version: 66.08
glider: 503
mission: 7
dive: 170
start: 12 12 110 13 53 14
data:
$ID,503
$MISSION,7
$DIVE,170
$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,-19700.689
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,121210,134808,-7639.962,17432.234,16,1.8,17,126.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-68.5
$GPS2,121210,135246,-7639.932,17432.361,10,2.2,29,126.5
$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,328.4,142841,-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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,108,0.00,0.00,-91.00,0.000,2,0.000,0.000,171,2770,3464,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.5,-7.0,15,133,8.82,1.67,-8.20,0.000,4,0.219,0.067,2515,3775,3856,0,0,0,0,0,0
$GC,315,-0.84,-219.0,50.6,-20.5,51,322,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2781,3859,0,0,0,0,0,0
$GC,457,-0.84,-219.0,77.4,-19.2,76,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2782,3859,0,0,0,0,0,0
$GC,602,-0.84,-219.0,104.3,-18.4,100,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2781,3859,0,0,0,0,0,0
$GC,730,-0.84,-219.0,127.5,-17.7,112,734,0.00,2.17,0.00,0.000,4,0.000,0.033,2515,1381,3859,0,0,0,0,0,0
$GC,772,-0.84,-219.0,135.4,-16.8,115,780,0.00,2.33,0.00,0.000,6,0.000,0.045,2505,2786,3859,0,0,0,0,0,0
$GC,907,-0.84,-219.0,159.9,-18.7,128,910,0.00,1.58,0.00,0.000,4,0.000,0.052,2498,3761,3860,0,0,0,0,0,0
$GC,956,-0.84,-219.0,170.0,-20.2,132,964,0.08,1.50,0.00,0.000,6,0.148,0.031,2523,2802,3860,0,0,0,0,0,0
$GC,1090,-0.84,-219.0,194.1,-18.0,145,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2801,3860,0,0,0,0,0,0
$GC,1218,-0.84,-219.0,217.3,-17.9,157,1222,0.00,2.22,0.00,0.000,4,0.000,0.033,2523,1370,3860,0,0,0,0,0,0
$GC,1256,-0.84,-219.0,224.1,-17.3,160,1263,0.00,2.33,0.00,0.000,6,0.000,0.046,2513,2782,3860,0,0,0,0,0,0
$GC,1390,-0.84,-219.0,247.2,-18.2,173,1394,0.00,1.58,0.00,0.000,4,0.000,0.052,2506,3761,3860,0,0,0,0,0,0
$GC,1427,-0.84,-219.0,254.5,-18.6,176,1435,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2782,3860,0,0,0,0,0,0
$GC,1626,-0.84,-219.0,290.2,-18.2,195,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2781,3859,0,0,0,0,0,0
$GC,1817,-0.84,-219.0,324.0,-17.3,213,1821,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3765,3859,0,0,0,0,0,0
$GC,1866,-0.84,-219.0,333.5,-18.7,217,1875,0.08,1.52,0.00,0.000,6,0.148,0.031,2523,2786,3859,0,0,0,0,0,0
$GC,2065,-0.84,-219.0,365.6,-16.0,236,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2785,3860,0,0,0,0,0,0
$STATE,2126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2127,begin apogee
$GC,2131,-0.16,0.0,375.9,16.5,242,2311,0.65,0.00,174.15,0.960,4,0.122,0.000,2743,2687,2960,0,0,0,0,0,0
$STATE,2311,end apogee,CONTROL_FINISHED_OK
$STATE,2312,begin climb
$GC,2313,0.84,219.0,385.3,0.0,258,2517,1.00,2.35,188.93,0.907,4,0.076,0.033,3074,1308,2066,0,0,0,0,0,0
$GC,2667,0.85,230.0,351.3,12.9,289,2686,0.00,2.45,9.50,0.804,6,0.000,0.041,3074,2694,2023,0,0,0,0,0,0
$GC,2879,0.85,230.0,320.5,14.8,309,2883,0.00,2.30,0.00,0.000,4,0.000,0.034,3085,1312,2019,0,0,0,0,0,0
$GC,3045,0.85,230.0,296.3,14.7,323,3053,0.00,2.38,0.00,0.000,6,0.000,0.041,3085,2703,2017,0,0,0,0,0,0
$GC,3243,0.85,230.0,266.4,15.3,342,3247,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3763,2016,0,0,0,0,0,0
$GC,3303,0.85,230.0,255.9,17.3,347,3312,0.00,1.67,0.00,0.000,6,0.000,0.031,3093,2728,2016,0,0,0,0,0,0
$GC,3502,0.85,230.0,224.8,15.5,366,3505,0.00,1.67,0.00,0.000,4,0.000,0.050,3093,3763,2015,0,0,0,0,0,0
$GC,3546,0.85,230.0,217.0,17.7,370,3550,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2706,2015,0,0,0,0,0,0
$GC,3686,0.85,230.0,194.8,15.9,383,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2705,2014,0,0,0,0,0,0
$GC,3814,0.85,230.0,174.1,16.6,395,3817,0.00,1.70,0.00,0.000,4,0.000,0.050,3101,3764,2014,0,0,0,0,0,0
$GC,3870,0.85,230.0,163.3,19.5,400,3875,0.12,1.62,0.00,0.000,6,0.176,0.032,3077,2703,2014,0,0,1,0,0,0
$GC,4009,0.85,230.0,142.3,14.2,413,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2703,2014,0,0,0,0,0,0
$GC,4137,0.85,230.0,124.1,14.2,425,4141,0.00,1.70,0.00,0.000,4,0.000,0.050,3077,3765,2014,0,0,0,0,0,0
$GC,4175,0.85,230.0,117.8,16.3,428,4183,0.00,1.60,0.00,0.000,6,0.000,0.031,3084,2739,2014,0,0,1,0,0,0
$GC,4310,0.85,230.0,98.0,14.2,442,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,2014,0,0,0,0,0,0
$GC,4450,0.85,230.0,78.1,14.4,467,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2739,2014,0,0,0,0,0,0
$GC,4591,0.85,230.0,56.9,14.5,492,4598,0.00,1.67,0.00,0.000,4,0.000,0.050,3084,3762,2014,0,0,0,0,0,0
$GC,4627,0.85,230.0,50.9,17.4,498,4634,0.00,1.60,0.00,0.000,6,0.000,0.033,3092,2747,2014,0,0,0,0,0,0
$GC,4770,0.85,230.0,28.0,16.1,523,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2748,2013,0,0,0,0,0,0
$FREEZE,8.60,-1.704,-1.901,2,1,0
$GC,4913,0.85,230.0,8.6,15.5,548,4919,0.00,1.65,0.00,0.000,4,0.000,0.050,3092,3756,2014,0,0,0,0,0,0
$FREEZE,5.96,-1.702,-1.899,2,1,0
$FREEZE,5.09,-1.697,-1.898,2,1,0
$FREEZE,4.15,-1.700,-1.898,2,1,0
$FREEZE,3.08,-1.698,-1.897,2,1,0
$FREEZE,2.18,-1.696,-1.896,2,1,0
$STATE,4947,end climb,SURFACE_DEPTH_REACHED
$STATE,4948,begin surface coast
$FREEZE,0.75,-1.700,-1.895,2,1,0
$FREEZE,-0.08,-1.709,-1.894,2,1,0
$FREEZE,0.18,-1.739,-1.896,2,1,0
$FINISH,0.2,1.027811
$STATE,4965,end surface coast,CONTROL_FINISHED_OK
$STATE,4966,begin surface
$SM_CCo,4982,41.42,0.101,0,0,1655,320.11
$SM_GC,0.57,0.00,0.00,41.42,0.000,0.000,0.101,191,2773,1655,-8.16,-0.20,320.11
$IRIDIUM_FIX,-7554.21,17434.02,121210,121227
$TT8_MAMPS,0.027713
$HUMID,51.45
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.1
$24V_AH,22.4,12.447
$10V_AH,10.0,5.399
$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,18.400,50.950,372.575,41.425,0.000,29.167,36.288,96.461,1.000,0.000,33.193,1377.269,2106.133,504.755,1210.869,118.101,0.000,1095.521,0.000,960.188,0.000,7.756,0.000
$DEVICE_MAMPS,218.790,79.560,960.075,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.471,714.538,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37104,557
$CAP_FILE_SIZE,77567,0
$CFSIZE,260165632,242163712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.095, 37.8,1
$GPS,121210,151819,-7639.937,17436.432,30,1.5,43,126.4