version: 66.08
glider: 503
mission: 7
dive: 174
start: 12 12 110 19 57 57
data:
$ID,503
$MISSION,7
$DIVE,174
$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,-19706.514
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,121210,194744,-7639.526,17447.289,30,1.4,30,126.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-68.0
$GPS2,121210,195728,-7639.442,17447.359,9,3.2,28,126.1
$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,335.3,136294,-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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-92.70,0.000,2,0.000,0.000,164,2794,3540,0,0,0,0,0,0
$GC,113,-0.84,-219.0,4.2,-10.6,15,134,8.90,1.60,-6.25,0.000,4,0.219,0.065,2514,3766,3857,0,0,0,0,0,0
$GC,284,-0.84,-219.0,47.0,-21.6,45,292,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2776,3860,0,0,0,0,0,0
$GC,427,-0.84,-219.0,74.1,-19.5,70,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3860,0,0,0,0,0,0
$GC,567,-0.84,-219.0,100.7,-17.8,95,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3860,0,0,0,0,0,0
$GC,695,-0.84,-219.0,123.7,-18.0,107,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2776,3860,0,0,0,0,0,0
$GC,822,-0.84,-219.0,147.0,-18.6,119,826,0.00,2.17,0.00,0.000,4,0.000,0.032,2514,1382,3860,0,0,0,0,0,0
$GC,851,-0.84,-219.0,152.3,-18.5,121,855,0.00,2.25,0.00,0.000,6,0.000,0.045,2504,2770,3860,0,0,0,0,0,0
$GC,985,-0.84,-219.0,178.1,-19.9,133,988,0.00,1.60,0.00,0.000,4,0.000,0.052,2497,3756,3860,0,0,0,0,0,0
$GC,1022,-0.84,-219.0,186.4,-21.0,136,1031,0.08,1.52,0.00,0.000,6,0.146,0.031,2522,2775,3861,0,0,0,0,0,0
$GC,1157,-0.84,-219.0,210.5,-17.5,149,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2775,3861,0,0,0,0,0,0
$GC,1285,-0.84,-219.0,232.4,-17.0,161,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2774,3860,0,0,0,0,0,0
$GC,1412,-0.84,-219.0,253.9,-16.7,173,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2775,3861,0,0,0,0,0,0
$GC,1603,-0.84,-219.0,285.8,-16.6,191,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2775,3861,0,0,0,0,0,0
$GC,1794,-0.84,-219.0,317.7,-16.3,209,1798,0.00,1.60,0.00,0.000,4,0.000,0.052,2515,3757,3861,0,0,0,0,0,0
$GC,1851,-0.84,-219.0,327.6,-17.4,214,1855,0.00,1.50,0.00,0.000,6,0.000,0.031,2516,2793,3861,0,0,0,0,0,0
$GC,2054,-0.84,-219.0,361.3,-16.5,233,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2793,3860,0,0,0,0,0,0
$STATE,2137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2137,begin apogee
$GC,2142,-0.16,0.0,375.1,16.4,241,2322,0.68,0.00,174.27,0.961,4,0.126,0.000,2740,2677,2960,0,0,0,0,0,0
$STATE,2323,end apogee,CONTROL_FINISHED_OK
$STATE,2323,begin climb
$GC,2325,0.84,219.0,383.4,0.0,257,2527,1.00,2.33,189.23,0.907,4,0.079,0.032,3070,1308,2066,0,0,0,0,0,0
$GC,2689,0.84,219.0,346.3,13.7,289,2697,0.00,2.45,0.00,0.000,6,0.000,0.041,3070,2699,2057,0,0,0,0,0,0
$GC,2889,0.84,219.0,316.7,14.8,308,2893,0.00,2.30,0.00,0.000,4,0.000,0.034,3082,1313,2053,0,0,0,0,0,0
$GC,3088,0.84,219.0,287.3,14.5,325,3097,0.00,2.35,0.00,0.000,6,0.000,0.042,3081,2705,2052,0,0,1,0,0,0
$GC,3287,0.84,219.0,256.1,15.8,344,3291,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3764,2051,0,0,0,0,0,0
$GC,3335,0.84,219.0,247.4,17.4,348,3343,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2721,2050,0,0,1,0,0,0
$GC,3470,0.84,219.0,226.3,16.3,361,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,2050,0,0,0,0,0,0
$GC,3598,0.84,219.0,206.4,15.3,373,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2721,2050,0,0,0,0,0,0
$GC,3725,0.84,219.0,186.8,15.3,385,3728,0.00,1.67,0.00,0.000,4,0.000,0.048,3089,3765,2049,0,0,0,0,0,0
$GC,3785,0.84,219.0,176.3,17.8,390,3793,0.00,1.65,0.00,0.000,6,0.000,0.030,3097,2717,2049,0,0,1,0,0,0
$GC,3920,0.84,219.0,155.0,15.6,403,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2717,2049,0,0,0,0,0,0
$GC,4047,0.84,219.0,134.6,16.1,415,4050,0.00,1.67,0.00,0.000,4,0.000,0.050,3097,3765,2049,0,0,0,0,0,0
$GC,4092,0.84,219.0,126.8,17.5,419,4096,0.12,1.65,0.00,0.000,6,0.172,0.032,3073,2696,2048,0,0,0,0,0,0
$GC,4231,0.84,219.0,107.1,13.4,432,4235,0.00,2.20,0.00,0.000,4,0.000,0.035,3082,1297,2048,0,0,0,0,0,0
$GC,4262,0.86,232.6,102.6,12.8,434,4281,0.00,2.35,9.98,0.788,6,0.000,0.044,3082,2718,2012,0,0,0,0,0,0
$GC,4412,0.86,232.6,81.9,14.2,459,4419,0.00,1.70,0.00,0.000,4,0.000,0.051,3082,3761,2011,0,0,0,0,0,0
$GC,4476,0.86,232.6,71.6,16.8,470,4482,0.00,1.62,0.00,0.000,6,0.000,0.031,3090,2735,2011,0,0,0,0,0,0
$GC,4619,0.86,232.6,49.8,14.6,495,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2735,2011,0,0,0,0,0,0
$GC,4758,0.86,232.6,27.3,15.8,520,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2736,2011,0,0,0,0,0,0
$FREEZE,8.86,-1.656,-1.899,2,1,0
$FREEZE,8.02,-1.657,-1.899,2,1,0
$FREEZE,7.28,-1.657,-1.898,2,1,0
$FREEZE,6.53,-1.657,-1.897,2,1,0
$FREEZE,5.67,-1.658,-1.897,2,1,0
$GC,4899,0.86,232.6,5.7,14.9,545,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2736,2011,0,0,0,0,0,0
$FREEZE,3.62,-1.658,-1.895,2,1,0
$FREEZE,2.77,-1.657,-1.895,2,1,0
$STATE,4916,end climb,SURFACE_DEPTH_REACHED
$STATE,4917,begin surface coast
$FREEZE,1.93,-1.655,-1.894,2,1,0
$FREEZE,1.23,-1.657,-1.893,2,1,0
$FREEZE,0.37,-1.653,-1.893,2,1,0
$FREEZE,0.08,-1.659,-1.892,2,1,0
$FINISH,0.1,1.027748
$STATE,4939,end surface coast,CONTROL_FINISHED_OK
$STATE,4939,begin surface
$SM_CCo,4955,41.12,0.102,0,0,1655,320.11
$SM_GC,0.76,0.00,0.00,41.12,0.000,0.000,0.102,189,2786,1655,-8.16,0.17,320.11
$IRIDIUM_FIX,-7554.21,17452.55,121210,191957
$TT8_MAMPS,0.027713
$HUMID,51.61
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.5
$24V_AH,22.4,12.892
$10V_AH,9.9,5.578
$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,18.475,41.300,373.475,41.125,0.000,87.835,160.527,96.189,1.000,0.000,32.998,1369.052,2244.257,487.990,1377.782,117.112,0.000,1062.863,0.000,944.329,0.000,7.758,0.000
$DEVICE_MAMPS,218.790,115.515,960.840,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.361,704.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33675,552
$CAP_FILE_SIZE,76595,0
$CFSIZE,260165632,241999872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.104,338.6,1
$GPS,121210,212237,-7639.438,17450.111,46,0.8,46,126.0