version: 66.08
glider: 503
mission: 7
dive: 176
start: 12 12 110 22 56 28
data:
$ID,503
$MISSION,7
$DIVE,176
$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,-19709.029
$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,46
$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
$GPS1,121210,225120,-7639.556,17452.557,20,1.8,20,126.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.2
$GPS2,121210,225601,-7639.539,17452.480,9,1.6,14,126.0
$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,322.1,134122,-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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.15,0.000,2,0.000,0.000,171,2798,3461,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.6,-8.1,15,132,8.82,1.60,-8.32,0.000,4,0.217,0.068,2518,3760,3856,0,0,0,0,0,0
$GC,260,-0.84,-219.0,39.1,-17.8,41,268,0.00,1.55,0.00,0.000,6,0.000,0.030,2518,2773,3859,0,0,0,0,0,0
$GC,403,-0.84,-219.0,64.2,-17.9,66,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2773,3859,0,0,0,0,0,0
$GC,542,-0.84,-219.0,89.7,-18.5,91,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,680,-0.84,-219.0,113.3,-17.1,109,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,807,-0.84,-219.0,135.3,-17.1,121,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3859,0,0,0,0,0,0
$GC,935,-0.84,-219.0,157.4,-17.4,133,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,1062,-0.84,-219.0,180.3,-18.3,145,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,1190,-0.84,-219.0,202.6,-16.8,157,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,1317,-0.84,-219.0,224.3,-16.7,169,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,1444,-0.84,-219.0,245.8,-16.8,181,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2773,3859,0,0,0,0,0,0
$GC,1572,-0.84,-219.0,267.5,-17.2,193,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2773,3860,0,0,0,0,0,0
$GC,1766,-0.84,-219.0,300.1,-16.7,211,1770,0.00,1.60,0.00,0.000,4,0.000,0.052,2511,3754,3859,0,0,0,0,0,0
$GC,1803,-0.84,-219.0,307.5,-18.0,214,1811,0.00,1.50,0.00,0.000,6,0.000,0.031,2511,2784,3860,0,0,0,0,0,0
$GC,2002,-0.84,-219.0,339.8,-16.6,233,2006,0.00,2.17,0.00,0.000,4,0.000,0.033,2511,1374,3860,0,0,0,0,0,0
$GC,2033,-0.84,-219.0,345.4,-17.0,235,2041,0.00,2.25,0.00,0.000,6,0.000,0.045,2501,2754,3859,0,0,0,0,0,0
$STATE,2209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2209,begin apogee
$GC,2213,-0.16,0.0,375.4,17.6,252,2393,0.73,0.00,174.15,0.961,4,0.129,0.000,2742,2755,2960,0,0,0,0,0,0
$STATE,2394,end apogee,CONTROL_FINISHED_OK
$STATE,2394,begin climb
$GC,2395,0.84,219.0,384.1,0.0,268,2598,1.00,2.47,189.38,0.905,4,0.080,0.034,3072,1299,2066,0,0,1,0,0,0
$GC,2748,0.84,219.0,349.5,13.7,299,2755,0.00,2.45,0.00,0.000,6,0.000,0.041,3072,2695,2057,0,0,1,0,0,0
$GC,2946,0.84,219.0,319.6,15.2,318,2950,0.00,2.30,0.00,0.000,4,0.000,0.034,3083,1302,2053,0,0,0,0,0,0
$GC,3111,0.84,219.0,295.3,14.2,332,3120,0.00,2.40,0.00,0.000,6,0.000,0.042,3083,2708,2052,0,0,0,0,0,0
$GC,3311,0.84,219.0,265.1,15.1,351,3315,0.00,1.70,0.00,0.000,4,0.000,0.048,3083,3765,2051,0,0,0,0,0,0
$GC,3348,0.84,219.0,258.2,17.4,354,3356,0.00,1.65,0.00,0.000,6,0.000,0.030,3091,2724,2051,0,0,1,0,0,0
$GC,3547,0.84,219.0,226.2,16.3,373,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2723,2050,0,0,0,0,0,0
$GC,3674,0.84,219.0,205.8,15.6,385,3678,0.00,1.67,0.00,0.000,4,0.000,0.049,3090,3765,2050,0,0,0,0,0,0
$GC,3712,0.84,219.0,198.9,18.1,388,3721,0.00,1.67,0.00,0.000,6,0.000,0.031,3099,2717,2050,0,0,0,0,0,0
$GC,3847,0.84,219.0,177.5,15.7,401,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2717,2049,0,0,0,0,0,0
$GC,3975,0.84,219.0,157.0,16.3,413,3978,0.00,1.73,0.00,0.000,4,0.000,0.050,3099,3761,2049,0,0,0,0,0,0
$GC,4021,0.84,219.0,148.8,18.7,417,4025,0.12,1.62,0.00,0.000,6,0.173,0.032,3073,2736,2049,0,0,0,0,0,0
$GC,4159,0.84,219.0,128.5,13.9,430,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2736,2049,0,0,0,0,0,0
$GC,4286,0.84,219.0,110.6,13.7,442,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2736,2048,0,0,0,0,0,0
$GC,4416,0.84,219.0,92.6,15.0,458,4423,0.00,2.28,0.00,0.000,4,0.000,0.036,3083,1297,2049,0,0,0,0,0,0
$GC,4446,0.84,219.0,88.4,14.0,463,4453,0.00,2.33,0.00,0.000,6,0.000,0.044,3083,2728,2048,0,0,0,0,0,0
$GC,4587,0.84,219.0,67.1,14.9,488,4595,0.00,1.67,0.00,0.000,4,0.000,0.050,3083,3761,2048,0,0,0,0,0,0
$GC,4623,0.84,219.0,61.1,17.0,494,4630,0.00,1.62,0.00,0.000,6,0.000,0.032,3091,2728,2048,0,0,0,0,0,0
$GC,4764,0.84,219.0,38.1,17.2,519,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2728,2048,0,0,0,0,0,0
$GC,4905,0.84,219.0,15.2,15.9,544,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2728,2048,0,0,0,0,0,0
$FREEZE,8.75,-1.636,-1.899,2,1,0
$FREEZE,7.90,-1.636,-1.899,2,1,0
$FREEZE,7.15,-1.638,-1.898,2,1,0
$FREEZE,6.29,-1.636,-1.898,2,1,0
$FREEZE,5.53,-1.633,-1.897,2,1,0
$FREEZE,4.79,-1.635,-1.896,2,1,0
$FREEZE,3.93,-1.636,-1.896,2,1,0
$FREEZE,3.12,-1.632,-1.895,2,1,0
$FREEZE,2.25,-1.630,-1.894,2,1,0
$STATE,4986,end climb,SURFACE_DEPTH_REACHED
$STATE,4986,begin surface coast
$FREEZE,1.45,-1.632,-1.894,2,1,0
$FREEZE,0.28,-1.633,-1.893,2,1,0
$FREEZE,0.07,-1.643,-1.893,2,1,0
$FINISH,0.1,1.027765
$STATE,5005,end surface coast,CONTROL_FINISHED_OK
$STATE,5005,begin surface
$SM_CCo,5020,45.45,0.101,0,0,1656,320.11
$SM_GC,0.92,0.00,0.00,45.45,0.000,0.000,0.101,192,2796,1656,-8.15,0.45,320.11
$IRIDIUM_FIX,-7554.21,17452.55,121210,212104
$TT8_MAMPS,0.027713
$HUMID,51.33
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$24V_AH,22.4,13.104
$10V_AH,10.0,5.667
$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,18.400,38.350,363.525,45.450,0.000,30.002,42.368,103.004,1.000,0.000,17.630,1383.309,2188.027,486.996,1186.657,116.906,0.000,1056.834,0.000,933.757,0.000,7.757,0.000
$DEVICE_MAMPS,217.260,99.450,960.840,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.360,721.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,37063,562
$CAP_FILE_SIZE,73909,0
$CFSIZE,260165632,241909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.106,256.5,1
$GPS,131210,002206,-7639.631,17454.818,29,1.0,33,125.9