version: 66.08
glider: 503
mission: 7
dive: 167
start: 12 12 110 9 21 14
data:
$ID,503
$MISSION,7
$DIVE,167
$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,-19696.916
$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,41
$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
$GPS1,121210,091600,-7640.419,17420.189,43,0.9,43,126.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.9
$GPS2,121210,092046,-7640.389,17420.244,7,2.3,26,126.8
$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,310.8,148145,-18.2,-13.333
$D_GRID,378
$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,-219.0,0.0,0.0,0,108,0.00,0.00,-91.25,0.000,2,0.000,0.000,181,2803,3479,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.8,-8.7,15,133,8.88,1.58,-7.65,0.000,4,0.223,0.067,2514,3756,3856,0,0,0,0,0,0
$GC,211,-0.84,-219.0,30.7,-19.3,32,217,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2773,3859,0,0,0,0,0,0
$GC,353,-0.84,-219.0,60.8,-17.7,57,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2772,3859,0,0,0,0,0,0
$GC,496,-0.84,-219.0,87.3,-18.3,82,502,0.00,1.60,0.00,0.000,4,0.000,0.050,2507,3746,3859,0,0,0,0,0,0
$GC,552,-0.84,-219.0,98.0,-18.6,92,559,0.00,1.48,0.00,0.000,6,0.000,0.031,2507,2807,3859,0,0,0,0,0,0
$GC,694,-0.84,-219.0,124.4,-18.9,106,698,0.00,2.25,0.00,0.000,4,0.000,0.033,2507,1366,3859,0,0,0,0,0,0
$GC,726,-0.84,-219.0,130.8,-18.0,108,734,0.08,2.33,0.00,0.000,6,0.134,0.045,2523,2776,3859,0,0,0,0,0,0
$GC,860,-0.84,-219.0,153.7,-18.3,121,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2776,3859,0,0,0,0,0,0
$GC,988,-0.84,-219.0,177.1,-18.0,133,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2776,3860,0,0,0,0,0,0
$GC,1115,-0.84,-219.0,199.7,-17.4,145,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2777,3859,0,0,0,0,0,0
$GC,1243,-0.84,-219.0,221.3,-17.1,157,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2777,3859,0,0,0,0,0,0
$GC,1370,-0.84,-219.0,243.6,-17.5,169,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2776,3859,0,0,0,0,0,0
$GC,1498,-0.84,-219.0,265.7,-17.1,181,1502,0.00,2.22,0.00,0.000,4,0.000,0.033,2523,1366,3859,0,0,0,0,0,0
$GC,1531,-0.84,-219.0,271.1,-16.7,184,1535,0.00,2.30,0.00,0.000,6,0.000,0.046,2514,2793,3859,0,0,0,0,0,0
$GC,1729,-0.84,-219.0,306.3,-18.7,202,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2793,3859,0,0,0,0,0,0
$GC,1919,-0.84,-219.0,340.1,-17.1,220,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2793,3859,0,0,0,0,0,0
$GC,2111,-0.84,-219.0,372.2,-16.4,238,2114,0.00,1.55,0.00,0.000,4,0.000,0.051,2505,3764,3859,0,0,0,0,0,0
$STATE,2143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2143,begin apogee
$GC,2149,-0.16,0.0,378.4,18.4,241,2331,0.73,0.00,174.73,0.961,4,0.125,0.000,2747,2699,2958,0,0,0,0,0,0
$STATE,2331,end apogee,CONTROL_FINISHED_OK
$STATE,2331,begin climb
$GC,2333,0.84,219.0,387.4,0.0,257,2531,0.98,2.38,188.88,0.906,4,0.076,0.034,3072,1296,2067,0,0,0,0,0,0
$GC,2677,0.84,219.0,354.1,13.5,288,2682,0.00,2.42,0.00,0.000,6,0.000,0.041,3072,2699,2057,0,0,0,0,0,0
$GC,2875,0.84,219.0,325.1,15.0,306,2879,0.00,2.35,0.00,0.000,4,0.000,0.034,3082,1297,2052,0,0,0,0,0,0
$GC,3052,0.84,219.0,300.1,14.2,321,3061,0.00,2.40,0.00,0.000,6,0.000,0.041,3082,2708,2051,0,0,0,0,0,0
$GC,3250,0.84,219.0,268.7,16.9,340,3254,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3764,2050,0,0,0,0,0,0
$GC,3277,0.84,219.0,263.6,18.6,342,3285,0.00,1.70,0.00,0.000,6,0.000,0.031,3091,2709,2049,0,0,0,0,0,0
$GC,3475,0.84,219.0,230.1,16.4,361,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2710,2050,0,0,0,0,0,0
$GC,3603,0.84,219.0,209.4,16.2,373,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2709,2049,0,0,0,0,0,0
$GC,3730,0.84,219.0,189.0,15.4,385,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2709,2048,0,0,0,0,0,0
$GC,3858,0.84,219.0,168.9,15.6,397,3861,0.00,1.70,0.00,0.000,4,0.000,0.050,3091,3763,2048,0,0,0,0,0,0
$GC,3884,0.84,219.0,164.1,17.1,399,3892,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2719,2048,0,0,1,0,0,0
$GC,4019,0.84,219.0,142.1,16.6,412,4023,0.00,1.67,0.00,0.000,4,0.000,0.050,3099,3765,2047,0,0,0,0,0,0
$GC,4064,0.84,219.0,133.6,19.3,416,4068,0.12,1.65,0.00,0.000,6,0.174,0.031,3073,2698,2047,0,0,0,0,0,0
$GC,4202,0.84,219.0,111.5,15.3,429,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2698,2047,0,0,0,0,0,0
$GC,4332,0.84,219.0,91.7,14.8,445,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2698,2047,0,0,0,0,0,0
$GC,4475,0.84,219.0,70.8,13.9,470,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2698,2047,0,0,0,0,0,0
$GC,4616,0.84,219.0,48.9,15.6,495,4623,0.00,1.73,0.00,0.000,4,0.000,0.049,3073,3754,2047,0,0,0,0,0,0
$GC,4701,0.84,219.0,34.2,17.8,510,4708,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2718,2047,0,0,0,0,0,0
$GC,4845,0.88,253.3,13.0,11.9,535,4876,0.00,0.00,27.60,0.756,6,0.000,0.000,3081,2717,1926,0,0,0,0,0,0
$FREEZE,8.00,-1.671,-1.901,2,1,0
$FREEZE,7.19,-1.672,-1.900,2,1,0
$FREEZE,6.19,-1.672,-1.899,2,1,0
$FREEZE,5.25,-1.673,-1.898,2,1,0
$FREEZE,4.47,-1.673,-1.898,2,1,0
$FREEZE,3.81,-1.675,-1.897,2,1,0
$FREEZE,3.16,-1.676,-1.897,2,1,0
$FREEZE,2.63,-1.678,-1.896,2,1,0
$STATE,4918,end climb,SURFACE_DEPTH_REACHED
$STATE,4919,begin surface coast
$FREEZE,1.74,-1.672,-1.896,2,1,0
$FREEZE,0.96,-1.672,-1.895,2,1,0
$FREEZE,-0.08,-1.667,-1.894,2,1,0
$FREEZE,0.12,-1.681,-1.894,2,1,0
$FINISH,0.1,1.027781
$STATE,4942,end surface coast,CONTROL_FINISHED_OK
$STATE,4942,begin surface
$SM_CCo,4957,30.85,0.100,0,0,1654,320.11
$SM_GC,0.88,0.00,0.00,30.85,0.000,0.000,0.100,192,2785,1654,-8.15,0.11,320.11
$IRIDIUM_FIX,-7554.21,17414.58,121210,070712
$TT8_MAMPS,0.027713
$HUMID,51.49
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.7
$24V_AH,22.4,12.120
$10V_AH,10.0,5.264
$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,18.425,41.600,391.200,30.850,0.000,28.933,40.084,102.941,1.000,0.000,30.595,1353.843,2165.167,480.679,1177.693,112.638,0.000,1048.470,0.000,922.082,0.000,7.761,0.000
$DEVICE_MAMPS,222.615,102.510,960.840,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.999,704.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33642,552
$CAP_FILE_SIZE,74548,0
$CFSIZE,260165632,242294784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.040,106.8,1
$GPS,121210,104536,-7640.248,17424.203,35,1.0,35,126.7