version: 66.08
glider: 503
mission: 7
dive: 194
start: 12 14 110 2 5 42
data:
$ID,503
$MISSION,7
$DIVE,194
$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,-19731.674
$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,35
$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
$GPS1,141210,020037,-7640.040,17533.039,41,1.0,42,125.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.8
$GPS2,141210,020514,-7640.039,17533.098,12,1.4,12,125.0
$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,304.9,116881,-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,15,-0.84,-219.0,0.0,0.0,0,113,0.00,0.00,-95.03,0.000,2,0.000,0.000,191,2791,3568,0,0,0,0,0,0
$GC,116,-0.84,-219.0,4.0,-9.9,16,137,8.90,1.60,-5.78,0.000,4,0.224,0.066,2517,3760,3856,0,0,0,0,0,0
$GC,331,-0.84,-219.0,53.5,-18.7,54,339,0.00,1.55,0.00,0.000,6,0.000,0.030,2517,2773,3860,0,0,0,0,0,0
$GC,475,-0.84,-219.0,79.8,-18.1,79,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,619,-0.84,-219.0,106.3,-18.5,102,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3859,0,0,0,0,0,0
$GC,746,-0.84,-219.0,130.2,-18.7,114,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3859,0,0,0,0,0,0
$GC,874,-0.84,-219.0,154.0,-18.6,126,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1001,-0.84,-219.0,177.5,-18.6,138,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1129,-0.84,-219.0,200.4,-17.7,150,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1256,-0.84,-219.0,223.4,-18.3,162,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1383,-0.84,-219.0,245.5,-16.7,174,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,1511,-0.84,-219.0,267.0,-16.9,186,1514,0.00,1.60,0.00,0.000,4,0.000,0.051,2510,3755,3860,0,0,0,0,0,0
$GC,1545,-0.84,-219.0,273.0,-18.7,189,1548,0.00,1.50,0.00,0.000,6,0.000,0.031,2509,2791,3860,0,0,0,0,0,0
$GC,1748,-0.84,-219.0,308.1,-17.4,208,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2791,3860,0,0,0,0,0,0
$GC,1940,-0.84,-219.0,341.0,-17.2,226,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2791,3860,0,0,0,0,0,0
$GC,2130,-0.84,-219.0,374.0,-17.1,244,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2791,3860,0,0,0,0,0,0
$STATE,2139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2139,begin apogee
$GC,2144,-0.16,0.0,375.7,16.8,245,2324,0.70,0.00,173.80,0.962,4,0.128,0.000,2742,2689,2959,0,0,0,0,0,0
$STATE,2325,end apogee,CONTROL_FINISHED_OK
$STATE,2325,begin climb
$GC,2327,0.84,219.0,385.0,0.0,261,2530,1.00,2.35,189.35,0.910,4,0.079,0.034,3073,1311,2066,0,0,0,0,0,0
$GC,2736,0.84,219.0,343.7,13.6,297,2744,0.00,2.38,0.00,0.000,6,0.000,0.041,3073,2684,2057,0,0,1,0,0,0
$GC,2935,0.84,219.0,315.0,14.7,316,2939,0.00,2.28,0.00,0.000,4,0.000,0.034,3083,1312,2054,0,0,0,0,0,0
$GC,3109,0.84,219.0,290.2,13.8,331,3113,0.00,2.33,0.00,0.000,6,0.000,0.042,3083,2709,2052,0,0,0,0,0,0
$GC,3306,0.84,219.0,259.6,15.5,349,3310,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3763,2051,0,0,0,0,0,0
$GC,3343,0.84,219.0,252.8,17.7,352,3351,0.00,1.67,0.00,0.000,6,0.000,0.031,3091,2723,2051,0,0,0,0,0,0
$GC,3543,0.84,219.0,220.4,16.5,371,3546,0.00,1.67,0.00,0.000,4,0.000,0.049,3091,3764,2050,0,0,0,0,0,0
$GC,3577,0.84,219.0,214.1,18.6,374,3580,0.00,1.65,0.00,0.000,6,0.000,0.032,3099,2706,2050,0,0,0,0,0,0
$GC,3716,0.84,219.0,190.6,16.8,387,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2705,2050,0,0,0,0,0,0
$GC,3844,0.84,219.0,169.3,16.7,399,3848,0.00,1.70,0.00,0.000,4,0.000,0.050,3099,3765,2050,0,0,0,0,0,0
$GC,3878,0.84,219.0,163.0,18.9,402,3882,0.12,1.65,0.00,0.000,6,0.173,0.032,3074,2702,2050,0,0,0,0,0,0
$GC,4018,0.84,219.0,142.2,14.7,415,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2701,2049,0,0,0,0,0,0
$GC,4146,0.84,219.0,123.9,14.3,427,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2702,2049,0,0,0,0,0,0
$GC,4273,0.84,219.0,105.0,15.0,439,4276,0.00,1.70,0.00,0.000,4,0.000,0.050,3073,3767,2049,0,0,0,0,0,0
$GC,4318,0.84,219.0,97.7,16.5,444,4325,0.00,1.65,0.00,0.000,6,0.000,0.032,3080,2725,2049,0,0,0,0,0,0
$GC,4459,0.84,219.0,76.3,15.5,469,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2725,2049,0,0,0,0,0,0
$GC,4600,0.84,219.0,54.8,15.0,494,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2725,2049,0,0,0,0,0,0
$GC,4743,0.84,219.0,34.0,15.4,519,4749,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3765,2049,0,0,0,0,0,0
$GC,4783,0.84,219.0,27.5,16.5,526,4791,0.00,1.58,0.00,0.000,6,0.000,0.031,3087,2750,2049,0,0,1,0,0,0
$FREEZE,8.50,-1.477,-1.899,2,1,0
$FREEZE,7.75,-1.483,-1.899,2,1,0
$FREEZE,6.94,-1.462,-1.897,2,1,0
$FREEZE,6.02,-1.447,-1.897,2,1,0
$GC,4925,0.84,219.0,6.0,15.2,551,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2751,2049,0,0,0,0,0,0
$FREEZE,4.07,-1.439,-1.895,2,1,0
$FREEZE,3.29,-1.435,-1.895,2,1,0
$FREEZE,2.42,-1.433,-1.894,2,1,0
$STATE,4947,end climb,SURFACE_DEPTH_REACHED
$STATE,4948,begin surface coast
$FREEZE,1.54,-1.430,-1.893,2,1,0
$FREEZE,0.87,-1.420,-1.893,2,1,0
$FREEZE,0.07,-1.415,-1.892,2,1,0
$FREEZE,-0.08,-1.429,-1.893,2,1,0
$FINISH,-0.1,1.027760
$STATE,4970,end surface coast,CONTROL_FINISHED_OK
$STATE,4970,begin surface
$SM_CCo,4985,45.55,0.101,0,0,1655,320.11
$SM_GC,0.99,0.00,0.00,45.55,0.000,0.000,0.101,194,2749,1655,-8.15,-0.88,320.11
$IRIDIUM_FIX,-7554.21,17538.23,141210,000034
$TT8_MAMPS,0.027713
$HUMID,51.85
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.7
$ALTIM_BOTTOM_PING,350.2,44.6
$24V_AH,22.4,15.030
$10V_AH,10.0,6.463
$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,18.400,32.350,363.150,45.550,0.000,27.654,37.729,113.124,1.250,0.000,14.566,1377.110,2174.018,469.411,1187.373,115.622,0.000,1035.906,0.000,935.202,0.000,10.584,0.000
$DEVICE_MAMPS,224.145,81.090,962.370,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.679,716.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37002,559
$CAP_FILE_SIZE,72881,0
$CFSIZE,260165632,241172480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.110,205.9,1
$GPS,141210,033031,-7640.123,17535.852,14,1.4,20,125.0