version: 66.08
glider: 503
mission: 7
dive: 172
start: 12 12 110 16 52 42
data:
$ID,503
$MISSION,7
$DIVE,172
$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,-19703.199
$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,28
$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
$GPS1,121210,164744,-7639.769,17440.316,16,1.9,17,126.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.3
$GPS2,121210,165214,-7639.752,17440.373,20,2.0,20,126.3
$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,333.5,139363,-18.2,-13.333
$D_GRID,375
$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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-90.32,0.000,2,0.000,0.000,164,2770,3445,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.5,-7.8,15,137,8.90,1.65,-8.90,0.000,4,0.219,0.069,2514,3760,3857,0,0,0,0,0,0
$GC,314,-0.84,-219.0,49.1,-18.5,51,321,0.00,1.55,0.00,0.000,6,0.000,0.031,2514,2776,3860,0,0,0,0,0,0
$GC,455,-0.84,-219.0,77.0,-19.2,76,461,0.00,2.20,0.00,0.000,4,0.000,0.034,2513,1380,3859,0,0,0,0,0,0
$GC,528,-0.84,-219.0,90.5,-17.1,89,536,0.00,2.28,0.00,0.000,6,0.000,0.045,2503,2771,3859,0,0,0,0,0,0
$GC,668,-0.84,-219.0,117.2,-19.5,106,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2771,3859,0,0,0,0,0,0
$GC,794,-0.84,-219.0,142.5,-20.2,118,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2771,3859,0,0,0,0,0,0
$GC,921,-0.84,-219.0,167.5,-19.3,130,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2771,3859,0,0,0,0,0,0
$GC,1048,-0.84,-219.0,191.6,-18.6,142,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2771,3860,0,0,0,0,0,0
$GC,1176,-0.84,-219.0,215.6,-18.9,154,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2771,3859,0,0,0,0,0,0
$GC,1303,-0.84,-219.0,239.8,-19.2,166,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2771,3860,0,0,0,0,0,0
$GC,1430,-0.84,-219.0,263.5,-18.5,178,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2771,3860,0,0,0,0,0,0
$GC,1622,-0.84,-219.0,299.3,-18.0,196,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2771,3860,0,0,0,0,0,0
$GC,1813,-0.84,-219.0,332.0,-17.0,214,1816,0.00,1.60,0.00,0.000,4,0.000,0.052,2495,3765,3859,0,0,0,0,0,0
$GC,1847,-0.84,-219.0,338.2,-17.9,217,1851,0.08,1.55,0.00,0.000,6,0.147,0.032,2536,2773,3860,0,0,0,0,0,0
$GC,2050,-0.84,-219.0,367.9,-14.9,236,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2772,3860,0,0,0,0,0,0
$STATE,2101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2101,begin apogee
$GC,2105,-0.16,0.0,375.9,15.1,241,2286,0.62,0.00,174.20,0.959,4,0.122,0.000,2747,2690,2960,0,0,0,0,0,0
$STATE,2287,end apogee,CONTROL_FINISHED_OK
$STATE,2287,begin climb
$GC,2288,0.84,219.0,384.9,0.0,257,2483,0.93,0.00,189.25,0.904,6,0.074,0.000,3066,2690,2067,0,0,0,0,0,0
$GC,2677,0.84,219.0,343.7,14.5,292,2680,0.00,1.83,0.00,0.000,4,0.000,0.047,3066,3761,2057,0,0,0,0,0,0
$GC,2756,0.84,219.0,330.6,17.4,299,2760,0.00,1.67,0.00,0.000,6,0.000,0.030,3075,2716,2055,0,0,1,0,0,0
$GC,2959,0.84,219.0,299.0,15.7,318,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2716,2054,0,0,0,0,0,0
$GC,3150,0.84,219.0,268.8,15.8,336,3153,0.00,1.73,0.00,0.000,4,0.000,0.049,3075,3767,2053,0,0,0,0,0,0
$GC,3210,0.84,219.0,258.3,17.2,341,3217,0.00,1.67,0.00,0.000,6,0.000,0.030,3083,2712,2052,0,0,1,0,0,0
$GC,3408,0.84,219.0,226.9,16.0,360,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2712,2051,0,0,0,0,0,0
$GC,3535,0.84,219.0,207.1,15.3,372,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2712,2051,0,0,0,0,0,0
$GC,3663,0.84,219.0,187.7,15.6,384,3666,0.00,1.70,0.00,0.000,4,0.000,0.050,3083,3766,2051,0,0,0,0,0,0
$GC,3730,0.84,219.0,176.1,17.3,390,3734,0.00,1.62,0.00,0.000,6,0.000,0.031,3091,2704,2050,0,0,1,0,0,0
$GC,3870,0.84,219.0,153.7,15.8,403,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2703,2050,0,0,0,0,0,0
$GC,3997,0.84,219.0,133.0,16.7,415,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2703,2050,0,0,0,0,0,0
$GC,4124,0.84,219.0,112.6,16.0,427,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2704,2050,0,0,0,0,0,0
$GC,4253,0.84,219.0,91.8,15.5,443,4260,0.00,1.73,0.00,0.000,4,0.000,0.049,3092,3754,2050,0,0,0,0,0,0
$GC,4278,0.84,219.0,87.6,17.1,447,4285,0.00,1.62,0.00,0.000,6,0.000,0.032,3100,2717,2050,0,0,1,0,0,0
$GC,4419,0.84,219.0,64.0,16.6,472,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2716,2050,0,0,0,0,0,0
$GC,4560,0.84,219.0,41.2,16.9,497,4566,0.00,1.73,0.00,0.000,4,0.000,0.050,3100,3763,2050,0,0,0,0,0,0
$GC,4628,0.84,219.0,28.2,20.0,509,4635,0.10,1.62,0.00,0.000,6,0.145,0.031,3074,2735,2049,0,0,0,0,0,0
$FREEZE,8.30,-1.665,-1.899,2,1,0
$FREEZE,7.71,-1.665,-1.899,2,1,0
$FREEZE,6.98,-1.666,-1.898,2,1,0
$GC,4768,0.85,224.6,7.0,13.1,534,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2735,2049,0,0,0,0,0,0
$FREEZE,5.14,-1.665,-1.897,2,1,0
$FREEZE,4.31,-1.665,-1.896,2,1,0
$FREEZE,3.60,-1.664,-1.896,2,1,0
$FREEZE,2.76,-1.664,-1.895,2,1,0
$STATE,4797,end climb,SURFACE_DEPTH_REACHED
$STATE,4797,begin surface coast
$FREEZE,2.05,-1.664,-1.894,2,1,0
$FREEZE,1.34,-1.665,-1.894,2,1,0
$FREEZE,0.50,-1.667,-1.893,2,1,0
$FINISH,0.5,1.027760
$STATE,4813,end surface coast,CONTROL_FINISHED_OK
$STATE,4814,begin surface
$SM_CCo,4829,45.45,0.099,0,0,1654,320.11
$SM_GC,0.86,0.00,0.00,45.45,0.000,0.000,0.099,194,2783,1654,-8.14,0.08,320.11
$IRIDIUM_FIX,-7554.21,17433.14,121210,151543
$TT8_MAMPS,0.027713
$HUMID,51.29
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.8
$24V_AH,22.4,12.664
$10V_AH,10.0,5.485
$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,18.175,27.900,363.450,45.450,0.000,29.351,38.943,96.292,1.000,0.000,22.588,1328.477,2154.093,458.423,1106.545,112.612,0.000,991.634,0.000,867.556,0.000,7.754,0.000
$DEVICE_MAMPS,218.790,117.045,959.310,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.727,693.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33761,542
$CAP_FILE_SIZE,69985,0
$CFSIZE,260165632,242085888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.115,358.2,1
$GPS,121210,181507,-7639.624,17444.262,32,1.3,32,126.2