version: 66.08
glider: 503
mission: 7
dive: 189
start: 12 13 110 18 30 36
data:
$ID,503
$MISSION,7
$DIVE,189
$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,-19725.373
$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,48
$R_STBD_OVSHOOT,31
$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
$GPS1,131210,182320,-7640.110,17519.910,20,1.7,20,125.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.4
$GPS2,131210,183007,-7640.108,17519.969,43,1.1,43,125.3
$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,309.9,122508,-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,-219.0,0.0,0.0,0,113,0.00,0.00,-95.53,0.000,2,0.000,0.000,183,2791,3578,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.1,-9.9,16,137,9.00,1.60,-5.45,0.000,4,0.228,0.067,2517,3764,3856,0,0,0,0,0,0
$GC,340,-0.84,-219.0,59.1,-19.5,56,347,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2776,3859,0,0,0,0,0,0
$GC,482,-0.84,-219.0,86.4,-19.5,81,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2775,3859,0,0,0,0,0,0
$GC,619,-0.84,-219.0,112.9,-19.1,100,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2775,3859,0,0,0,0,0,0
$GC,747,-0.84,-219.0,137.4,-19.4,112,751,0.00,2.17,0.00,0.000,4,0.000,0.033,2517,1379,3859,0,0,0,0,0,0
$GC,779,-0.84,-219.0,143.7,-18.3,114,787,0.00,2.28,0.00,0.000,6,0.000,0.044,2507,2762,3859,0,0,0,0,0,0
$GC,913,-0.84,-219.0,168.8,-19.5,127,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2762,3859,0,0,0,0,0,0
$GC,1041,-0.84,-219.0,192.8,-18.4,139,1045,0.00,1.60,0.00,0.000,4,0.000,0.051,2499,3758,3859,0,0,0,0,0,0
$GC,1090,-0.84,-219.0,203.1,-19.9,143,1098,0.00,1.50,0.00,0.000,6,0.000,0.031,2498,2792,3859,0,0,0,0,0,0
$GC,1224,-0.84,-219.0,229.9,-20.0,156,1226,0.10,0.00,0.00,0.000,6,0.182,0.000,2525,2792,3859,0,0,0,0,0,0
$GC,1353,-0.84,-219.0,251.8,-16.6,168,1357,0.00,2.20,0.00,0.000,4,0.000,0.031,2525,1373,3860,0,0,0,0,0,0
$GC,1382,-0.84,-219.0,256.6,-16.8,170,1386,0.00,2.28,0.00,0.000,6,0.000,0.045,2516,2788,3860,0,0,0,0,0,0
$GC,1579,-0.84,-219.0,290.7,-17.4,188,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2788,3860,0,0,0,0,0,0
$GC,1770,-0.84,-219.0,323.3,-16.6,206,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2787,3860,0,0,0,0,0,0
$GC,1961,-0.84,-219.0,355.6,-17.2,224,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2788,3859,0,0,0,0,0,0
$STATE,2077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2077,begin apogee
$GC,2082,-0.16,0.0,375.5,17.1,235,2262,0.70,0.00,173.80,0.963,4,0.124,0.000,2749,2683,2959,0,0,0,0,0,0
$STATE,2263,end apogee,CONTROL_FINISHED_OK
$STATE,2263,begin climb
$GC,2265,0.84,219.0,384.8,0.0,251,2462,0.90,0.00,188.82,0.909,6,0.072,0.000,3065,2682,2067,0,0,0,0,0,0
$GC,2652,0.84,219.0,343.3,14.7,287,2656,0.00,1.85,0.00,0.000,4,0.000,0.048,3065,3765,2057,0,0,0,0,0,0
$GC,2743,0.84,219.0,328.2,16.9,295,2746,0.00,1.67,0.00,0.000,6,0.000,0.030,3073,2718,2055,0,0,1,0,0,0
$GC,2945,0.84,219.0,296.9,15.5,314,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2718,2054,0,0,0,0,0,0
$GC,3138,0.84,219.0,267.8,14.8,332,3142,0.00,1.70,0.00,0.000,4,0.000,0.048,3073,3762,2053,0,0,0,0,0,0
$GC,3183,0.84,219.0,260.1,17.2,336,3187,0.00,1.65,0.00,0.000,6,0.000,0.031,3081,2713,2053,0,0,0,0,0,0
$GC,3387,0.84,219.0,229.3,14.6,355,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2709,2052,0,0,0,0,0,0
$GC,3514,0.84,219.0,210.5,14.9,367,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2709,2052,0,0,0,0,0,0
$GC,3641,0.84,219.0,191.9,14.3,379,3645,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3765,2052,0,0,0,0,0,0
$GC,3687,0.84,219.0,184.5,16.9,383,3691,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2702,2051,0,0,0,0,0,0
$GC,3827,0.84,219.0,162.9,15.7,396,3831,0.00,1.70,0.00,0.000,4,0.000,0.049,3089,3762,2051,0,0,0,0,0,0
$GC,3862,0.84,219.0,157.1,17.2,399,3865,0.00,1.65,0.00,0.000,6,0.000,0.032,3097,2699,2051,0,0,0,0,0,0
$GC,4001,0.84,219.0,134.0,16.0,412,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2699,2051,0,0,0,0,0,0
$GC,4129,0.84,219.0,113.2,16.7,424,4132,0.00,1.70,0.00,0.000,4,0.000,0.050,3097,3763,2051,0,0,0,0,0,0
$GC,4197,0.84,219.0,101.0,18.1,430,4202,0.08,1.60,0.00,0.000,6,0.149,0.031,3072,2753,2050,0,0,0,0,0,0
$GC,4339,0.84,219.0,80.9,13.9,454,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2753,2050,0,0,0,0,0,0
$GC,4480,0.84,219.0,60.4,14.0,479,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2753,2050,0,0,0,0,0,0
$GC,4621,0.84,219.0,40.6,13.9,504,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2753,2050,0,0,0,0,0,0
$GC,4760,0.84,219.0,20.9,15.1,529,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2753,2050,0,0,0,0,0,0
$FREEZE,8.57,-1.627,-1.899,2,1,0
$FREEZE,7.97,-1.625,-1.899,2,1,0
$FREEZE,7.19,-1.624,-1.898,2,1,0
$FREEZE,6.52,-1.628,-1.898,2,1,0
$FREEZE,5.86,-1.625,-1.897,2,1,0
$FREEZE,5.12,-1.618,-1.896,2,1,0
$FREEZE,4.28,-1.618,-1.896,2,1,0
$FREEZE,3.47,-1.609,-1.895,2,1,0
$FREEZE,2.81,-1.629,-1.895,2,1,0
$STATE,4888,end climb,SURFACE_DEPTH_REACHED
$STATE,4888,begin surface coast
$FREEZE,1.82,-1.617,-1.894,2,1,0
$FREEZE,1.12,-1.605,-1.893,2,1,0
$FREEZE,0.25,-1.603,-1.893,2,1,0
$FREEZE,0.06,-1.613,-1.799,2,1,0
$FINISH,0.1,1.026420
$STATE,4911,end surface coast,CONTROL_FINISHED_OK
$STATE,4911,begin surface
$SM_CCo,4926,45.80,0.102,0,0,1654,320.11
$SM_GC,0.97,0.00,0.00,45.80,0.000,0.000,0.102,188,2752,1654,-8.16,-0.79,320.11
$IRIDIUM_FIX,-7554.21,17519.61,131210,161632
$TT8_MAMPS,0.027713
$HUMID,51.57
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,19.6
$ALTIM_BOTTOM_PING,350.0,52.9
$24V_AH,22.4,14.480
$10V_AH,10.0,6.240
$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,18.450,32.175,362.625,45.800,0.000,52.337,66.886,95.127,1.250,0.000,45.695,1374.968,2217.758,457.282,1231.542,113.657,0.000,1013.046,0.000,913.136,0.000,10.608,0.000
$DEVICE_MAMPS,227.970,71.145,963.135,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.783,714.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37062,556
$CAP_FILE_SIZE,72434,0
$CFSIZE,260165632,241381376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.084,248.0,1
$GPS,131210,195426,-7639.966,17522.781,20,1.8,20,125.3