version: 66.08
glider: 503
mission: 7
dive: 173
start: 12 12 110 18 24 19
data:
$ID,503
$MISSION,7
$DIVE,173
$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,-19704.457
$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,42
$R_STBD_OVSHOOT,26
$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
$GPS1,121210,181507,-7639.624,17444.262,32,1.3,32,126.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.5
$GPS2,121210,182350,-7639.573,17444.295,35,1.3,35,126.2
$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,335.9,137639,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-91.88,0.000,2,0.000,0.000,147,2785,3500,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.8,-9.3,15,134,8.93,1.65,-7.43,0.000,4,0.217,0.067,2516,3771,3856,0,0,0,0,0,0
$GC,279,-0.84,-219.0,45.7,-21.3,44,286,0.00,1.58,0.00,0.000,6,0.000,0.029,2515,2771,3860,0,0,0,0,0,0
$GC,421,-0.84,-219.0,71.0,-18.4,69,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3859,0,0,0,0,0,0
$GC,563,-0.84,-219.0,97.2,-18.6,94,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3859,0,0,0,0,0,0
$GC,697,-0.84,-219.0,122.0,-18.2,108,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3859,0,0,0,0,0,0
$GC,825,-0.84,-219.0,144.3,-17.7,120,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3859,0,0,0,0,0,0
$GC,953,-0.84,-219.0,167.0,-17.2,132,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,1080,-0.84,-219.0,189.2,-17.2,144,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2771,3860,0,0,0,0,0,0
$GC,1207,-0.84,-219.0,210.0,-16.4,156,1211,0.00,1.62,0.00,0.000,4,0.000,0.050,2507,3794,3859,0,0,0,0,0,0
$GC,1254,-0.84,-219.0,217.9,-17.6,160,1257,0.00,1.58,0.00,0.000,6,0.000,0.031,2507,2783,3860,0,0,0,0,0,0
$GC,1393,-0.84,-219.0,242.9,-18.1,173,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2783,3860,0,0,0,0,0,0
$GC,1520,-0.84,-219.0,265.4,-17.9,185,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2783,3860,0,0,0,0,0,0
$GC,1712,-0.84,-219.0,299.4,-18.0,203,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2783,3860,0,0,0,0,0,0
$GC,1904,-0.84,-219.0,333.2,-17.5,221,1908,0.00,1.60,0.00,0.000,4,0.000,0.051,2500,3767,3859,0,0,0,0,0,0
$GC,1961,-0.84,-219.0,344.1,-18.4,226,1964,0.00,1.52,0.00,0.000,6,0.000,0.031,2500,2784,3859,0,0,0,0,0,0
$STATE,2132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2132,begin apogee
$GC,2137,-0.16,0.0,375.6,18.6,242,2317,0.73,0.00,174.07,0.962,4,0.129,0.000,2739,2687,2960,0,0,0,0,0,0
$STATE,2318,end apogee,CONTROL_FINISHED_OK
$STATE,2318,begin climb
$GC,2320,0.84,219.0,385.6,0.0,258,2522,1.00,2.35,189.07,0.908,4,0.079,0.033,3070,1308,2066,0,0,0,0,0,0
$GC,2684,0.84,219.0,348.8,13.9,290,2693,0.00,2.45,0.00,0.000,6,0.000,0.041,3070,2701,2057,0,0,0,0,0,0
$GC,2884,0.84,219.0,320.4,14.4,309,2888,0.00,2.33,0.00,0.000,4,0.000,0.034,3080,1308,2053,0,0,0,0,0,0
$GC,3061,0.84,219.0,294.8,13.7,324,3069,0.00,2.35,0.00,0.000,6,0.000,0.042,3081,2694,2052,0,0,0,0,0,0
$GC,3260,0.84,219.0,264.0,16.5,343,3264,0.00,1.77,0.00,0.000,4,0.000,0.050,3081,3765,2051,0,0,0,0,0,0
$GC,3327,0.84,219.0,251.9,17.9,349,3330,0.00,1.62,0.00,0.000,6,0.000,0.031,3089,2714,2050,0,0,1,0,0,0
$GC,3530,0.84,219.0,218.5,16.2,368,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2712,2050,0,0,0,0,0,0
$GC,3657,0.84,219.0,197.3,16.8,380,3661,0.00,1.70,0.00,0.000,4,0.000,0.050,3089,3767,2050,0,0,0,0,0,0
$GC,3702,0.84,219.0,188.9,18.9,384,3706,0.00,1.62,0.00,0.000,6,0.000,0.031,3097,2706,2050,0,0,1,0,0,0
$GC,3842,0.84,219.0,164.5,17.2,397,3845,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3763,2050,0,0,0,0,0,0
$GC,3879,0.84,219.0,157.1,19.5,400,3888,0.10,1.65,0.00,0.000,6,0.146,0.031,3074,2729,2049,0,0,0,0,0,0
$GC,4014,0.84,219.0,137.4,14.1,413,4018,0.00,2.28,0.00,0.000,4,0.000,0.036,3084,1291,2049,0,0,0,0,0,0
$GC,4042,0.84,219.0,133.3,14.6,415,4047,0.00,2.33,0.00,0.000,6,0.000,0.044,3084,2724,2049,0,0,0,0,0,0
$GC,4177,0.84,219.0,111.9,16.5,427,4180,0.00,1.65,0.00,0.000,4,0.000,0.050,3084,3768,2049,0,0,0,0,0,0
$GC,4244,0.84,219.0,99.6,18.5,433,4251,0.00,1.62,0.00,0.000,6,0.000,0.031,3092,2727,2049,0,0,1,0,0,0
$GC,4385,0.84,219.0,76.7,15.5,458,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2727,2049,0,0,0,0,0,0
$GC,4528,0.84,219.0,54.4,15.8,483,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2727,2048,0,0,0,0,0,0
$GC,4667,0.84,219.0,33.5,14.4,508,4673,0.00,1.67,0.00,0.000,4,0.000,0.050,3092,3754,2048,0,0,0,0,0,0
$GC,4730,0.84,219.0,21.8,19.9,519,4738,0.08,1.60,0.00,0.000,6,0.159,0.031,3076,2739,2048,0,0,0,0,0,0
$FREEZE,8.21,-1.663,-1.899,2,1,0
$FREEZE,7.31,-1.664,-1.898,2,1,0
$FREEZE,6.47,-1.663,-1.898,2,1,0
$FREEZE,5.64,-1.663,-1.897,2,1,0
$FREEZE,4.78,-1.662,-1.896,2,1,0
$FREEZE,4.14,-1.661,-1.896,2,1,0
$FREEZE,3.35,-1.661,-1.895,2,1,0
$FREEZE,2.52,-1.660,-1.895,2,1,0
$STATE,4852,end climb,SURFACE_DEPTH_REACHED
$STATE,4852,begin surface coast
$FREEZE,1.80,-1.660,-1.894,2,1,0
$FREEZE,0.97,-1.661,-1.893,2,1,0
$FREEZE,0.09,-1.659,-1.893,2,1,0
$FREEZE,0.17,-1.660,-1.893,2,1,0
$FINISH,0.2,1.027756
$STATE,4875,end surface coast,CONTROL_FINISHED_OK
$STATE,4875,begin surface
$SM_CCo,4891,45.38,0.099,0,0,1655,320.11
$SM_GC,0.93,0.00,0.00,45.38,0.000,0.000,0.099,189,2792,1655,-8.16,0.34,320.11
$IRIDIUM_FIX,-7554.21,17450.88,121210,181830
$TT8_MAMPS,0.027713
$HUMID,51.57
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.3
$ALTIM_BOTTOM_PING,350.2,83.9
$24V_AH,22.4,12.777
$10V_AH,9.9,5.532
$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,18.375,40.425,363.150,45.375,0.000,60.021,90.166,181.595,1.250,0.000,38.562,1355.775,2161.942,472.429,1366.541,119.750,0.000,1040.599,0.000,935.178,0.000,10.691,0.000
$DEVICE_MAMPS,217.260,110.925,961.605,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.737,697.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258256
$DATA_FILE_SIZE,33648,545
$CAP_FILE_SIZE,76602,0
$CFSIZE,260165632,242040832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.111,354.5,1
$GPS,121210,194744,-7639.526,17447.289,30,1.4,30,126.1