version: 66.08
glider: 503
mission: 7
dive: 181
start: 12 13 110 6 28 34
data:
$ID,503
$MISSION,7
$DIVE,181
$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,-19715.311
$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,41
$R_STBD_OVSHOOT,36
$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
$GPS1,131210,062319,-7640.046,17503.035,31,1.5,31,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.4
$GPS2,131210,062806,-7640.065,17502.988,37,0.8,37,125.7
$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,295.5,129756,-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,-219.0,0.0,0.0,0,109,0.00,0.00,-91.30,0.000,2,0.000,0.000,196,2791,3487,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.8,-8.7,15,133,8.85,1.60,-7.72,0.000,4,0.224,0.067,2513,3755,3857,0,0,0,0,0,0
$GC,384,-0.84,-219.0,63.4,-18.9,63,391,0.00,1.55,0.00,0.000,6,0.000,0.029,2514,2764,3860,0,0,0,0,0,0
$GC,526,-0.84,-219.0,90.1,-18.5,88,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,668,-0.84,-219.0,116.7,-18.3,106,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,796,-0.84,-219.0,139.8,-17.8,118,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,924,-0.84,-219.0,162.9,-18.0,130,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,1051,-0.84,-219.0,185.9,-17.9,142,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2764,3860,0,0,0,0,0,0
$GC,1178,-0.84,-219.0,208.5,-17.9,154,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,1306,-0.84,-219.0,230.5,-17.1,166,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,1435,-0.84,-219.0,252.6,-17.0,178,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,1624,-0.84,-219.0,285.7,-17.4,196,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$GC,1816,-0.84,-219.0,318.8,-17.5,214,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3860,0,0,0,0,0,0
$GC,2006,-0.84,-219.0,352.8,-17.4,232,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2764,3861,0,0,0,0,0,0
$STATE,2143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2143,begin apogee
$GC,2148,-0.16,0.0,376.3,16.7,245,2327,0.70,0.00,173.77,0.962,4,0.128,0.000,2746,2698,2960,0,0,0,0,0,0
$STATE,2328,end apogee,CONTROL_FINISHED_OK
$STATE,2328,begin climb
$GC,2330,0.84,219.0,385.2,0.0,261,2532,0.98,2.38,189.05,0.907,4,0.077,0.033,3071,1300,2066,0,0,0,0,0,0
$GC,2639,0.84,221.5,357.3,13.2,288,2646,0.00,2.42,0.00,0.000,6,0.000,0.041,3070,2688,2058,0,0,0,0,0,0
$GC,2836,0.84,221.5,329.9,14.0,307,2840,0.00,2.30,0.00,0.000,4,0.000,0.033,3081,1308,2054,0,0,0,0,0,0
$GC,3007,0.84,221.5,306.9,13.4,322,3012,0.00,2.35,0.00,0.000,6,0.000,0.041,3081,2708,2052,0,0,0,0,0,0
$GC,3205,0.84,221.5,276.5,15.2,340,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2708,2051,0,0,0,0,0,0
$GC,3396,0.84,221.5,246.7,15.4,358,3400,0.00,1.70,0.00,0.000,4,0.000,0.048,3081,3767,2051,0,0,0,0,0,0
$GC,3456,0.84,221.5,236.1,17.3,363,3464,0.00,1.65,0.00,0.000,6,0.000,0.030,3089,2720,2050,0,0,1,0,0,0
$GC,3591,0.84,221.5,214.9,15.9,376,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2720,2050,0,0,0,0,0,0
$GC,3719,0.84,221.5,194.0,16.1,388,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2720,2050,0,0,0,0,0,0
$GC,3846,0.84,221.5,173.6,15.8,400,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2720,2050,0,0,0,0,0,0
$GC,3973,0.84,221.5,152.8,16.0,412,3977,0.00,1.67,0.00,0.000,4,0.000,0.048,3089,3767,2049,0,0,0,0,0,0
$GC,4020,0.84,221.5,144.5,18.0,416,4024,0.00,1.62,0.00,0.000,6,0.000,0.031,3098,2699,2049,0,0,1,0,0,0
$GC,4160,0.84,221.5,120.9,17.1,429,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2699,2049,0,0,0,0,0,0
$GC,4287,0.84,221.5,100.4,15.9,441,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2699,2049,0,0,0,0,0,0
$GC,4420,0.84,221.5,79.5,15.0,464,4426,0.00,1.75,0.00,0.000,4,0.000,0.050,3098,3784,2049,0,0,0,0,0,0
$GC,4466,0.84,221.5,71.2,17.5,472,4474,0.08,1.67,0.00,0.000,6,0.155,0.033,3071,2717,2049,0,0,1,0,0,0
$GC,4609,0.84,221.5,50.7,14.4,497,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2716,2048,0,0,0,0,0,0
$GC,4751,0.84,221.5,31.1,13.9,522,4758,0.00,1.70,0.00,0.000,4,0.000,0.050,3071,3754,2049,0,0,0,0,0,0
$GC,4787,0.84,221.5,25.5,16.3,528,4794,0.00,1.65,0.00,0.000,6,0.000,0.031,3079,2705,2048,0,0,0,0,0,0
$FREEZE,8.76,-1.599,-1.899,2,1,0
$FREEZE,7.99,-1.593,-1.899,2,1,0
$FREEZE,7.20,-1.599,-1.898,2,1,0
$FREEZE,6.36,-1.592,-1.897,2,1,0
$FREEZE,5.72,-1.590,-1.897,2,1,0
$FREEZE,4.95,-1.590,-1.896,2,1,0
$GC,4928,0.84,221.5,4.9,13.8,553,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2704,2048,0,0,0,0,0,0
$FREEZE,3.11,-1.595,-1.895,2,1,0
$FREEZE,2.34,-1.596,-1.894,2,1,0
$STATE,4946,end climb,SURFACE_DEPTH_REACHED
$STATE,4946,begin surface coast
$FREEZE,1.48,-1.597,-1.894,2,1,0
$FREEZE,0.76,-1.595,-1.893,2,1,0
$FREEZE,0.10,-1.593,-1.893,2,1,0
$FREEZE,0.13,-1.602,-1.893,2,1,0
$FINISH,0.1,1.027759
$STATE,4968,end surface coast,CONTROL_FINISHED_OK
$STATE,4969,begin surface
$SM_CCo,4984,45.97,0.101,0,0,1655,320.11
$SM_GC,1.05,0.00,0.00,45.97,0.000,0.000,0.101,191,2784,1655,-8.15,0.11,320.11
$IRIDIUM_FIX,-7554.21,17433.14,131210,040409
$TT8_MAMPS,0.026964
$HUMID,51.61
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.7
$ALTIM_BOTTOM_PING,350.8,62.7
$24V_AH,22.4,13.635
$10V_AH,10.0,5.888
$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,18.275,26.175,362.825,45.975,0.000,30.199,38.643,94.224,1.250,0.000,40.091,1376.747,2212.289,461.543,1169.361,113.565,0.000,1010.071,0.000,911.407,0.000,10.633,0.000
$DEVICE_MAMPS,224.145,209.610,961.605,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.530,716.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37158,560
$CAP_FILE_SIZE,70369,0
$CFSIZE,260165632,241709056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.189,205.7,1
$GPS,131210,075320,-7640.208,17505.096,17,2.0,17,125.7