version: 66.08
glider: 503
mission: 7
dive: 147
start: 12 11 110 0 3 37
data:
$ID,503
$MISSION,7
$DIVE,147
$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,616.91943
$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,-19671.57
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,101210,235836,-7640.693,17319.084,53,1.3,65,128.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-60.6
$GPS2,111210,000308,-7640.659,17319.074,12,1.6,12,128.4
$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,339.0,174457,-18.2,-13.333
$D_GRID,457
$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,14,-0.84,-219.0,0.0,0.0,0,165,0.00,0.00,-147.40,0.000,2,0.000,0.000,186,2791,3426,0,0,0,0,0,0
$GC,168,-0.84,-219.0,3.3,-5.9,24,195,8.82,1.60,-9.25,0.000,4,0.220,0.070,2518,3757,3857,0,0,0,0,0,0
$GC,395,-0.84,-219.0,55.0,-20.6,64,402,0.00,1.55,0.00,0.000,6,0.000,0.031,2518,2773,3859,0,0,0,0,0,0
$GC,537,-0.84,-219.0,81.6,-18.0,89,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2772,3860,0,0,0,0,0,0
$GC,677,-0.84,-219.0,106.8,-18.7,111,681,0.00,2.17,0.00,0.000,4,0.000,0.032,2518,1381,3860,0,0,0,0,0,0
$GC,720,-0.84,-219.0,114.7,-15.8,114,729,0.00,2.28,0.00,0.000,6,0.000,0.044,2508,2765,3860,0,0,0,0,0,0
$GC,856,-0.84,-219.0,139.2,-19.0,127,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2765,3860,0,0,0,0,0,0
$GC,983,-0.84,-219.0,162.5,-18.4,139,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2765,3860,0,0,0,0,0,0
$GC,1111,-0.84,-219.0,186.2,-18.5,151,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2765,3860,0,0,0,0,0,0
$GC,1238,-0.84,-219.0,209.5,-18.4,163,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2765,3860,0,0,0,0,0,0
$GC,1365,-0.84,-219.0,232.5,-17.9,175,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2765,3860,0,0,0,0,0,0
$GC,1493,-0.84,-219.0,255.2,-18.0,187,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2765,3861,0,0,0,0,0,0
$GC,1684,-0.84,-219.0,289.8,-18.5,205,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2765,3860,0,0,0,0,0,0
$GC,1876,-0.84,-219.0,324.0,-17.6,223,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2765,3861,0,0,0,0,0,0
$GC,2066,-0.84,-219.0,357.2,-17.2,241,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2765,3860,0,0,0,0,0,0
$GC,2258,-0.84,-219.0,390.1,-17.4,259,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2765,3860,0,0,0,0,0,0
$GC,2449,-0.84,-219.0,423.0,-17.1,277,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2765,3860,0,0,0,0,0,0
$GC,2640,-0.84,-219.0,456.0,-17.3,295,2644,0.00,1.60,0.00,0.000,4,0.000,0.053,2500,3763,3860,0,0,0,0,0,0
$STATE,2650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2650,begin apogee
$GC,2656,-0.16,0.0,458.2,17.2,296,2838,0.73,0.00,176.30,1.012,4,0.129,0.000,2741,2698,2960,0,0,0,0,0,0
$STATE,2838,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2840,0.84,219.0,467.9,0.0,312,3044,1.00,2.40,190.82,0.956,4,0.080,0.034,3070,1294,2066,0,0,0,0,0,0
$GC,3195,0.84,219.0,431.7,14.3,343,3202,0.00,2.42,0.00,0.000,6,0.000,0.041,3070,2699,2054,0,0,0,0,0,0
$GC,3395,0.84,219.0,402.1,15.2,362,3399,0.00,2.35,0.00,0.000,4,0.000,0.035,3081,1298,2050,0,0,0,0,0,0
$GC,3568,0.84,219.0,377.1,14.4,377,3573,0.00,2.38,0.00,0.000,6,0.000,0.043,3081,2716,2049,0,0,0,0,0,0
$GC,3766,0.84,219.0,345.8,16.0,395,3769,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3764,2048,0,0,0,0,0,0
$GC,3825,0.84,219.0,334.7,18.7,400,3833,0.00,1.70,0.00,0.000,6,0.000,0.031,3089,2716,2047,0,0,0,0,0,0
$GC,4024,0.84,219.0,302.0,16.4,419,4028,0.00,1.75,0.00,0.000,4,0.000,0.049,3089,3765,2047,0,0,0,0,0,0
$GC,4058,0.84,219.0,296.0,18.8,422,4062,0.00,1.62,0.00,0.000,6,0.000,0.031,3097,2712,2047,0,0,1,0,0,0
$GC,4261,0.84,219.0,261.0,17.0,441,4265,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3762,2047,0,0,0,0,0,0
$GC,4307,0.84,219.0,252.4,19.9,445,4311,0.12,1.62,0.00,0.000,6,0.181,0.032,3073,2745,2046,0,0,0,0,0,0
$GC,4509,0.84,219.0,220.5,15.5,464,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2745,2046,0,0,0,0,0,0
$GC,4637,0.84,219.0,201.0,15.3,476,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2745,2046,0,0,0,0,0,0
$GC,4764,0.84,219.0,181.4,15.4,488,4768,0.00,1.62,0.00,0.000,4,0.000,0.049,3074,3764,2045,0,0,0,0,0,0
$GC,4798,0.84,219.0,175.9,17.0,491,4801,0.00,1.62,0.00,0.000,6,0.000,0.031,3081,2740,2046,0,0,0,0,0,0
$GC,4937,0.84,219.0,153.8,15.6,504,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2738,2045,0,0,0,0,0,0
$GC,5064,0.84,219.0,133.8,15.2,516,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2738,2045,0,0,0,0,0,0
$GC,5192,0.84,219.0,114.7,14.8,528,5195,0.00,1.65,0.00,0.000,4,0.000,0.050,3081,3771,2045,0,0,0,0,0,0
$GC,5218,0.84,219.0,110.2,16.0,530,5226,0.00,1.60,0.00,0.000,6,0.000,0.031,3090,2745,2045,0,0,1,0,0,0
$GC,5355,0.84,219.0,89.3,15.9,549,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2745,2044,0,0,0,0,0,0
$GC,5498,0.84,219.0,66.9,18.4,574,5504,0.00,1.67,0.00,0.000,4,0.000,0.049,3089,3767,2045,0,0,0,0,0,0
$GC,5527,0.84,219.0,61.2,19.0,579,5534,0.00,1.58,0.00,0.000,6,0.000,0.032,3097,2753,2044,0,0,1,0,0,0
$GC,5669,0.84,219.0,35.7,17.8,604,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2752,2044,0,0,0,0,0,0
$GC,5810,0.84,219.0,11.1,16.3,629,5818,0.00,1.65,0.00,0.000,4,0.000,0.052,3098,3762,2044,0,0,0,0,0,0
$FREEZE,8.95,-1.646,-1.900,2,1,0
$FREEZE,8.06,-1.648,-1.899,2,1,0
$FREEZE,6.97,-1.651,-1.899,2,1,0
$GC,5836,0.84,219.0,7.0,16.7,633,5844,0.10,1.55,0.00,0.000,6,0.165,0.033,3074,2780,2043,0,0,0,0,0,0
$FREEZE,3.68,-1.659,-1.896,2,1,0
$FREEZE,2.66,-1.644,-1.895,2,1,0
$STATE,5855,end climb,SURFACE_DEPTH_REACHED
$STATE,5855,begin surface coast
$FREEZE,1.74,-1.644,-1.894,2,1,0
$FREEZE,0.73,-1.650,-1.893,2,1,0
$FINISH,0.7,1.027755
$STATE,5869,end surface coast,CONTROL_FINISHED_OK
$STATE,5869,begin surface
$SM_CCo,5884,199.75,0.099,0,0,445,616.92
$SM_GC,0.51,0.00,0.00,199.75,0.000,0.000,0.099,191,2778,445,-8.14,-0.06,616.92
$IRIDIUM_FIX,-7603.11,17316.86,101210,222246
$TT8_MAMPS,0.027713
$HUMID,49.29
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.6
$24V_AH,22.3,9.841
$10V_AH,10.0,4.302
$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,18.275,43.475,367.125,199.750,0.000,30.604,37.114,105.104,1.750,0.000,15.353,1556.632,2702.518,683.324,1299.653,126.687,0.000,1319.103,0.000,1052.573,0.000,11.187,0.000
$DEVICE_MAMPS,219.555,70.380,1012.095,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.597,771.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40360,638
$CAP_FILE_SIZE,84084,0
$CFSIZE,260165632,243163136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.165,320.1,1
$GPS,111210,014602,-7640.664,17321.250,23,1.8,23,128.4