version: 66.08
glider: 503
mission: 7
dive: 187
start: 12 13 110 15 29 4
data:
$ID,503
$MISSION,7
$DIVE,187
$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,-19722.855
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,131210,152338,-7640.247,17515.232,18,2.0,19,125.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-73.8
$GPS2,131210,152836,-7640.258,17515.230,39,0.8,39,125.5
$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,297.8,124574,-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,16,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-92.72,0.000,2,0.000,0.000,184,2762,3485,0,0,0,0,0,0
$GC,113,-0.84,-219.0,3.4,-6.9,15,135,8.98,1.67,-7.97,0.000,4,0.227,0.066,2514,3770,3856,0,0,0,0,0,0
$GC,358,-0.84,-219.0,56.3,-19.1,58,365,0.00,1.58,0.00,0.000,6,0.000,0.029,2513,2761,3859,0,0,0,0,0,0
$GC,499,-0.84,-219.0,83.0,-18.7,83,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2761,3859,0,0,0,0,0,0
$GC,638,-0.84,-219.0,108.8,-18.5,104,642,0.00,2.15,0.00,0.000,4,0.000,0.032,2513,1382,3859,0,0,0,0,0,0
$GC,669,-0.84,-219.0,114.9,-18.5,106,677,0.00,2.28,0.00,0.000,6,0.000,0.044,2503,2762,3859,0,0,0,0,0,0
$GC,804,-0.84,-219.0,140.1,-19.3,119,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2763,3859,0,0,0,0,0,0
$GC,931,-0.84,-219.0,164.3,-19.1,131,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2763,3859,0,0,0,0,0,0
$GC,1059,-0.84,-219.0,188.4,-18.5,143,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2763,3859,0,0,0,0,0,0
$GC,1186,-0.84,-219.0,212.3,-18.8,155,1190,0.00,2.15,0.00,0.000,4,0.000,0.032,2504,1383,3859,0,0,0,0,0,0
$GC,1229,-0.84,-219.0,220.2,-16.9,158,1237,0.08,2.28,0.00,0.000,6,0.135,0.044,2523,2765,3860,0,0,0,0,0,0
$GC,1363,-0.84,-219.0,242.1,-16.6,171,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2766,3859,0,0,0,0,0,0
$GC,1491,-0.84,-219.0,263.7,-17.2,183,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2766,3860,0,0,0,0,0,0
$GC,1682,-0.84,-219.0,295.7,-16.6,201,1686,0.00,2.15,0.00,0.000,4,0.000,0.033,2523,1384,3860,0,0,0,0,0,0
$GC,1713,-0.84,-219.0,301.1,-15.8,203,1721,0.00,2.25,0.00,0.000,6,0.000,0.044,2514,2759,3859,0,0,0,0,0,0
$GC,1914,-0.84,-219.0,334.7,-16.9,222,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3859,0,0,0,0,0,0
$GC,2102,-0.84,-219.0,367.0,-16.9,240,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2760,3860,0,0,0,0,0,0
$STATE,2153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2153,begin apogee
$GC,2158,-0.16,0.0,376.0,16.8,245,2338,0.68,0.00,173.77,0.964,4,0.125,0.000,2740,2760,2960,0,0,0,0,0,0
$STATE,2338,end apogee,CONTROL_FINISHED_OK
$STATE,2338,begin climb
$GC,2340,0.84,219.0,384.8,0.0,261,2543,1.00,2.47,189.23,0.908,4,0.079,0.033,3070,1307,2067,0,0,1,0,0,0
$GC,2728,0.84,219.0,344.7,14.3,295,2735,0.00,2.40,0.00,0.000,6,0.000,0.041,3071,2702,2057,0,0,0,0,0,0
$GC,2926,0.84,219.0,313.7,15.5,314,2930,0.00,2.30,0.00,0.000,4,0.000,0.034,3081,1310,2054,0,0,0,0,0,0
$GC,3099,0.84,219.0,289.1,13.5,329,3103,0.00,2.33,0.00,0.000,6,0.000,0.042,3081,2714,2053,0,0,1,0,0,0
$GC,3298,0.84,219.0,259.7,15.0,347,3301,0.00,1.70,0.00,0.000,4,0.000,0.050,3081,3762,2052,0,0,0,0,0,0
$GC,3333,0.84,219.0,253.7,17.9,350,3337,0.00,1.65,0.00,0.000,6,0.000,0.031,3089,2711,2051,0,0,0,0,0,0
$GC,3537,0.84,219.0,221.0,16.1,369,3540,0.00,1.70,0.00,0.000,4,0.000,0.050,3089,3763,2051,0,0,0,0,0,0
$GC,3583,0.84,219.0,212.7,17.7,373,3586,0.00,1.65,0.00,0.000,6,0.000,0.031,3098,2705,2051,0,0,0,0,0,0
$GC,3722,0.84,219.0,189.5,16.1,386,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2704,2050,0,0,0,0,0,0
$GC,3849,0.84,219.0,169.3,15.5,398,3853,0.00,1.75,0.00,0.000,4,0.000,0.050,3098,3763,2050,0,0,0,0,0,0
$GC,3876,0.84,219.0,164.6,16.8,400,3885,0.10,1.65,0.00,0.000,6,0.153,0.031,3075,2730,2050,0,0,0,0,0,0
$GC,4011,0.84,219.0,145.4,14.0,413,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2730,2050,0,0,0,0,0,0
$GC,4138,0.84,219.0,127.2,14.4,425,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2730,2050,0,0,0,0,0,0
$GC,4266,0.84,219.0,108.4,14.7,437,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2730,2049,0,0,0,0,0,0
$GC,4398,0.84,219.0,89.1,14.6,455,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2730,2049,0,0,0,0,0,0
$GC,4539,0.84,219.0,68.4,14.4,480,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2730,2050,0,0,0,0,0,0
$GC,4681,0.84,219.0,49.1,15.9,505,4688,0.00,1.67,0.00,0.000,4,0.000,0.050,3075,3758,2049,0,0,0,0,0,0
$GC,4706,0.84,219.0,45.0,16.2,509,4712,0.00,1.62,0.00,0.000,6,0.000,0.033,3082,2726,2049,0,0,0,0,0,0
$GC,4848,0.84,219.0,21.6,15.4,534,4854,0.00,1.70,0.00,0.000,4,0.000,0.051,3082,3765,2049,0,0,0,0,0,0
$GC,4893,0.84,219.0,14.0,16.8,542,4900,0.00,1.58,0.00,0.000,6,0.000,0.032,3090,2751,2049,0,0,1,0,0,0
$FREEZE,8.64,-1.635,-1.899,2,1,0
$FREEZE,7.95,-1.637,-1.899,2,1,0
$FREEZE,7.14,-1.636,-1.898,2,1,0
$FREEZE,6.31,-1.637,-1.897,2,1,0
$FREEZE,5.54,-1.636,-1.897,2,1,0
$FREEZE,4.68,-1.638,-1.896,2,1,0
$FREEZE,3.82,-1.632,-1.895,2,1,0
$FREEZE,3.08,-1.629,-1.895,2,1,0
$FREEZE,2.24,-1.630,-1.894,2,1,0
$STATE,4969,end climb,SURFACE_DEPTH_REACHED
$STATE,4969,begin surface coast
$FREEZE,1.15,-1.628,-1.893,2,1,0
$FREEZE,0.36,-1.624,-1.893,2,1,0
$FREEZE,0.07,-1.620,-1.892,2,1,0
$FINISH,0.1,1.027747
$STATE,4987,end surface coast,CONTROL_FINISHED_OK
$STATE,4987,begin surface
$SM_CCo,5002,45.78,0.102,0,0,1654,320.11
$SM_GC,0.95,0.00,0.00,45.78,0.000,0.000,0.102,193,2750,1654,-8.15,-0.85,320.11
$IRIDIUM_FIX,-7554.21,17511.09,131210,131325
$TT8_MAMPS,0.027713
$HUMID,51.65
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.7
$24V_AH,22.4,14.268
$10V_AH,10.0,6.152
$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,18.525,42.675,363.000,45.775,0.000,29.879,42.694,99.081,1.000,0.000,42.140,1385.317,2167.393,481.653,1213.451,113.725,0.000,1054.703,0.000,940.803,0.000,7.758,0.000
$DEVICE_MAMPS,227.205,65.790,963.900,101.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.474,716.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258312
$DATA_FILE_SIZE,37140,559
$CAP_FILE_SIZE,74655,0
$CFSIZE,260165632,241459200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.096,213.1,1
$GPS,131210,165408,-7640.206,17517.584,17,1.3,17,125.4