version: 66.08
glider: 503
mission: 7
dive: 168
start: 12 12 110 10 51 58
data:
$ID,503
$MISSION,7
$DIVE,168
$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,-19698.176
$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,48
$R_STBD_OVSHOOT,29
$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
$GPS1,121210,104536,-7640.248,17424.203,35,1.0,35,126.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-62.1
$GPS2,121210,105130,-7640.227,17424.248,60,1.3,64,126.7
$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,313.1,146390,-18.2,-13.333
$D_GRID,377
$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,-219.0,0.0,0.0,0,104,0.00,0.00,-86.38,0.000,2,0.000,0.000,152,2787,3369,0,0,0,0,0,0
$GC,106,-0.84,-219.0,3.1,-5.4,14,133,8.93,1.62,-10.90,0.000,4,0.217,0.067,2514,3764,3855,0,0,0,0,0,0
$GC,290,-0.84,-219.0,44.3,-19.6,46,296,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2779,3858,0,0,0,0,0,0
$GC,431,-0.84,-219.0,72.2,-19.8,71,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2779,3858,0,0,0,0,0,0
$GC,571,-0.84,-219.0,99.5,-18.2,96,578,0.00,2.20,0.00,0.000,4,0.000,0.032,2514,1378,3858,0,0,0,0,0,0
$GC,606,-0.84,-219.0,105.8,-17.8,100,610,0.00,2.25,0.00,0.000,6,0.000,0.044,2504,2770,3858,0,0,0,0,0,0
$GC,740,-0.84,-219.0,131.8,-20.5,112,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2770,3858,0,0,0,0,0,0
$GC,867,-0.84,-219.0,156.7,-18.9,124,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2770,3859,0,0,0,0,0,0
$GC,994,-0.84,-219.0,180.9,-19.0,136,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2770,3858,0,0,0,0,0,0
$GC,1122,-0.84,-219.0,205.2,-18.9,148,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2770,3859,0,0,0,0,0,0
$GC,1249,-0.84,-219.0,229.1,-18.6,160,1253,0.00,2.17,0.00,0.000,4,0.000,0.033,2503,1379,3859,0,0,0,0,0,0
$GC,1312,-0.84,-219.0,240.1,-17.1,165,1316,0.12,2.22,0.00,0.000,6,0.165,0.044,2528,2768,3858,0,0,0,0,0,0
$GC,1447,-0.84,-219.0,262.2,-16.5,177,1451,0.00,1.60,0.00,0.000,4,0.000,0.050,2522,3767,3857,0,0,0,0,0,0
$GC,1492,-0.84,-219.0,270.3,-17.4,181,1496,0.00,1.52,0.00,0.000,6,0.000,0.031,2522,2785,3858,0,0,0,0,0,0
$GC,1695,-0.84,-219.0,303.3,-16.2,200,1699,0.00,1.58,0.00,0.000,4,0.000,0.050,2515,3755,3858,0,0,0,0,0,0
$GC,1729,-0.84,-219.0,309.0,-17.2,203,1733,0.00,1.50,0.00,0.000,6,0.000,0.031,2515,2792,3858,0,0,0,0,0,0
$GC,1932,-0.84,-219.0,341.9,-15.9,222,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2791,3858,0,0,0,0,0,0
$GC,2123,-0.84,-219.0,373.0,-16.0,240,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2792,3858,0,0,0,0,0,0
$STATE,2153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2153,begin apogee
$GC,2158,-0.16,0.0,378.1,16.1,243,2338,0.68,0.00,174.25,0.962,4,0.125,0.000,2741,2688,2960,0,0,0,0,0,0
$STATE,2339,end apogee,CONTROL_FINISHED_OK
$STATE,2339,begin climb
$GC,2341,0.84,219.0,385.8,0.0,259,2543,1.00,2.35,188.95,0.907,4,0.078,0.033,3071,1305,2066,0,0,0,0,0,0
$GC,2725,0.84,219.0,344.1,13.9,293,2729,0.00,2.40,0.00,0.000,6,0.000,0.041,3071,2699,2056,0,0,0,0,0,0
$GC,2923,0.84,219.0,313.9,15.4,311,2927,0.00,2.30,0.00,0.000,4,0.000,0.034,3082,1314,2052,0,0,0,0,0,0
$GC,3100,0.84,219.0,288.5,14.1,326,3108,0.00,2.38,0.00,0.000,6,0.000,0.041,3082,2708,2051,0,0,0,0,0,0
$GC,3299,0.84,219.0,258.1,15.8,345,3302,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3764,2050,0,0,0,0,0,0
$GC,3370,0.84,219.0,245.1,18.2,351,3379,0.00,1.65,0.00,0.000,6,0.000,0.030,3090,2728,2049,0,0,0,0,0,0
$GC,3505,0.84,219.0,224.1,15.4,364,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2728,2049,0,0,0,0,0,0
$GC,3633,0.84,219.0,204.9,14.9,376,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2728,2049,0,0,0,0,0,0
$GC,3760,0.84,219.0,186.8,14.1,388,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2728,2049,0,0,0,0,0,0
$GC,3887,0.84,219.0,168.3,14.2,400,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2728,2049,0,0,0,0,0,0
$GC,4015,0.84,219.0,150.1,14.4,412,4019,0.00,2.28,0.00,0.000,4,0.000,0.035,3101,1290,2049,0,0,0,0,0,0
$GC,4046,0.84,219.0,145.5,13.5,414,4054,0.00,2.38,0.00,0.000,6,0.000,0.041,3101,2725,2048,0,0,0,0,0,0
$GC,4181,0.84,219.0,123.8,17.3,427,4185,0.00,1.65,0.00,0.000,4,0.000,0.049,3101,3773,2048,0,0,0,0,0,0
$GC,4230,0.84,219.0,114.8,18.2,431,4239,0.10,1.65,0.00,0.000,6,0.149,0.031,3076,2724,2048,0,0,1,0,0,0
$GC,4365,0.84,219.0,94.7,14.7,447,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2725,2048,0,0,0,0,0,0
$GC,4507,0.84,219.0,74.7,15.0,472,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2725,2048,0,0,0,0,0,0
$GC,4649,0.84,219.0,51.6,13.5,497,4655,0.00,1.70,0.00,0.000,4,0.000,0.050,3075,3766,2047,0,0,0,0,0,0
$GC,4685,0.84,219.0,45.7,17.5,503,4692,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2730,2048,0,0,0,0,0,0
$GC,4829,0.88,252.5,26.1,12.0,528,4861,0.00,1.73,27.00,0.765,4,0.000,0.050,3083,3764,1930,0,0,1,0,0,0
$GC,4924,0.88,252.5,11.2,18.0,544,4931,0.00,1.60,0.00,0.000,6,0.000,0.032,3091,2758,1927,0,0,0,0,0,0
$FREEZE,8.59,-1.693,-1.901,2,1,0
$FREEZE,7.57,-1.693,-1.901,2,1,0
$FREEZE,6.68,-1.693,-1.900,2,1,0
$FREEZE,5.70,-1.693,-1.899,2,1,0
$FREEZE,4.52,-1.693,-1.898,2,1,0
$FREEZE,3.44,-1.693,-1.898,2,1,0
$FREEZE,2.74,-1.693,-1.897,2,1,0
$STATE,4969,end climb,SURFACE_DEPTH_REACHED
$STATE,4969,begin surface coast
$FREEZE,1.49,-1.693,-1.896,2,1,0
$FREEZE,0.45,-1.693,-1.895,2,1,0
$FREEZE,-0.02,-1.771,-1.743,2,1,0
$FINISH,-0.0,1.025627
$STATE,4987,end surface coast,FINISH_DEPTH_REACHED
$STATE,4988,begin surface
$SM_CCo,5002,31.15,0.100,0,0,1654,320.11
$SM_GC,0.76,0.00,0.00,31.15,0.000,0.000,0.100,198,2758,1654,-8.12,-0.65,320.11
$IRIDIUM_FIX,-7554.21,17424.77,121210,090924
$TT8_MAMPS,0.026964
$HUMID,51.14
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.6
$24V_AH,22.4,12.233
$10V_AH,10.0,5.310
$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,18.500,45.700,390.200,31.150,0.000,28.210,56.668,119.486,1.000,0.000,67.584,1366.989,2155.705,486.912,1275.781,117.407,0.000,1067.767,0.000,948.023,0.000,7.761,0.000
$DEVICE_MAMPS,217.260,80.325,961.605,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.131,708.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,33726,555
$CAP_FILE_SIZE,76489,0
$CFSIZE,260165632,242253824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.064, 64.3,1
$GPS,121210,121707,-7640.114,17428.098,37,1.0,37,126.6