version: 66.08
glider: 503
mission: 7
dive: 180
start: 12 13 110 4 57 54
data:
$ID,503
$MISSION,7
$DIVE,180
$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,-19714.055
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,131210,045237,-7639.877,17500.979,34,1.3,35,125.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-71.4
$GPS2,131210,045726,-7639.897,17500.902,8,1.2,8,125.8
$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,301.6,130605,-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,-219.0,0.0,0.0,0,110,0.00,0.00,-92.72,0.000,2,0.000,0.000,196,2784,3503,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.6,-8.2,15,134,8.82,1.62,-7.40,0.000,4,0.221,0.067,2516,3765,3856,0,0,0,0,0,0
$GC,374,-0.84,-219.0,60.5,-19.0,61,382,0.00,1.55,0.00,0.000,6,0.000,0.029,2516,2773,3860,0,0,0,0,0,0
$GC,516,-0.84,-219.0,86.6,-18.0,86,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3859,0,0,0,0,0,0
$GC,659,-0.84,-219.0,112.4,-18.2,106,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,786,-0.84,-219.0,135.4,-17.8,118,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2773,3860,0,0,0,0,0,0
$GC,914,-0.84,-219.0,157.9,-18.0,130,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,1041,-0.84,-219.0,180.9,-17.9,142,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,1169,-0.84,-219.0,202.9,-17.1,154,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,1297,-0.84,-219.0,224.7,-17.0,166,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,1424,-0.84,-219.0,246.1,-16.9,178,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3861,0,0,0,0,0,0
$GC,1551,-0.84,-219.0,267.3,-16.4,190,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,1742,-0.84,-219.0,299.4,-17.3,208,1747,0.00,1.60,0.00,0.000,4,0.000,0.051,2509,3754,3860,0,0,0,0,0,0
$GC,1776,-0.84,-219.0,305.4,-18.0,211,1779,0.00,1.52,0.00,0.000,6,0.000,0.031,2509,2771,3860,0,0,0,0,0,0
$GC,1979,-0.84,-219.0,341.3,-17.4,230,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2770,3860,0,0,0,0,0,0
$GC,2170,-0.84,-219.0,373.9,-16.9,248,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2770,3861,0,0,0,0,0,0
$STATE,2178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2179,begin apogee
$GC,2183,-0.16,0.0,375.7,17.2,249,2364,0.70,0.00,173.55,0.962,4,0.126,0.000,2742,2684,2959,0,0,0,0,0,0
$STATE,2365,end apogee,CONTROL_FINISHED_OK
$STATE,2365,begin climb
$GC,2366,0.84,219.0,384.6,0.0,265,2570,1.00,2.35,188.80,0.907,4,0.079,0.034,3073,1311,2066,0,0,0,0,0,0
$GC,2732,0.85,225.0,347.7,13.1,297,2743,0.00,2.45,5.35,0.697,6,0.000,0.040,3073,2728,2041,0,0,0,0,0,0
$GC,2942,0.85,225.0,316.3,15.0,317,2946,0.00,2.35,0.00,0.000,4,0.000,0.034,3083,1315,2038,0,0,0,0,0,0
$GC,3128,0.85,225.0,289.2,14.4,333,3132,0.00,2.33,0.00,0.000,6,0.000,0.041,3083,2709,2037,0,0,0,0,0,0
$GC,3326,0.85,225.0,257.8,16.1,351,3329,0.00,1.73,0.00,0.000,4,0.000,0.049,3083,3753,2036,0,0,0,0,0,0
$GC,3359,0.85,225.0,252.0,16.6,354,3363,0.00,1.62,0.00,0.000,6,0.000,0.031,3092,2699,2035,0,0,1,0,0,0
$GC,3563,0.85,225.0,219.4,15.6,373,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2699,2035,0,0,0,0,0,0
$GC,3690,0.85,225.0,199.4,15.6,385,3693,0.00,1.70,0.00,0.000,4,0.000,0.048,3092,3761,2035,0,0,0,0,0,0
$GC,3727,0.85,225.0,192.6,17.8,388,3734,0.00,1.67,0.00,0.000,6,0.000,0.031,3100,2710,2035,0,0,0,0,0,0
$GC,3861,0.85,225.0,171.1,16.0,401,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2711,2034,0,0,0,0,0,0
$GC,3989,0.85,225.0,150.2,16.3,413,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2710,2035,0,0,0,0,0,0
$GC,4116,0.85,225.0,129.4,16.3,425,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2711,2034,0,0,0,0,0,0
$GC,4244,0.85,225.0,108.4,16.8,437,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2711,2034,0,0,0,0,0,0
$GC,4374,0.85,225.0,86.1,16.0,456,4381,0.00,1.73,0.00,0.000,4,0.000,0.050,3100,3758,2034,0,0,0,0,0,0
$GC,4426,0.85,225.0,76.9,18.5,465,4433,0.10,1.65,0.00,0.000,6,0.149,0.031,3066,2719,2034,0,0,0,0,0,0
$GC,4569,0.85,225.0,57.0,14.2,490,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2719,2033,0,0,0,0,0,0
$GC,4711,0.85,225.0,38.4,13.3,515,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2720,2033,0,0,0,0,0,0
$GC,4852,0.85,225.0,19.0,13.7,540,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2720,2033,0,0,0,0,0,0
$FREEZE,8.36,-1.578,-1.899,2,1,0
$FREEZE,7.61,-1.579,-1.898,2,1,0
$FREEZE,6.84,-1.585,-1.898,2,1,0
$FREEZE,6.13,-1.589,-1.897,2,1,0
$FREEZE,5.45,-1.582,-1.897,2,1,0
$FREEZE,4.73,-1.573,-1.896,2,1,0
$FREEZE,3.94,-1.568,-1.895,2,1,0
$FREEZE,3.21,-1.566,-1.895,2,1,0
$FREEZE,2.55,-1.561,-1.894,2,1,0
$STATE,4972,end climb,SURFACE_DEPTH_REACHED
$STATE,4972,begin surface coast
$FREEZE,1.70,-1.559,-1.894,2,1,0
$FREEZE,1.07,-1.556,-1.893,2,1,0
$FREEZE,0.34,-1.556,-1.893,2,1,0
$FREEZE,0.04,-1.557,-0.947,2,1,0
$FINISH,0.0,1.013981
$STATE,4995,end surface coast,FINISH_DEPTH_REACHED
$STATE,4995,begin surface
$SM_CCo,5011,44.45,0.101,0,0,1654,320.11
$SM_GC,1.01,0.00,0.00,44.45,0.000,0.000,0.101,196,2791,1654,-8.14,0.28,320.11
$IRIDIUM_FIX,-7554.21,17501.82,131210,030304
$TT8_MAMPS,0.027713
$HUMID,51.45
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.2
$ALTIM_BOTTOM_PING,350.5,68.1
$24V_AH,22.4,13.531
$10V_AH,10.0,5.844
$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,18.200,26.050,367.700,44.450,0.000,29.900,44.044,117.259,1.250,0.000,11.493,1389.299,2202.183,462.530,1193.630,111.633,0.000,1022.212,0.000,932.201,0.000,10.642,0.000
$DEVICE_MAMPS,221.085,99.450,961.605,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.873,729.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37133,566
$CAP_FILE_SIZE,71458,0
$CFSIZE,260165632,241750016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.159,212.7,1
$GPS,131210,062319,-7640.046,17503.035,31,1.5,31,125.7