version: 66.08
glider: 503
mission: 7
dive: 184
start: 12 13 110 10 59 6
data:
$ID,503
$MISSION,7
$DIVE,184
$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,-19719.082
$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,52
$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
$GPS1,131210,105420,-7640.368,17508.949,18,1.2,18,125.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-72.8
$GPS2,131210,105838,-7640.376,17508.936,12,1.6,12,125.6
$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,283.7,127298,-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,16,-0.84,-219.0,0.0,0.0,0,110,0.00,0.00,-91.88,0.000,2,0.000,0.000,188,2772,3485,0,0,0,0,0,0
$GC,112,-0.84,-219.0,3.6,-8.1,15,134,8.93,1.67,-7.82,0.000,4,0.226,0.067,2513,3774,3856,0,0,0,0,0,0
$GC,385,-0.84,-219.0,62.9,-19.2,63,392,0.00,1.55,0.00,0.000,6,0.000,0.029,2513,2781,3860,0,0,0,0,0,0
$GC,525,-0.84,-219.0,89.6,-19.4,88,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,668,-0.84,-219.0,117.1,-19.3,106,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2781,3859,0,0,0,0,0,0
$GC,795,-0.84,-219.0,141.5,-19.2,118,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$GC,923,-0.84,-219.0,165.1,-18.2,130,927,0.00,2.20,0.00,0.000,4,0.000,0.032,2513,1365,3859,0,0,0,0,0,0
$GC,977,-0.84,-219.0,174.9,-16.2,134,984,0.00,2.33,0.00,0.000,6,0.000,0.044,2503,2779,3859,0,0,0,0,0,0
$GC,1111,-0.84,-219.0,198.6,-17.7,147,1115,0.00,1.58,0.00,0.000,4,0.000,0.052,2495,3755,3860,0,0,0,0,0,0
$GC,1140,-0.84,-219.0,203.9,-19.4,149,1148,0.08,1.52,0.00,0.000,6,0.147,0.031,2522,2780,3860,0,0,0,0,0,0
$GC,1274,-0.84,-219.0,226.5,-17.3,162,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2780,3860,0,0,0,0,0,0
$GC,1401,-0.84,-219.0,247.6,-16.3,174,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2780,3860,0,0,0,0,0,0
$GC,1529,-0.84,-219.0,268.4,-16.5,186,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2780,3860,0,0,0,0,0,0
$GC,1720,-0.84,-219.0,298.9,-15.7,204,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2780,3860,0,0,0,0,0,0
$GC,1911,-0.84,-219.0,329.4,-16.0,222,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2780,3860,0,0,0,0,0,0
$GC,2102,-0.84,-219.0,360.1,-16.0,240,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2780,3860,0,0,0,0,0,0
$STATE,2196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2196,begin apogee
$GC,2200,-0.16,0.0,375.5,15.9,249,2380,0.65,0.00,173.82,0.962,4,0.125,0.000,2740,2690,2959,0,0,0,0,0,0
$STATE,2381,end apogee,CONTROL_FINISHED_OK
$STATE,2381,begin climb
$GC,2383,0.84,219.0,383.6,0.0,265,2587,1.00,2.35,189.02,0.908,4,0.078,0.034,3072,1309,2066,0,0,0,0,0,0
$GC,2733,0.84,219.0,348.2,14.6,296,2738,0.00,2.40,0.00,0.000,6,0.000,0.041,3072,2708,2058,0,0,1,0,0,0
$GC,2931,0.84,219.0,318.1,15.2,314,2935,0.00,2.33,0.00,0.000,4,0.000,0.034,3083,1310,2054,0,0,0,0,0,0
$GC,3104,0.84,219.0,293.1,14.1,329,3109,0.00,2.33,0.00,0.000,6,0.000,0.042,3083,2715,2053,0,0,1,0,0,0
$GC,3304,0.84,219.0,261.9,15.7,347,3307,0.00,1.67,0.00,0.000,4,0.000,0.049,3083,3763,2052,0,0,0,0,0,0
$GC,3341,0.84,219.0,254.9,18.4,350,3350,0.00,1.67,0.00,0.000,6,0.000,0.031,3091,2725,2051,0,0,0,0,0,0
$GC,3540,0.84,219.0,222.9,16.1,369,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2725,2051,0,0,0,0,0,0
$GC,3667,0.84,219.0,202.4,16.0,381,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2724,2051,0,0,0,0,0,0
$GC,3794,0.84,219.0,181.8,16.0,393,3798,0.00,1.73,0.00,0.000,4,0.000,0.050,3091,3765,2050,0,0,0,0,0,0
$GC,3850,0.84,219.0,172.0,17.4,398,3854,0.00,1.65,0.00,0.000,6,0.000,0.032,3099,2698,2050,0,0,0,0,0,0
$GC,3990,0.84,219.0,149.2,15.9,411,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2698,2049,0,0,0,0,0,0
$GC,4117,0.84,219.0,128.6,16.2,423,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2698,2049,0,0,0,0,0,0
$GC,4245,0.84,219.0,108.1,15.9,435,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2698,2049,0,0,0,0,0,0
$GC,4374,0.84,219.0,87.5,16.1,454,4382,0.00,1.75,0.00,0.000,4,0.000,0.049,3099,3784,2049,0,0,0,0,0,0
$GC,4422,0.84,219.0,79.0,17.6,462,4430,0.08,1.67,0.00,0.000,6,0.158,0.032,3073,2728,2049,0,0,0,0,0,0
$GC,4566,0.84,219.0,58.1,13.6,487,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2727,2049,0,0,0,0,0,0
$GC,4706,0.84,219.0,38.1,13.4,512,4713,0.00,1.70,0.00,0.000,4,0.000,0.050,3073,3766,2049,0,0,0,0,0,0
$GC,4742,0.84,219.0,32.7,15.3,518,4750,0.00,1.62,0.00,0.000,6,0.000,0.032,3081,2730,2048,0,0,0,0,0,0
$GC,4886,0.84,219.0,11.0,14.8,543,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2730,2049,0,0,0,0,0,0
$FREEZE,9.00,-1.633,-1.900,2,1,0
$FREEZE,8.35,-1.632,-1.899,2,1,0
$FREEZE,7.67,-1.632,-1.899,2,1,0
$FREEZE,6.89,-1.634,-1.898,2,1,0
$FREEZE,6.25,-1.635,-1.898,2,1,0
$FREEZE,5.56,-1.636,-1.897,2,1,0
$FREEZE,4.77,-1.632,-1.896,2,1,0
$FREEZE,3.91,-1.635,-1.896,2,1,0
$FREEZE,3.16,-1.644,-1.895,2,1,0
$FREEZE,2.34,-1.632,-1.894,2,1,0
$STATE,4944,end climb,SURFACE_DEPTH_REACHED
$STATE,4944,begin surface coast
$FREEZE,1.53,-1.627,-1.894,2,1,0
$FREEZE,0.81,-1.632,-1.893,2,1,0
$FREEZE,0.04,-1.631,-1.893,2,1,0
$FINISH,0.0,1.027759
$STATE,4964,end surface coast,CONTROL_FINISHED_OK
$STATE,4964,begin surface
$SM_CCo,4979,46.40,0.102,0,0,1655,320.11
$SM_GC,0.99,0.00,0.00,46.40,0.000,0.000,0.102,192,2798,1655,-8.15,0.51,320.11
$IRIDIUM_FIX,-7554.21,17529.65,131210,090907
$TT8_MAMPS,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.1
$24V_AH,22.4,13.952
$10V_AH,10.0,6.019
$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,18.375,33.900,362.850,46.400,0.000,27.417,37.215,96.295,1.250,0.000,14.744,1375.609,2178.290,473.654,1159.008,112.569,0.000,1032.201,0.000,924.247,0.000,10.486,0.000
$DEVICE_MAMPS,226.440,101.745,962.370,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.242,712.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33657,557
$CAP_FILE_SIZE,72485,0
$CFSIZE,260165632,241590272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.177,197.1,1
$GPS,131210,122406,-7640.353,17510.947,36,1.1,36,125.6