version: 66.08
glider: 503
mission: 7
dive: 166
start: 12 12 110 7 51 18
data:
$ID,503
$MISSION,7
$DIVE,166
$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,320
$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,-19695.66
$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
$GPS1,121210,074553,-7640.432,17416.404,23,1.6,23,126.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-65.1
$GPS2,121210,075050,-7640.400,17416.432,34,1.6,34,126.9
$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,315.0,149782,-18.2,-13.333
$D_GRID,376
$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,-219.0,0.0,0.0,0,103,0.00,0.00,-85.85,0.000,2,0.000,0.000,160,2768,3347,0,0,0,0,0,0
$GC,106,-0.84,-219.0,3.3,-6.1,14,133,8.88,1.62,-11.25,0.000,4,0.218,0.067,2519,3768,3855,0,0,0,0,0,0
$GC,327,-0.84,-219.0,49.0,-19.7,53,334,0.00,1.55,0.00,0.000,6,0.000,0.031,2519,2781,3858,0,0,0,0,0,0
$GC,469,-0.84,-219.0,73.9,-18.4,78,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2781,3858,0,0,0,0,0,0
$GC,610,-0.84,-219.0,99.7,-17.4,103,617,0.00,1.62,0.00,0.000,4,0.000,0.052,2511,3767,3858,0,0,0,0,0,0
$GC,649,-0.84,-219.0,106.9,-17.6,107,656,0.00,1.55,0.00,0.000,6,0.000,0.031,2512,2775,3858,0,0,0,0,0,0
$GC,784,-0.84,-219.0,130.8,-18.2,120,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2775,3858,0,0,0,0,0,0
$GC,911,-0.84,-219.0,153.9,-18.1,132,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2775,3858,0,0,0,0,0,0
$GC,1038,-0.84,-219.0,177.0,-18.4,144,1042,0.00,2.17,0.00,0.000,4,0.000,0.034,2512,1379,3858,0,0,0,0,0,0
$GC,1077,-0.84,-219.0,184.0,-16.9,147,1082,0.00,2.25,0.00,0.000,6,0.000,0.045,2501,2778,3858,0,0,0,0,0,0
$GC,1212,-0.84,-219.0,208.5,-18.1,159,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2778,3858,0,0,0,0,0,0
$GC,1338,-0.84,-219.0,231.5,-18.0,171,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2778,3858,0,0,0,0,0,0
$GC,1466,-0.84,-219.0,254.9,-18.6,183,1470,0.00,2.20,0.00,0.000,4,0.000,0.033,2501,1374,3858,0,0,0,0,0,0
$GC,1510,-0.84,-219.0,263.1,-17.0,186,1518,0.08,2.30,0.00,0.000,6,0.135,0.045,2522,2773,3858,0,0,0,0,0,0
$GC,1711,-0.84,-219.0,295.4,-16.4,205,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2773,3858,0,0,0,0,0,0
$GC,1899,-0.84,-219.0,326.3,-16.4,223,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2773,3858,0,0,0,0,0,0
$GC,2090,-0.84,-219.0,358.2,-17.0,241,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2773,3858,0,0,0,0,0,0
$STATE,2194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2194,begin apogee
$GC,2199,-0.16,0.0,376.0,16.4,251,2379,0.65,0.00,174.27,0.963,4,0.121,0.000,2743,2699,2960,0,0,0,0,0,0
$STATE,2380,end apogee,CONTROL_FINISHED_OK
$STATE,2380,begin climb
$GC,2382,0.84,219.0,385.7,0.0,267,2585,1.00,2.40,188.65,0.907,4,0.076,0.033,3074,1296,2066,0,0,0,0,0,0
$GC,2732,0.84,222.4,353.0,13.2,298,2737,0.00,2.42,0.00,0.000,6,0.000,0.041,3075,2700,2056,0,0,0,0,0,0
$GC,2930,0.84,222.4,323.9,14.7,316,2934,0.00,2.33,0.00,0.000,4,0.000,0.035,3085,1304,2052,0,0,1,0,0,0
$GC,3096,0.84,222.4,300.5,13.8,330,3104,0.00,2.38,0.00,0.000,6,0.000,0.042,3085,2706,2051,0,0,1,0,0,0
$GC,3297,0.84,222.4,270.2,15.1,349,3301,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3765,2050,0,0,0,0,0,0
$GC,3333,0.84,222.4,264.0,16.9,352,3337,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2712,2050,0,0,0,0,0,0
$GC,3536,0.84,222.4,231.0,16.3,371,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2712,2049,0,0,0,0,0,0
$GC,3663,0.84,222.4,210.1,16.7,383,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2712,2049,0,0,0,0,0,0
$GC,3791,0.84,222.4,189.1,16.7,395,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2712,2048,0,0,0,0,0,0
$GC,3918,0.84,222.4,168.1,16.5,407,3922,0.00,1.70,0.00,0.000,4,0.000,0.050,3093,3768,2048,0,0,0,0,0,0
$GC,3955,0.84,222.4,161.0,18.1,410,3963,0.00,1.65,0.00,0.000,6,0.000,0.031,3102,2715,2048,0,0,1,0,0,0
$GC,4090,0.84,222.4,138.6,16.2,423,4092,0.12,0.00,0.00,0.000,6,0.173,0.000,3069,2714,2048,0,0,0,0,0,0
$GC,4217,0.85,231.8,121.2,12.9,435,4232,0.00,1.77,9.12,0.779,4,0.000,0.049,3069,3766,2014,0,0,0,0,0,0
$GC,4262,0.85,231.8,115.0,15.3,439,4265,0.00,1.62,0.00,0.000,6,0.000,0.031,3077,2701,2014,0,0,1,0,0,0
$GC,4397,0.85,231.8,96.2,14.5,453,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2701,2014,0,0,0,0,0,0
$GC,4537,0.85,231.8,73.1,18.7,478,4544,0.00,1.75,0.00,0.000,4,0.000,0.050,3077,3763,2014,0,0,1,0,0,0
$GC,4601,0.85,231.8,60.4,20.7,489,4607,0.00,1.62,0.00,0.000,6,0.000,0.031,3085,2736,2014,0,0,0,0,0,0
$GC,4744,0.85,231.8,35.2,16.3,514,4750,0.00,1.67,0.00,0.000,4,0.000,0.050,3085,3755,2013,0,0,0,0,0,0
$GC,4768,0.85,231.8,30.5,18.2,518,4774,0.00,1.60,0.00,0.000,6,0.000,0.031,3093,2729,2014,0,0,1,0,0,0
$FREEZE,8.67,-1.634,-1.900,2,1,0
$FREEZE,7.52,-1.635,-1.899,2,1,0
$FREEZE,6.38,-1.635,-1.898,2,1,0
$GC,4910,0.85,231.8,6.4,20.8,543,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2729,2013,0,0,0,0,0,0
$FREEZE,3.60,-1.636,-1.896,2,1,0
$FREEZE,2.68,-1.635,-1.895,2,1,0
$STATE,4926,end climb,SURFACE_DEPTH_REACHED
$STATE,4927,begin surface coast
$FREEZE,1.77,-1.633,-1.894,2,1,0
$FREEZE,1.10,-1.633,-1.894,2,1,0
$FREEZE,0.53,-1.639,-1.894,2,1,0
$FINISH,0.5,1.027763
$STATE,4944,end surface coast,CONTROL_FINISHED_OK
$STATE,4944,begin surface
$SM_CCo,4959,41.10,0.100,0,0,1654,320.11
$SM_GC,0.70,0.00,0.00,41.10,0.000,0.000,0.100,199,2802,1654,-8.13,0.62,320.11
$IRIDIUM_FIX,-7554.21,17423.86,121210,060627
$TT8_MAMPS,0.027713
$HUMID,51.29
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$24V_AH,22.4,12.009
$10V_AH,9.9,5.219
$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,18.425,41.725,372.050,41.100,0.000,24.612,37.371,115.034,1.000,0.000,37.416,1356.692,2170.179,482.074,1187.577,116.501,0.000,1045.494,0.000,920.957,0.000,7.754,0.000
$DEVICE_MAMPS,218.025,100.215,963.135,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.206,699.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33696,549
$CAP_FILE_SIZE,74305,0
$CFSIZE,260165632,242335744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.037,134.0,1
$GPS,121210,091600,-7640.419,17420.189,43,0.9,43,126.9