version: 66.08
glider: 503
mission: 7
dive: 175
start: 12 12 110 21 27 48
data:
$ID,503
$MISSION,7
$DIVE,175
$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,-19707.771
$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,30
$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
$GPS1,121210,212237,-7639.438,17450.111,46,0.8,46,126.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-70.6
$GPS2,121210,212720,-7639.409,17450.074,14,1.6,14,126.0
$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,333.8,135122,-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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-94.00,0.000,2,0.000,0.000,153,2788,3556,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.9,-9.2,16,135,8.88,1.62,-6.07,0.000,4,0.216,0.066,2517,3769,3855,0,0,0,0,0,0
$GC,257,-0.84,-219.0,39.7,-19.0,41,264,0.00,1.58,0.00,0.000,6,0.000,0.030,2517,2770,3858,0,0,0,0,0,0
$GC,400,-0.84,-219.0,67.4,-18.7,66,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,541,-0.84,-219.0,94.2,-19.3,91,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,684,-0.84,-219.0,120.1,-18.2,107,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,811,-0.84,-219.0,143.4,-18.0,119,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,938,-0.84,-219.0,165.6,-17.2,131,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,1065,-0.84,-219.0,187.1,-17.4,143,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3858,0,0,0,0,0,0
$GC,1193,-0.84,-219.0,209.7,-17.3,155,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,1320,-0.84,-219.0,232.0,-17.9,167,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,1448,-0.84,-219.0,254.5,-17.7,179,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2770,3859,0,0,0,0,0,0
$GC,1639,-0.84,-219.0,288.3,-17.2,197,1642,0.00,1.60,0.00,0.000,4,0.000,0.050,2509,3751,3859,0,0,0,0,0,0
$GC,1687,-0.84,-219.0,297.9,-18.2,201,1695,0.00,1.50,0.00,0.000,6,0.000,0.030,2509,2782,3859,0,0,0,0,0,0
$GC,1886,-0.84,-219.0,332.7,-16.9,220,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2782,3859,0,0,0,0,0,0
$GC,2077,-0.84,-219.0,365.6,-17.5,238,2081,0.00,2.17,0.00,0.000,4,0.000,0.032,2509,1380,3859,0,0,0,0,0,0
$GC,2108,-0.84,-219.0,371.2,-16.2,240,2116,0.00,2.28,0.00,0.000,6,0.000,0.044,2499,2769,3859,0,0,0,0,0,0
$STATE,2135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2135,begin apogee
$GC,2140,-0.16,0.0,375.6,16.6,243,2321,0.73,0.00,173.98,0.960,4,0.129,0.000,2739,2704,2960,0,0,0,0,0,0
$STATE,2322,end apogee,CONTROL_FINISHED_OK
$STATE,2322,begin climb
$GC,2324,0.84,219.0,384.5,0.0,259,2523,1.00,2.40,189.57,0.905,4,0.079,0.034,3070,1297,2067,0,0,0,0,0,0
$GC,2698,0.84,219.0,345.7,14.3,293,2703,0.00,2.42,0.00,0.000,6,0.000,0.041,3070,2699,2056,0,0,0,0,0,0
$GC,2896,0.84,219.0,315.2,15.4,311,2900,0.00,2.33,0.00,0.000,4,0.000,0.035,3081,1301,2053,0,0,0,0,0,0
$GC,3051,0.84,219.0,292.0,14.6,324,3058,0.00,2.38,0.00,0.000,6,0.000,0.043,3081,2709,2051,0,0,0,0,0,0
$GC,3249,0.84,219.0,259.8,16.4,343,3252,0.00,1.75,0.00,0.000,4,0.000,0.048,3081,3758,2051,0,0,0,0,0,0
$GC,3306,0.84,219.0,249.6,17.7,348,3309,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2699,2050,0,0,0,0,0,0
$GC,3445,0.84,219.0,226.6,16.3,361,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2699,2050,0,0,0,0,0,0
$GC,3572,0.84,219.0,205.7,16.1,373,3576,0.00,1.77,0.00,0.000,4,0.000,0.050,3089,3764,2050,0,0,0,0,0,0
$GC,3620,0.84,219.0,196.9,17.3,377,3628,0.00,1.65,0.00,0.000,6,0.000,0.031,3097,2727,2050,0,0,0,0,0,0
$GC,3755,0.84,219.0,175.0,16.4,390,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2727,2049,0,0,0,0,0,0
$GC,3882,0.84,219.0,154.1,16.7,402,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2728,2050,0,0,0,0,0,0
$GC,4010,0.84,219.0,133.3,16.1,414,4014,0.00,1.67,0.00,0.000,4,0.000,0.050,3097,3770,2049,0,0,0,0,0,0
$GC,4066,0.84,219.0,123.2,19.3,419,4070,0.12,1.65,0.00,0.000,6,0.176,0.031,3073,2700,2049,0,0,0,0,0,0
$GC,4206,0.84,219.0,101.9,15.3,432,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2699,2048,0,0,0,0,0,0
$GC,4339,0.84,219.0,82.2,14.9,454,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2699,2048,0,0,0,0,0,0
$GC,4480,0.84,219.0,61.4,15.0,479,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2699,2049,0,0,0,0,0,0
$GC,4622,0.84,219.0,40.0,15.0,504,4629,0.00,1.75,0.00,0.000,4,0.000,0.050,3072,3787,2048,0,0,0,0,0,0
$GC,4673,0.84,219.0,31.9,15.9,513,4680,0.00,1.65,0.00,0.000,6,0.000,0.031,3080,2727,2048,0,0,1,0,0,0
$GC,4815,0.84,219.0,11.6,15.8,538,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2727,2048,0,0,0,0,0,0
$FREEZE,8.98,-1.663,-1.900,2,1,0
$FREEZE,8.30,-1.663,-1.899,2,1,0
$FREEZE,7.55,-1.662,-1.898,2,1,0
$FREEZE,6.79,-1.663,-1.898,2,1,0
$FREEZE,6.02,-1.662,-1.897,2,1,0
$FREEZE,5.13,-1.663,-1.897,2,1,0
$FREEZE,4.39,-1.664,-1.896,2,1,0
$FREEZE,3.62,-1.664,-1.895,2,1,0
$FREEZE,2.68,-1.665,-1.895,2,1,0
$STATE,4873,end climb,SURFACE_DEPTH_REACHED
$STATE,4873,begin surface coast
$FREEZE,1.69,-1.663,-1.894,2,1,0
$FREEZE,0.91,-1.664,-1.893,2,1,0
$FREEZE,0.08,-1.667,-1.893,2,1,0
$FINISH,0.1,1.027757
$STATE,4893,end surface coast,CONTROL_FINISHED_OK
$STATE,4893,begin surface
$SM_CCo,4908,45.38,0.101,0,0,1654,320.11
$SM_GC,0.95,0.00,0.00,45.38,0.000,0.000,0.101,190,2797,1654,-8.16,0.48,320.11
$IRIDIUM_FIX,-7554.21,17451.71,121210,191916
$TT8_MAMPS,0.027713
$HUMID,51.69
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.9
$24V_AH,22.4,12.998
$10V_AH,10.0,5.623
$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,18.350,34.000,363.550,45.375,0.000,31.213,39.898,111.232,1.000,0.000,17.422,1362.234,2121.540,470.818,1186.641,110.450,0.000,1034.658,0.000,927.998,0.000,7.759,0.000
$DEVICE_MAMPS,215.730,99.450,960.075,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.459,709.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,33764,552
$CAP_FILE_SIZE,72723,0
$CFSIZE,260165632,241958912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.083,286.1,1
$GPS,121210,225120,-7639.556,17452.557,20,1.8,20,126.0