version: 66.08
glider: 503
mission: 7
dive: 183
start: 12 13 110 9 28 36
data:
$ID,503
$MISSION,7
$DIVE,183
$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,-19717.824
$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,42
$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
$GPS1,131210,092334,-7640.359,17507.156,27,6.3,46,125.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-71.3
$GPS2,131210,092808,-7640.379,17507.113,14,1.0,14,125.7
$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,286.1,128077,-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,14,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-95.15,0.000,2,0.000,0.000,185,2797,3571,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-9.6,16,136,8.93,2.35,-5.72,0.000,4,0.225,0.052,2525,1361,3856,0,0,0,0,0,0
$GC,386,-0.84,-219.0,58.1,-16.6,64,393,0.00,2.30,0.00,0.000,6,0.000,0.044,2514,2770,3860,0,0,0,0,0,0
$GC,529,-0.84,-219.0,85.3,-19.6,89,535,0.00,2.22,0.00,0.000,4,0.000,0.034,2514,1370,3860,0,0,0,0,0,0
$GC,559,-0.84,-219.0,91.1,-18.6,94,567,0.00,2.30,0.00,0.000,6,0.000,0.045,2504,2777,3860,0,0,0,0,0,0
$GC,704,-0.84,-219.0,119.0,-19.3,111,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2777,3859,0,0,0,0,0,0
$GC,830,-0.84,-219.0,144.0,-19.2,123,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2777,3859,0,0,0,0,0,0
$GC,957,-0.84,-219.0,168.4,-19.2,135,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2777,3860,0,0,0,0,0,0
$GC,1084,-0.84,-219.0,192.7,-19.1,147,1088,0.00,2.20,0.00,0.000,4,0.000,0.032,2504,1371,3860,0,0,0,0,0,0
$GC,1113,-0.84,-219.0,198.0,-18.3,149,1118,0.12,2.28,0.00,0.000,6,0.162,0.045,2530,2779,3860,0,0,0,0,0,0
$GC,1247,-0.84,-219.0,220.1,-16.5,161,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,1374,-0.84,-219.0,240.8,-16.0,173,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,1502,-0.84,-219.0,261.3,-16.1,185,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2779,3860,0,0,0,0,0,0
$GC,1693,-0.84,-219.0,291.5,-15.7,203,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2779,3860,0,0,0,0,0,0
$GC,1884,-0.84,-219.0,321.0,-15.6,221,1888,0.00,2.20,0.00,0.000,4,0.000,0.032,2530,1369,3860,0,0,0,0,0,0
$GC,1918,-0.84,-219.0,326.1,-14.9,224,1922,0.00,2.25,0.00,0.000,6,0.000,0.044,2521,2772,3860,0,0,0,0,0,0
$GC,2116,-0.84,-219.0,358.0,-16.3,242,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2771,3860,0,0,0,0,0,0
$STATE,2219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2219,begin apogee
$GC,2225,-0.16,0.0,375.7,16.6,252,2405,0.68,0.00,173.75,0.962,4,0.124,0.000,2746,2688,2960,0,0,0,0,0,0
$STATE,2406,end apogee,CONTROL_FINISHED_OK
$STATE,2406,begin climb
$GC,2408,0.84,219.0,385.6,0.0,268,2606,0.98,2.38,189.23,0.910,4,0.077,0.034,3071,1299,2066,0,0,0,0,0,0
$GC,2724,0.84,222.2,357.8,13.2,297,2728,0.00,2.42,0.00,0.000,6,0.000,0.042,3071,2699,2058,0,0,1,0,0,0
$GC,2923,0.84,222.2,328.3,15.2,315,2927,0.00,2.33,0.00,0.000,4,0.000,0.034,3082,1308,2054,0,0,0,0,0,0
$GC,3089,0.84,222.2,303.6,14.4,329,3096,0.00,2.40,0.00,0.000,6,0.000,0.042,3082,2709,2052,0,0,0,0,0,0
$GC,3287,0.84,222.2,271.4,16.5,348,3291,0.00,1.70,0.00,0.000,4,0.000,0.048,3082,3766,2052,0,0,0,0,0,0
$GC,3324,0.84,222.2,264.5,18.4,351,3332,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2721,2050,0,0,1,0,0,0
$GC,3523,0.84,222.2,231.7,16.4,370,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2721,2050,0,0,0,0,0,0
$GC,3650,0.84,222.2,211.0,16.0,382,3654,0.00,1.73,0.00,0.000,4,0.000,0.049,3090,3762,2050,0,0,0,0,0,0
$GC,3687,0.84,222.2,204.1,19.2,385,3694,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2719,2049,0,0,1,0,0,0
$GC,3821,0.84,222.2,181.2,16.7,398,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2719,2049,0,0,0,0,0,0
$GC,3948,0.84,222.2,160.5,16.3,410,3952,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3765,2049,0,0,0,0,0,0
$GC,3975,0.84,222.2,155.5,18.3,412,3983,0.10,1.65,0.00,0.000,6,0.151,0.031,3074,2728,2049,0,0,0,0,0,0
$GC,4109,0.84,222.2,135.6,14.4,425,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2049,0,0,0,0,0,0
$GC,4236,0.84,222.2,117.3,14.1,437,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2049,0,0,0,0,0,0
$GC,4364,0.84,222.2,98.5,14.7,449,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2049,0,0,0,0,0,0
$GC,4504,0.84,222.2,78.5,14.0,474,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2728,2048,0,0,0,0,0,0
$GC,4645,0.84,222.2,58.3,14.1,499,4652,0.00,1.70,0.00,0.000,4,0.000,0.049,3074,3764,2049,0,0,0,0,0,0
$GC,4687,0.84,222.2,51.6,16.8,506,4695,0.00,1.65,0.00,0.000,6,0.000,0.032,3082,2718,2048,0,0,0,0,0,0
$GC,4831,0.84,222.2,30.4,15.4,531,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2718,2048,0,0,0,0,0,0
$GC,4972,0.84,222.2,9.1,15.1,556,4979,0.00,1.70,0.00,0.000,4,0.000,0.050,3082,3758,2048,0,0,0,0,0,0
$FREEZE,6.95,-1.623,-1.898,2,1,0
$FREEZE,6.16,-1.619,-1.897,2,1,0
$FREEZE,5.25,-1.630,-1.897,2,1,0
$FREEZE,4.33,-1.627,-1.896,2,1,0
$FREEZE,3.46,-1.626,-1.895,2,1,0
$FREEZE,2.51,-1.626,-1.895,2,1,0
$STATE,5012,end climb,SURFACE_DEPTH_REACHED
$STATE,5012,begin surface coast
$FREEZE,1.49,-1.625,-1.894,2,1,0
$FREEZE,0.64,-1.627,-1.893,2,1,0
$FINISH,0.6,1.027758
$STATE,5023,end surface coast,CONTROL_FINISHED_OK
$STATE,5024,begin surface
$SM_CCo,5041,45.95,0.102,0,0,1655,320.11
$SM_GC,0.99,0.00,0.00,45.95,0.000,0.000,0.102,190,2772,1655,-8.16,-0.23,320.11
$IRIDIUM_FIX,-7554.21,17511.09,131210,070742
$TT8_MAMPS,0.027713
$HUMID,51.81
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,20.1
$ALTIM_BOTTOM_PING,350.9,61.3
$24V_AH,22.4,13.847
$10V_AH,10.0,5.976
$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,18.425,44.375,362.975,45.950,0.000,30.706,46.588,96.836,1.500,0.000,16.694,1387.109,2216.764,478.862,1178.477,116.508,0.000,1047.862,0.000,931.675,0.000,10.630,0.000
$DEVICE_MAMPS,224.910,81.855,962.370,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.637,721.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258332
$DATA_FILE_SIZE,37018,565
$CAP_FILE_SIZE,74606,0
$CFSIZE,260165632,241623040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.199,195.4,1
$GPS,131210,105420,-7640.368,17508.949,18,1.2,18,125.6