version: 66.08
glider: 503
mission: 7
dive: 162
start: 12 12 110 1 36 13
data:
$ID,503
$MISSION,7
$DIVE,162
$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,-19690.627
$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,45
$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
$GPS1,121210,013109,-7640.346,17404.758,20,1.3,21,127.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-62.3
$GPS2,121210,013544,-7640.322,17404.768,12,1.2,12,127.2
$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,324.8,154767,-18.2,-13.333
$D_GRID,379
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,170,0.00,0.00,-150.93,0.000,2,0.000,0.000,162,2746,3499,0,0,0,0,0,0
$GC,172,-0.84,-219.0,3.4,-7.4,25,194,8.90,1.70,-7.43,0.000,4,0.219,0.069,2516,3767,3856,0,0,1,0,0,0
$GC,350,-0.84,-219.0,47.1,-18.9,56,357,0.00,1.55,0.00,0.000,6,0.000,0.031,2516,2780,3859,0,0,0,0,0,0
$GC,492,-0.84,-219.0,74.4,-19.6,81,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,631,-0.84,-219.0,100.8,-18.5,106,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,759,-0.84,-219.0,123.4,-17.5,118,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3859,0,0,0,0,0,0
$GC,886,-0.84,-219.0,146.1,-17.9,130,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,1014,-0.84,-219.0,168.7,-17.6,142,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3859,0,0,0,0,0,0
$GC,1142,-0.84,-219.0,190.7,-17.1,154,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3860,0,0,0,0,0,0
$GC,1269,-0.84,-219.0,212.5,-16.7,166,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3859,0,0,0,0,0,0
$GC,1396,-0.84,-219.0,233.9,-17.0,178,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3860,0,0,0,0,0,0
$GC,1524,-0.84,-219.0,255.7,-17.4,190,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2780,3859,0,0,0,0,0,0
$GC,1715,-0.84,-219.0,288.2,-16.8,208,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3860,0,0,0,0,0,0
$GC,1907,-0.84,-219.0,320.4,-16.9,226,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3859,0,0,0,0,0,0
$GC,2098,-0.84,-219.0,353.2,-17.4,244,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2780,3859,0,0,0,0,0,0
$STATE,2245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2245,begin apogee
$GC,2250,-0.16,0.0,379.5,17.9,258,2430,0.68,0.00,174.90,0.964,4,0.128,0.000,2741,2698,2959,0,0,0,0,0,0
$STATE,2431,end apogee,CONTROL_FINISHED_OK
$STATE,2431,begin climb
$GC,2433,0.84,219.0,389.1,0.0,274,2635,1.00,2.38,188.70,0.910,4,0.080,0.033,3071,1304,2066,0,0,0,0,0,0
$GC,2793,0.84,219.0,352.8,13.9,306,2797,0.00,2.42,0.00,0.000,6,0.000,0.041,3071,2704,2054,0,0,0,0,0,0
$GC,2990,0.84,219.0,322.3,15.6,324,2994,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1308,2051,0,0,0,0,0,0
$GC,3154,0.84,219.0,298.0,14.5,338,3158,0.00,2.33,0.00,0.000,6,0.000,0.042,3082,2709,2050,0,0,1,0,0,0
$GC,3351,0.84,219.0,266.1,16.1,356,3355,0.00,1.73,0.00,0.000,4,0.000,0.050,3082,3766,2049,0,0,0,0,0,0
$GC,3431,0.84,219.0,252.2,17.6,363,3435,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2713,2048,0,0,1,0,0,0
$GC,3634,0.84,219.0,219.3,16.3,382,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2713,2047,0,0,0,0,0,0
$GC,3761,0.84,219.0,199.4,15.4,394,3765,0.00,1.70,0.00,0.000,4,0.000,0.050,3090,3764,2047,0,0,0,0,0,0
$GC,3819,0.84,219.0,189.7,18.2,399,3823,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2730,2047,0,0,0,0,0,0
$GC,3958,0.84,219.0,166.5,16.3,412,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2729,2047,0,0,0,0,0,0
$GC,4085,0.84,219.0,145.8,16.5,424,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2729,2047,0,0,0,0,0,0
$GC,4213,0.84,219.0,125.2,16.2,436,4216,0.00,1.67,0.00,0.000,4,0.000,0.050,3099,3769,2046,0,0,0,0,0,0
$GC,4239,0.84,219.0,120.3,17.7,438,4249,0.10,1.62,0.00,0.000,6,0.151,0.031,3074,2730,2046,0,0,1,0,0,0
$GC,4374,0.84,219.0,100.4,14.6,451,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2730,2046,0,0,0,0,0,0
$GC,4506,0.84,219.0,82.0,14.1,474,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2730,2046,0,0,0,0,0,0
$GC,4647,0.84,219.0,61.5,15.3,499,4654,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3764,2046,0,0,0,0,0,0
$GC,4683,0.84,219.0,55.4,16.5,505,4690,0.00,1.65,0.00,0.000,6,0.000,0.032,3081,2721,2046,0,0,0,0,0,0
$GC,4825,0.84,219.0,35.6,13.5,530,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2721,2045,0,0,0,0,0,0
$GC,4967,0.84,219.0,15.3,15.1,555,4974,0.00,1.70,0.00,0.000,4,0.000,0.053,3081,3752,2045,0,0,0,0,0,0
$FREEZE,8.28,-1.569,-1.899,2,1,0
$FREEZE,7.30,-1.567,-1.899,2,1,0
$FREEZE,6.32,-1.568,-1.898,2,1,0
$GC,5029,0.84,219.0,6.3,18.2,566,5037,0.00,1.60,0.00,0.000,6,0.000,0.031,3090,2732,2044,0,0,0,0,0,0
$FREEZE,3.77,-1.568,-1.896,2,1,0
$FREEZE,2.94,-1.566,-1.895,2,1,0
$STATE,5048,end climb,SURFACE_DEPTH_REACHED
$STATE,5048,begin surface coast
$FREEZE,2.16,-1.564,-1.894,2,1,0
$FREEZE,1.39,-1.564,-1.894,2,1,0
$FREEZE,0.64,-1.561,-1.893,2,1,0
$FINISH,0.6,1.027754
$STATE,5065,end surface coast,CONTROL_FINISHED_OK
$STATE,5065,begin surface
$SM_CCo,5081,200.32,0.101,0,0,444,616.92
$SM_GC,0.55,0.00,0.00,200.32,0.000,0.000,0.101,192,2798,444,-8.15,0.51,616.92
$IRIDIUM_FIX,-7554.21,17422.95,111210,232339
$TT8_MAMPS,0.028462
$HUMID,49.80
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,20.1
$24V_AH,22.4,11.559
$10V_AH,10.0,5.036
$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,18.275,29.525,363.600,200.325,0.000,28.623,40.023,107.603,1.250,0.000,15.031,1380.103,2224.134,661.702,1191.470,115.372,0.000,1235.741,0.000,942.620,0.000,7.759,0.000
$DEVICE_MAMPS,218.790,103.275,963.900,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.034,735.174,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,36937,572
$CAP_FILE_SIZE,74287,0
$CFSIZE,260165632,242499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.088,294.7,1
$GPS,121210,030537,-7640.360,17407.254,43,1.1,44,127.2