version: 66.08
glider: 503
mission: 7
dive: 177
start: 12 13 110 0 27 24
data:
$ID,503
$MISSION,7
$DIVE,177
$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,-19710.283
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,131210,002206,-7639.631,17454.818,29,1.0,33,125.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.9
$GPS2,131210,002656,-7639.634,17454.717,11,1.5,11,125.9
$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,314.6,133187,-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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,107,0.00,0.00,-89.88,0.000,2,0.000,0.000,174,2796,3439,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.5,-8.1,15,137,8.82,1.60,-9.02,0.000,4,0.219,0.068,2513,3760,3856,0,0,0,0,0,0
$GC,255,-0.84,-219.0,38.5,-19.0,40,261,0.00,1.55,0.00,0.000,6,0.000,0.047,2513,2773,3858,0,0,0,0,0,0
$GC,398,-0.84,-219.0,65.6,-18.6,65,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,539,-0.84,-219.0,92.8,-19.7,90,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,676,-0.84,-219.0,118.1,-18.5,106,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,804,-0.84,-219.0,141.9,-18.3,118,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,931,-0.84,-219.0,165.0,-18.0,130,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,1058,-0.84,-219.0,187.7,-17.9,142,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,1185,-0.84,-219.0,211.0,-18.3,154,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,1313,-0.84,-219.0,234.4,-18.5,166,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,1440,-0.84,-219.0,257.3,-18.2,178,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,1632,-0.84,-219.0,291.2,-17.4,196,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2772,3859,0,0,0,0,0,0
$GC,1823,-0.84,-219.0,324.3,-17.4,214,1827,0.00,1.60,0.00,0.000,4,0.000,0.050,2506,3752,3859,0,0,0,0,0,0
$GC,1861,-0.84,-219.0,331.5,-18.3,217,1869,0.00,1.50,0.00,0.000,6,0.000,0.030,2505,2782,3859,0,0,0,0,0,0
$GC,2059,-0.84,-219.0,366.3,-17.6,236,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2782,3859,0,0,0,0,0,0
$STATE,2110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2111,begin apogee
$GC,2115,-0.16,0.0,376.0,18.0,241,2296,0.73,0.00,173.75,0.961,4,0.129,0.000,2745,2698,2959,0,0,0,0,0,0
$STATE,2297,end apogee,CONTROL_FINISHED_OK
$STATE,2297,begin climb
$GC,2299,0.84,219.0,386.1,0.0,257,2501,0.98,2.38,188.93,0.909,4,0.077,0.032,3069,1301,2066,0,0,0,0,0,0
$GC,2614,0.85,231.3,357.6,12.8,285,2630,0.00,2.40,11.35,0.822,6,0.000,0.041,3070,2689,2017,0,0,1,0,0,0
$GC,2825,0.85,231.3,327.2,14.6,304,2829,0.00,2.30,0.00,0.000,4,0.000,0.033,3079,1306,2012,0,0,0,0,0,0
$GC,2981,0.85,231.3,304.6,13.7,317,2988,0.00,2.35,0.00,0.000,6,0.000,0.041,3080,2715,2009,0,0,1,0,0,0
$GC,3179,0.85,231.3,274.0,15.7,336,3183,0.00,1.70,0.00,0.000,4,0.000,0.050,3080,3764,2009,0,0,0,0,0,0
$GC,3217,0.85,231.3,267.1,17.0,339,3226,0.00,1.70,0.00,0.000,6,0.000,0.031,3088,2713,2008,0,0,0,0,0,0
$GC,3415,0.85,231.3,234.8,16.4,358,3419,0.00,1.73,0.00,0.000,4,0.000,0.050,3088,3772,2008,0,0,0,0,0,0
$GC,3453,0.85,231.3,227.7,18.2,361,3461,0.00,1.67,0.00,0.000,6,0.000,0.031,3096,2713,2007,0,0,1,0,0,0
$GC,3588,0.85,231.3,205.7,16.3,374,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2713,2007,0,0,0,0,0,0
$GC,3715,0.85,231.3,184.8,16.4,386,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2712,2007,0,0,0,0,0,0
$GC,3843,0.85,231.3,163.3,17.0,398,3846,0.00,1.70,0.00,0.000,4,0.000,0.050,3096,3768,2007,0,0,0,0,0,0
$GC,3888,0.85,231.3,155.1,19.2,402,3892,0.12,1.65,0.00,0.000,6,0.174,0.031,3071,2704,2006,0,0,0,0,0,0
$GC,4027,0.85,231.3,133.0,15.3,415,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2704,2006,0,0,0,0,0,0
$GC,4155,0.85,231.3,114.9,13.4,427,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2704,2006,0,0,0,0,0,0
$GC,4283,0.85,231.3,97.8,13.9,440,4289,0.00,1.75,0.00,0.000,4,0.000,0.050,3071,3787,2006,0,0,0,0,0,0
$GC,4329,0.85,231.3,90.3,17.4,448,4337,0.00,1.67,0.00,0.000,6,0.000,0.031,3079,2727,2006,0,0,0,0,0,0
$GC,4473,0.85,231.3,67.5,15.3,473,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2727,2006,0,0,0,0,0,0
$GC,4612,0.85,231.3,46.3,14.6,498,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2727,2005,0,0,0,0,0,0
$GC,4754,0.85,231.3,24.9,14.7,523,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2727,2005,0,0,0,0,0,0
$FREEZE,8.23,-1.637,-1.899,2,1,0
$FREEZE,7.35,-1.636,-1.898,2,1,0
$FREEZE,6.66,-1.634,-1.898,2,1,0
$FREEZE,5.88,-1.637,-1.897,2,1,0
$FREEZE,5.11,-1.632,-1.897,2,1,0
$FREEZE,4.28,-1.632,-1.896,2,1,0
$GC,4895,0.85,231.3,4.3,14.8,548,4902,0.00,1.70,0.00,0.000,4,0.000,0.049,3079,3766,2005,0,0,0,0,0,0
$FREEZE,2.09,-1.622,-1.894,2,1,0
$STATE,4908,end climb,SURFACE_DEPTH_REACHED
$STATE,4908,begin surface coast
$FREEZE,1.20,-1.625,-1.893,2,1,0
$FREEZE,0.28,-1.628,-1.893,2,1,0
$FREEZE,-0.03,-1.655,-0.198,2,1,0
$FINISH,-0.0,1.002657
$STATE,4925,end surface coast,FINISH_DEPTH_REACHED
$STATE,4925,begin surface
$SM_CCo,4942,40.45,0.101,0,0,1654,320.11
$SM_GC,0.97,0.00,0.00,40.45,0.000,0.000,0.101,189,2770,1654,-8.16,-0.28,320.11
$IRIDIUM_FIX,-7554.21,17452.55,121210,222244
$TT8_MAMPS,0.026964
$HUMID,51.69
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,20.2
$24V_AH,22.4,13.212
$10V_AH,10.0,5.711
$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,18.275,32.600,374.025,40.450,0.000,31.372,46.281,106.770,1.500,0.000,14.654,1353.231,2164.552,485.020,1170.605,115.248,0.000,1044.444,0.000,911.412,0.000,7.760,0.000
$DEVICE_MAMPS,218.790,99.450,960.840,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.985,708.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33676,553
$CAP_FILE_SIZE,72200,0
$CFSIZE,260165632,241876992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.138,239.8,1
$GPS,131210,015206,-7639.708,17456.932,43,1.0,59,125.9