version: 66.08
glider: 503
mission: 7
dive: 186
start: 12 13 110 13 58 53
data:
$ID,503
$MISSION,7
$DIVE,186
$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,-19721.598
$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,50
$R_STBD_OVSHOOT,27
$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
$GPS1,131210,135401,-7640.289,17512.922,16,1.5,28,125.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.2
$GPS2,131210,135825,-7640.304,17512.910,10,1.3,15,125.5
$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,291.1,125579,-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,15,-0.84,-219.0,0.0,0.0,0,112,0.00,0.00,-94.53,0.000,2,0.000,0.000,185,2772,3562,0,0,0,0,0,0
$GC,114,-0.84,-219.0,4.1,-9.7,16,136,9.00,1.65,-5.93,0.000,4,0.229,0.066,2513,3768,3857,0,0,0,0,0,0
$GC,351,-0.84,-219.0,58.9,-19.6,58,359,0.00,1.55,0.00,0.000,6,0.000,0.031,2513,2776,3860,0,0,0,0,0,0
$GC,496,-0.84,-219.0,86.5,-18.5,83,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3860,0,0,0,0,0,0
$GC,633,-0.84,-219.0,112.7,-19.0,102,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2776,3859,0,0,0,0,0,0
$GC,760,-0.84,-219.0,136.3,-18.4,114,764,0.00,2.17,0.00,0.000,4,0.000,0.033,2513,1379,3859,0,0,0,0,0,0
$GC,800,-0.84,-219.0,143.5,-17.3,117,804,0.00,2.28,0.00,0.000,6,0.000,0.045,2503,2787,3860,0,0,0,0,0,0
$GC,934,-0.84,-219.0,169.0,-19.4,129,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2787,3860,0,0,0,0,0,0
$GC,1061,-0.84,-219.0,193.4,-19.0,141,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2787,3860,0,0,0,0,0,0
$GC,1189,-0.84,-219.0,217.5,-19.3,153,1193,0.00,2.20,0.00,0.000,4,0.000,0.033,2503,1384,3860,0,0,0,0,0,0
$GC,1222,-0.84,-219.0,223.6,-17.8,156,1227,0.12,2.28,0.00,0.000,6,0.161,0.047,2530,2786,3860,0,0,0,0,0,0
$GC,1355,-0.84,-219.0,244.9,-15.9,168,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2786,3860,0,0,0,0,0,0
$GC,1484,-0.84,-219.0,265.1,-15.9,180,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2786,3860,0,0,0,0,0,0
$GC,1674,-0.84,-219.0,295.0,-15.7,198,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2786,3861,0,0,0,0,0,0
$GC,1865,-0.84,-219.0,324.8,-15.6,216,1869,0.00,2.20,0.00,0.000,4,0.000,0.032,2530,1372,3860,0,0,0,0,0,0
$GC,1916,-0.84,-219.0,332.2,-14.0,220,1920,0.00,2.28,0.00,0.000,6,0.000,0.046,2520,2785,3860,0,0,0,0,0,0
$GC,2113,-0.84,-219.0,363.7,-16.3,238,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2786,3860,0,0,0,0,0,0
$STATE,2186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2186,begin apogee
$GC,2191,-0.16,0.0,375.7,16.4,245,2371,0.68,0.00,173.77,0.963,4,0.124,0.000,2746,2699,2960,0,0,0,0,0,0
$STATE,2372,end apogee,CONTROL_FINISHED_OK
$STATE,2372,begin climb
$GC,2374,0.84,219.0,384.6,0.0,261,2577,0.98,2.38,189.20,0.908,4,0.077,0.034,3071,1302,2067,0,0,0,0,0,0
$GC,2716,0.84,219.0,351.6,13.9,291,2724,0.00,2.45,0.00,0.000,6,0.000,0.041,3071,2715,2058,0,0,0,0,0,0
$GC,2914,0.84,219.0,321.8,15.3,310,2918,0.00,2.35,0.00,0.000,4,0.000,0.034,3082,1305,2054,0,0,0,0,0,0
$GC,3100,0.84,219.0,295.4,13.5,326,3104,0.00,2.35,0.00,0.000,6,0.000,0.042,3082,2709,2053,0,0,0,0,0,0
$GC,3298,0.84,219.0,264.7,15.7,344,3301,0.00,1.70,0.00,0.000,4,0.000,0.049,3081,3764,2052,0,0,0,0,0,0
$GC,3356,0.84,219.0,254.9,17.7,349,3360,0.00,1.65,0.00,0.000,6,0.000,0.031,3090,2708,2051,0,0,0,0,0,0
$GC,3559,0.84,219.0,221.1,16.4,368,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2706,2051,0,0,0,0,0,0
$GC,3687,0.84,219.0,200.4,16.5,380,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2707,2050,0,0,0,0,0,0
$GC,3815,0.84,219.0,179.6,16.6,392,3819,0.00,1.75,0.00,0.000,4,0.000,0.050,3090,3764,2050,0,0,0,0,0,0
$GC,3853,0.84,219.0,172.3,18.5,395,3861,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2726,2050,0,0,0,0,0,0
$GC,3988,0.84,219.0,150.4,15.8,408,3992,0.00,1.70,0.00,0.000,4,0.000,0.051,3098,3754,2051,0,0,0,0,0,0
$GC,4022,0.84,219.0,144.2,18.2,411,4027,0.10,1.62,0.00,0.000,6,0.155,0.032,3075,2735,2050,0,0,0,0,0,0
$GC,4161,0.84,219.0,123.9,14.2,424,4165,0.00,2.28,0.00,0.000,4,0.000,0.035,3085,1293,2050,0,0,0,0,0,0
$GC,4189,0.84,219.0,119.9,13.7,426,4193,0.00,2.33,0.00,0.000,6,0.000,0.043,3085,2728,2049,0,0,0,0,0,0
$GC,4323,0.84,219.0,100.2,14.8,438,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2728,2049,0,0,0,0,0,0
$GC,4454,0.84,219.0,80.8,14.1,461,4461,0.00,1.67,0.00,0.000,4,0.000,0.050,3085,3761,2049,0,0,0,0,0,0
$GC,4507,0.84,219.0,72.1,16.7,470,4514,0.00,1.65,0.00,0.000,6,0.000,0.031,3093,2717,2049,0,0,0,0,0,0
$GC,4651,0.84,219.0,50.0,15.2,495,4658,0.00,1.70,0.00,0.000,4,0.000,0.050,3093,3755,2049,0,0,0,0,0,0
$GC,4705,0.84,219.0,40.4,17.6,504,4712,0.08,1.60,0.00,0.000,6,0.160,0.031,3077,2741,2049,0,0,0,0,0,0
$GC,4847,0.84,222.3,18.0,13.2,529,4854,0.00,1.65,0.00,0.000,4,0.000,0.050,3077,3754,2049,0,0,0,0,0,0
$GC,4882,0.84,222.3,12.7,15.3,535,4890,0.00,1.55,0.00,0.000,6,0.000,0.031,3084,2763,2049,0,0,0,0,0,0
$FREEZE,8.73,-1.624,-1.899,2,1,0
$FREEZE,8.03,-1.624,-1.899,2,1,0
$FREEZE,7.25,-1.625,-1.898,2,1,0
$FREEZE,6.45,-1.624,-1.898,2,1,0
$FREEZE,5.79,-1.624,-1.897,2,1,0
$FREEZE,5.01,-1.623,-1.896,2,1,0
$FREEZE,4.27,-1.623,-1.896,2,1,0
$FREEZE,3.56,-1.622,-1.895,2,1,0
$FREEZE,2.67,-1.623,-1.895,2,1,0
$STATE,4948,end climb,SURFACE_DEPTH_REACHED
$STATE,4948,begin surface coast
$FREEZE,1.94,-1.625,-1.894,2,1,0
$FREEZE,0.89,-1.617,-1.893,2,1,0
$FREEZE,-0.04,-1.619,-1.892,2,1,0
$FINISH,-0.0,1.027751
$STATE,4966,end surface coast,CONTROL_FINISHED_OK
$STATE,4967,begin surface
$SM_CCo,4981,45.67,0.101,0,0,1655,320.11
$SM_GC,1.02,0.00,0.00,45.67,0.000,0.000,0.101,185,2762,1655,-8.17,-0.54,320.11
$IRIDIUM_FIX,-7554.21,17511.09,131210,121231
$TT8_MAMPS,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.5
$ALTIM_BOTTOM_PING,350.0,59.4
$24V_AH,22.4,14.162
$10V_AH,10.0,6.107
$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,18.625,50.725,362.975,45.675,0.000,28.055,40.356,93.685,1.250,0.000,18.173,1374.498,2164.128,475.612,1173.828,117.660,0.000,1049.264,0.000,934.167,0.000,11.738,0.000
$DEVICE_MAMPS,228.735,81.090,963.135,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.272,701.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33760,550
$CAP_FILE_SIZE,76761,0
$CFSIZE,260165632,241504256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,205.8,1
$GPS,131210,152338,-7640.247,17515.232,18,2.0,19,125.5