,1382.991,2200.311,668.801,1199.004,118.757,0.000,1244.661,0.000,942.869,0.000,7.760,0.000
$DEVICE_MAMPS,218.790,100.215,964.665,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.805,727.502,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36952,569
$CAP_FILE_SIZE,75274,0
$CFSIZE,260165632,242540544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.113,291.4,1
$GPS,121210,013109,-7640.346,17404.758,20,1.3,21,127.2