version: 66.08
glider: 503
mission: 7
dive: 193
start: 12 14 110 0 36 1
data:
$ID,503
$MISSION,7
$DIVE,193
$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,-19730.414
$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,45
$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
$GPS1,141210,002535,-7639.948,17530.193,19,1.9,28,125.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-72.7
$GPS2,141210,003532,-7639.948,17530.352,14,1.5,14,125.1
$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,311.2,118027,-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,-219.0,0.0,0.0,0,111,0.00,0.00,-94.38,0.000,2,0.000,0.000,184,2799,3542,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.9,-9.5,16,136,9.00,1.58,-6.35,0.000,4,0.225,0.067,2519,3751,3856,0,0,0,0,0,0
$GC,258,-0.84,-219.0,39.7,-18.8,41,265,0.00,1.55,0.00,0.000,6,0.000,0.030,2519,2768,3859,0,0,0,0,0,0
$GC,400,-0.84,-219.0,66.3,-18.6,66,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2767,3859,0,0,0,0,0,0
$GC,541,-0.84,-219.0,92.2,-19.1,91,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2767,3859,0,0,0,0,0,0
$GC,683,-0.84,-219.0,118.1,-17.7,108,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2767,3860,0,0,0,0,0,0
$GC,810,-0.84,-219.0,140.9,-18.1,120,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2767,3859,0,0,0,0,0,0
$GC,938,-0.84,-219.0,163.8,-17.7,132,941,0.00,1.60,0.00,0.000,4,0.000,0.051,2510,3745,3859,0,0,0,0,0,0
$GC,972,-0.84,-219.0,170.0,-18.8,135,976,0.00,1.50,0.00,0.000,6,0.000,0.031,2511,2786,3859,0,0,0,0,0,0
$GC,1112,-0.84,-219.0,195.3,-18.3,148,1116,0.00,2.22,0.00,0.000,4,0.000,0.033,2511,1373,3859,0,0,0,0,0,0
$GC,1143,-0.84,-219.0,201.3,-17.9,150,1152,0.00,2.25,0.00,0.000,6,0.000,0.044,2501,2747,3860,0,0,0,0,0,0
$GC,1279,-0.84,-219.0,225.6,-18.5,163,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2747,3859,0,0,0,0,0,0
$GC,1406,-0.84,-219.0,249.2,-18.7,175,1413,0.00,1.62,0.00,0.000,4,0.000,0.052,2493,3787,3859,0,0,0,0,0,0
$GC,1463,-0.84,-219.0,260.5,-19.2,180,1468,0.08,1.58,0.00,0.000,6,0.148,0.031,2527,2774,3859,0,0,0,0,0,0
$GC,1669,-0.84,-219.0,293.4,-15.8,199,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2773,3860,0,0,0,0,0,0
$GC,1867,-0.84,-219.0,325.2,-16.3,218,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2773,3859,0,0,0,0,0,0
$GC,2058,-0.84,-219.0,356.8,-16.5,236,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2773,3859,0,0,0,0,0,0
$STATE,2174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2174,begin apogee
$GC,2179,-0.16,0.0,375.9,16.5,247,2358,0.65,0.00,173.70,0.963,4,0.125,0.000,2745,2686,2960,0,0,0,0,0,0
$STATE,2359,end apogee,CONTROL_FINISHED_OK
$STATE,2359,begin climb
$GC,2361,0.84,219.0,385.7,0.0,263,2563,0.98,2.35,189.20,0.910,4,0.076,0.034,3070,1311,2067,0,0,0,0,0,0
$GC,2688,0.85,232.4,355.9,12.8,292,2712,0.00,2.38,12.57,0.829,6,0.000,0.041,3070,2695,2012,0,0,1,0,0,0
$GC,2903,0.85,232.4,324.8,15.2,312,2907,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1317,2006,0,0,0,0,0,0
$GC,3087,0.85,232.4,298.5,13.6,328,3091,0.00,2.30,0.00,0.000,6,0.000,0.041,3081,2707,2006,0,0,1,0,0,0
$GC,3285,0.85,232.4,267.8,16.0,346,3289,0.00,1.73,0.00,0.000,4,0.000,0.049,3081,3771,2005,0,0,0,0,0,0
$GC,3319,0.85,232.4,261.7,17.7,349,3323,0.00,1.62,0.00,0.000,6,0.000,0.031,3089,2721,2004,0,0,1,0,0,0
$GC,3522,0.85,232.4,228.0,16.0,368,3525,0.00,1.70,0.00,0.000,4,0.000,0.048,3089,3774,2004,0,0,0,0,0,0
$GC,3559,0.85,232.4,221.2,17.7,371,3567,0.00,1.67,0.00,0.000,6,0.000,0.030,3097,2714,2002,0,0,1,0,0,0
$GC,3694,0.85,232.4,199.1,16.6,384,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2714,2003,0,0,0,0,0,0
$GC,3821,0.85,232.4,177.6,16.6,396,3825,0.00,1.73,0.00,0.000,4,0.000,0.049,3097,3759,2003,0,0,0,0,0,0
$GC,3846,0.85,232.4,172.7,18.2,398,3855,0.08,1.62,0.00,0.000,6,0.151,0.032,3081,2728,2002,0,0,1,0,0,0
$GC,3981,0.85,232.4,151.4,15.4,411,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2728,2002,0,0,0,0,0,0
$GC,4108,0.85,232.4,131.2,15.7,423,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2728,2002,0,0,0,0,0,0
$GC,4236,0.85,232.4,111.0,16.0,435,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2727,2002,0,0,0,0,0,0
$GC,4365,0.85,232.4,91.5,14.6,452,4371,0.00,1.70,0.00,0.000,4,0.000,0.049,3080,3764,2001,0,0,0,0,0,0
$GC,4401,0.85,232.4,85.7,16.3,458,4408,0.00,1.67,0.00,0.000,6,0.000,0.031,3088,2705,2001,0,0,0,0,0,0
$GC,4542,0.85,232.4,63.3,15.5,483,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2705,2001,0,0,0,0,0,0
$GC,4683,0.85,232.4,41.2,15.2,508,4690,0.00,1.75,0.00,0.000,4,0.000,0.050,3088,3768,2001,0,0,0,0,0,0
$GC,4729,0.85,232.4,33.5,17.1,516,4736,0.00,1.62,0.00,0.000,6,0.000,0.032,3096,2735,2001,0,0,0,0,0,0
$GC,4871,0.85,232.4,10.4,16.0,541,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2735,2001,0,0,0,0,0,0
$FREEZE,8.13,-1.516,-1.899,2,1,0
$FREEZE,7.43,-1.503,-1.898,2,1,0
$FREEZE,6.45,-1.523,-1.897,2,1,0
$FREEZE,5.66,-1.465,-1.896,2,1,0
$FREEZE,4.72,-1.454,-1.895,2,1,0
$FREEZE,3.92,-1.435,-1.895,2,1,0
$FREEZE,3.05,-1.425,-1.894,2,1,0
$FREEZE,2.30,-1.423,-1.893,2,1,0
$STATE,4921,end climb,SURFACE_DEPTH_REACHED
$STATE,4921,begin surface coast
$FREEZE,1.14,-1.443,-1.893,2,1,0
$FREEZE,0.37,-1.424,-1.891,2,1,0
$FREEZE,-0.05,-1.400,-1.013,2,1,0
$FINISH,-0.0,1.014970
$STATE,4939,end surface coast,FINISH_DEPTH_REACHED
$STATE,4939,begin surface
$SM_CCo,4955,40.38,0.102,0,0,1655,320.11
$SM_GC,0.65,0.00,0.00,40.38,0.000,0.000,0.102,191,2791,1655,-8.16,0.31,320.11
$IRIDIUM_FIX,-7554.21,17538.23,141210,000049
$TT8_MAMPS,0.026964
$HUMID,51.37
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.3
$ALTIM_BOTTOM_PING,351.5,46.7
$24V_AH,22.4,14.923
$10V_AH,10.0,6.419
$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,18.475,40.200,375.475,40.375,0.000,86.921,189.328,94.800,1.250,0.000,16.759,1359.799,2260.745,491.094,1376.417,120.903,0.000,1064.677,0.000,927.625,0.000,10.583,0.000
$DEVICE_MAMPS,224.910,115.515,963.135,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.851,704.776,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,37046,553
$CAP_FILE_SIZE,76404,0
$CFSIZE,260165632,241209344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.102,220.9,1
$GPS,141210,020037,-7640.040,17533.039,41,1.0,42,125.0