version: 66.08
glider: 503
mission: 7
dive: 179
start: 12 13 110 3 27 48
data:
$ID,503
$MISSION,7
$DIVE,179
$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,-19712.801
$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,40
$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
$GPS1,131210,032226,-7639.796,17458.898,14,1.2,15,125.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-73.1
$GPS2,131210,032720,-7639.808,17458.805,31,1.4,31,125.8
$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,304.5,131480,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-94.40,0.000,2,0.000,0.000,191,2800,3562,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-9.7,16,136,8.80,1.58,-5.90,0.000,4,0.221,0.067,2516,3754,3856,0,0,0,0,0,0
$GC,270,-0.84,-219.0,41.3,-19.1,43,277,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2764,3858,0,0,0,0,0,0
$GC,412,-0.84,-219.0,67.1,-17.9,68,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2764,3859,0,0,0,0,0,0
$GC,553,-0.84,-219.0,93.0,-18.2,93,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2764,3859,0,0,0,0,0,0
$GC,688,-0.84,-219.0,117.5,-17.8,109,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2764,3859,0,0,0,0,0,0
$GC,816,-0.84,-219.0,140.7,-18.2,121,820,0.00,2.15,0.00,0.000,4,0.000,0.032,2516,1381,3859,0,0,0,0,0,0
$GC,844,-0.84,-219.0,145.8,-17.7,123,848,0.00,2.25,0.00,0.000,6,0.000,0.044,2506,2774,3859,0,0,0,0,0,0
$GC,978,-0.84,-219.0,170.4,-18.8,135,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,1106,-0.84,-219.0,194.3,-18.8,147,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,1233,-0.84,-219.0,218.2,-18.6,159,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2774,3859,0,0,0,0,0,0
$GC,1360,-0.84,-219.0,241.6,-18.3,171,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3859,0,0,0,0,0,0
$GC,1488,-0.84,-219.0,265.0,-18.0,183,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3860,0,0,0,0,0,0
$GC,1680,-0.84,-219.0,299.3,-18.2,201,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2774,3860,0,0,0,0,0,0
$GC,1870,-0.84,-219.0,334.6,-18.8,219,1874,0.00,2.17,0.00,0.000,4,0.000,0.033,2506,1381,3859,0,0,0,0,0,0
$GC,1903,-0.84,-219.0,340.7,-17.5,221,1911,0.12,2.28,0.00,0.000,6,0.159,0.045,2530,2797,3860,0,0,0,0,0,0
$GC,2103,-0.84,-219.0,371.7,-15.6,240,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2797,3859,0,0,0,0,0,0
$STATE,2131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2131,begin apogee
$GC,2136,-0.16,0.0,376.5,15.5,243,2316,0.62,0.00,173.62,0.962,4,0.120,0.000,2743,2698,2960,0,0,0,0,0,0
$STATE,2316,end apogee,CONTROL_FINISHED_OK
$STATE,2316,begin climb
$GC,2318,0.84,219.0,385.7,0.0,259,2522,1.00,2.40,189.18,0.907,4,0.077,0.032,3075,1289,2066,0,0,0,0,0,0
$GC,2669,0.84,219.0,351.9,13.5,290,2673,0.00,2.45,0.00,0.000,6,0.000,0.041,3075,2706,2057,0,0,0,0,0,0
$GC,2866,0.84,219.0,322.0,15.7,308,2870,0.00,2.35,0.00,0.000,4,0.000,0.034,3085,1299,2053,0,0,0,0,0,0
$GC,3023,0.84,219.0,298.6,14.7,321,3030,0.00,2.35,0.00,0.000,6,0.000,0.042,3085,2715,2053,0,0,1,0,0,0
$GC,3220,0.84,219.0,267.4,16.0,340,3224,0.00,1.70,0.00,0.000,4,0.000,0.049,3085,3768,2051,0,0,0,0,0,0
$GC,3257,0.84,219.0,260.5,17.8,343,3265,0.00,1.67,0.00,0.000,6,0.000,0.031,3094,2720,2051,0,0,1,0,0,0
$GC,3456,0.84,219.0,227.2,16.8,362,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2719,2050,0,0,0,0,0,0
$GC,3583,0.84,219.0,205.6,17.3,374,3587,0.00,1.73,0.00,0.000,4,0.000,0.050,3094,3758,2050,0,0,0,0,0,0
$GC,3628,0.84,219.0,197.3,19.1,378,3632,0.12,1.65,0.00,0.000,6,0.173,0.031,3069,2696,2050,0,0,0,0,0,0
$GC,3767,0.84,219.0,176.9,13.9,391,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2696,2049,0,0,0,0,0,0
$GC,3894,0.84,219.0,159.1,14.2,403,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2695,2049,0,0,0,0,0,0
$GC,4021,0.84,221.0,141.8,13.3,415,4025,0.00,1.70,0.00,0.000,4,0.000,0.049,3068,3763,2049,0,0,0,0,0,0
$GC,4048,0.84,221.0,137.6,14.9,417,4056,0.00,1.65,0.00,0.000,6,0.000,0.031,3076,2724,2049,0,0,0,0,0,0
$GC,4183,0.84,221.0,118.7,13.8,430,4186,0.00,2.28,0.00,0.000,4,0.000,0.035,3086,1292,2049,0,0,0,0,0,0
$GC,4217,0.84,221.0,113.8,14.3,433,4221,0.00,2.33,0.00,0.000,6,0.000,0.044,3087,2721,2049,0,0,0,0,0,0
$GC,4354,0.84,221.0,92.9,15.5,449,4361,0.00,1.70,0.00,0.000,4,0.000,0.053,3087,3765,2049,0,0,0,0,0,0
$GC,4406,0.84,221.0,83.9,17.0,458,4413,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2721,2048,0,0,0,0,0,0
$GC,4549,0.84,221.0,62.1,15.4,483,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2721,2048,0,0,0,0,0,0
$GC,4689,0.84,221.0,40.3,15.9,508,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2721,2048,0,0,0,0,0,0
$GC,4829,0.84,221.0,18.6,15.7,533,4835,0.00,1.70,0.00,0.000,4,0.000,0.050,3095,3762,2048,0,0,0,0,0,0
$GC,4864,0.84,221.0,12.5,17.9,539,4871,0.08,1.60,0.00,0.000,6,0.151,0.031,3077,2732,2048,0,0,1,0,0,0
$FREEZE,8.51,-1.561,-1.899,2,1,0
$FREEZE,7.75,-1.560,-1.898,2,1,0
$FREEZE,7.02,-1.585,-1.898,2,1,0
$FREEZE,6.18,-1.589,-1.898,2,1,0
$FREEZE,5.45,-1.590,-1.897,2,1,0
$FREEZE,4.69,-1.567,-1.896,2,1,0
$FREEZE,3.91,-1.563,-1.895,2,1,0
$FREEZE,3.25,-1.563,-1.895,2,1,0
$FREEZE,2.54,-1.554,-1.894,2,1,0
$STATE,4932,end climb,SURFACE_DEPTH_REACHED
$STATE,4932,begin surface coast
$FREEZE,1.60,-1.540,-1.893,2,1,0
$FREEZE,0.82,-1.553,-1.893,2,1,0
$FREEZE,0.07,-1.545,-1.892,2,1,0
$FREEZE,-0.03,-1.557,-0.968,2,1,0
$FINISH,-0.0,1.014284
$STATE,4955,end surface coast,FINISH_DEPTH_REACHED
$STATE,4955,begin surface
$SM_CCo,4970,45.22,0.100,0,0,1654,320.11
$SM_GC,0.91,0.00,0.00,45.22,0.000,0.000,0.100,196,2783,1654,-8.14,0.08,320.11
$IRIDIUM_FIX,-7554.21,17501.82,131210,010132
$TT8_MAMPS,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.0
$24V_AH,22.4,13.423
$10V_AH,10.0,5.799
$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,18.350,43.075,362.800,45.225,0.000,40.586,41.242,95.935,1.000,0.000,33.500,1373.343,2163.386,479.349,1188.825,120.191,0.000,1047.973,0.000,925.523,0.000,7.757,0.000
$DEVICE_MAMPS,221.085,114.750,961.605,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.457,711.943,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258296
$DATA_FILE_SIZE,36977,555
$CAP_FILE_SIZE,75617,0
$CFSIZE,260165632,241786880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.150,227.1,1
$GPS,131210,045237,-7639.877,17500.979,34,1.3,35,125.8