version: 66.08
glider: 503
mission: 7
dive: 178
start: 12 13 110 1 57 0
data:
$ID,503
$MISSION,7
$DIVE,178
$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,-19711.539
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,131210,015206,-7639.708,17456.932,43,1.0,59,125.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-71.2
$GPS2,131210,015632,-7639.720,17456.836,11,1.5,11,125.9
$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,307.4,132300,-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,-90.18,0.000,2,0.000,0.000,186,2770,3434,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-5.9,15,138,8.75,1.65,-9.32,0.000,4,0.218,0.069,2514,3762,3856,0,0,0,0,0,0
$GC,339,-0.84,-219.0,52.1,-17.5,55,345,0.00,1.55,0.00,0.000,6,0.000,0.031,2514,2774,3859,0,0,0,0,0,0
$GC,481,-0.84,-219.0,79.1,-18.4,80,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3859,0,0,0,0,0,0
$GC,620,-0.84,-219.0,104.5,-17.0,103,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2774,3859,0,0,0,0,0,0
$GC,748,-0.84,-219.0,125.9,-17.2,115,752,0.00,2.17,0.00,0.000,4,0.000,0.033,2514,1379,3858,0,0,0,0,0,0
$GC,780,-0.84,-219.0,131.6,-16.6,117,788,0.00,2.30,0.00,0.000,6,0.000,0.044,2504,2774,3859,0,0,0,0,0,0
$GC,915,-0.84,-219.0,155.1,-17.8,130,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2774,3859,0,0,0,0,0,0
$GC,1042,-0.84,-219.0,177.9,-17.6,142,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2774,3859,0,0,0,0,0,0
$GC,1170,-0.84,-219.0,200.9,-17.9,154,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2774,3859,0,0,0,0,0,0
$GC,1297,-0.84,-219.0,224.3,-18.7,166,1301,0.00,2.20,0.00,0.000,4,0.000,0.034,2504,1377,3860,0,0,0,0,0,0
$GC,1335,-0.84,-219.0,231.5,-16.9,169,1344,0.08,2.28,0.00,0.000,6,0.135,0.044,2522,2764,3859,0,0,0,0,0,0
$GC,1470,-0.84,-219.0,254.0,-17.0,182,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2764,3859,0,0,0,0,0,0
$GC,1660,-0.84,-219.0,286.2,-16.7,200,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2764,3859,0,0,0,0,0,0
$GC,1852,-0.84,-219.0,317.2,-16.0,218,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2764,3859,0,0,0,0,0,0
$GC,2044,-0.84,-219.0,347.9,-16.0,236,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2764,3859,0,0,0,0,0,0
$STATE,2222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2222,begin apogee
$GC,2226,-0.16,0.0,376.6,16.3,253,2407,0.65,0.00,173.80,0.962,4,0.122,0.000,2742,2697,2960,0,0,0,0,0,0
$STATE,2408,end apogee,CONTROL_FINISHED_OK
$STATE,2408,begin climb
$GC,2409,0.84,219.0,385.6,0.0,269,2613,1.00,2.38,189.07,0.907,4,0.078,0.033,3074,1302,2066,0,0,0,0,0,0
$GC,2760,0.84,220.7,352.3,13.3,300,2764,0.00,2.40,0.00,0.000,6,0.000,0.041,3074,2700,2058,0,0,1,0,0,0
$GC,2957,0.84,220.7,323.7,15.0,318,2961,0.00,2.33,0.00,0.000,4,0.000,0.034,3084,1301,2054,0,0,0,0,0,0
$GC,3123,0.84,220.7,300.2,13.7,332,3131,0.00,2.38,0.00,0.000,6,0.000,0.042,3084,2706,2052,0,0,1,0,0,0
$GC,3322,0.84,220.7,269.9,15.5,351,3326,0.00,1.70,0.00,0.000,4,0.000,0.050,3085,3765,2051,0,0,0,0,0,0
$GC,3379,0.84,220.7,259.8,17.7,356,3382,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2712,2050,0,0,0,0,0,0
$GC,3582,0.84,220.7,226.6,16.7,375,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2712,2050,0,0,0,0,0,0
$GC,3710,0.84,220.7,205.8,16.2,387,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2712,2050,0,0,0,0,0,0
$GC,3837,0.84,220.7,185.3,16.3,399,3840,0.00,1.70,0.00,0.000,4,0.000,0.050,3093,3765,2049,0,0,0,0,0,0
$GC,3874,0.84,220.7,178.3,17.8,402,3884,0.08,1.65,0.00,0.000,6,0.156,0.031,3076,2728,2049,0,0,0,0,0,0
$GC,4010,0.84,220.7,157.4,15.4,415,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2728,2049,0,0,0,0,0,0
$GC,4137,0.84,220.7,138.1,15.4,427,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2728,2049,0,0,0,0,0,0
$GC,4265,0.84,220.7,118.5,15.3,439,4269,0.00,2.25,0.00,0.000,4,0.000,0.034,3086,1297,2049,0,0,0,0,0,0
$GC,4296,0.84,220.7,113.5,14.2,441,4304,0.00,2.35,0.00,0.000,6,0.000,0.043,3086,2716,2049,0,0,0,0,0,0
$GC,4432,0.84,220.7,92.2,15.8,458,4440,0.00,1.70,0.00,0.000,4,0.000,0.051,3086,3761,2049,0,0,0,0,0,0
$GC,4480,0.84,220.7,84.1,17.1,466,4487,0.00,1.65,0.00,0.000,6,0.000,0.032,3094,2719,2049,0,0,0,0,0,0
$GC,4623,0.84,220.7,61.4,15.8,491,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2719,2048,0,0,0,0,0,0
$GC,4764,0.84,220.7,38.9,15.8,516,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2719,2048,0,0,0,0,0,0
$GC,4903,0.84,220.7,17.1,15.1,541,4910,0.00,1.70,0.00,0.000,4,0.000,0.050,3094,3761,2048,0,0,0,0,0,0
$FREEZE,8.09,-1.579,-1.899,2,1,0
$GC,4956,0.84,220.7,8.1,18.2,550,4964,0.08,1.62,0.00,0.000,6,0.152,0.032,3076,2728,2048,0,0,0,0,0,0
$FREEZE,5.56,-1.591,-1.897,2,1,0
$FREEZE,4.78,-1.586,-1.896,2,1,0
$FREEZE,3.89,-1.588,-1.895,2,1,0
$FREEZE,3.15,-1.593,-1.895,2,1,0
$FREEZE,2.32,-1.590,-1.894,2,1,0
$STATE,4992,end climb,SURFACE_DEPTH_REACHED
$STATE,4993,begin surface coast
$FREEZE,1.26,-1.588,-1.893,2,1,0
$FREEZE,0.51,-1.578,-1.892,2,1,0
$FREEZE,-0.00,-1.563,-1.892,2,1,0
$FINISH,-0.0,1.027738
$STATE,5011,end surface coast,CONTROL_FINISHED_OK
$STATE,5011,begin surface
$SM_CCo,5027,45.47,0.101,0,0,1654,320.11
$SM_GC,0.93,0.00,0.00,45.47,0.000,0.000,0.101,194,2799,1654,-8.15,0.54,320.11
$IRIDIUM_FIX,-7554.21,17422.95,131210,000038
$TT8_MAMPS,0.027713
$HUMID,51.29
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,20.8
$24V_AH,22.4,13.318
$10V_AH,10.0,5.755
$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,18.275,39.775,362.875,45.475,0.000,31.455,35.520,101.836,1.500,0.000,13.609,1372.237,2209.899,486.292,1170.013,115.032,0.000,1052.096,0.000,930.513,0.000,10.663,0.000
$DEVICE_MAMPS,218.025,99.450,961.605,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.318,713.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,36944,559
$CAP_FILE_SIZE,73546,0
$CFSIZE,260165632,241831936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.142,232.5,1
$GPS,131210,032226,-7639.796,17458.898,14,1.2,15,125.8