version: 66.08
glider: 503
mission: 7
dive: 197
start: 12 14 110 6 40 31
data:
$ID,503
$MISSION,7
$DIVE,197
$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,-19735.445
$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,40
$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
$GPS1,141210,063232,-7640.168,17541.488,18,1.1,18,124.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.6
$GPS2,141210,064002,-7640.178,17541.521,13,1.6,13,124.8
$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,304.6,113329,-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,-219.0,0.0,0.0,0,111,0.00,0.00,-93.40,0.000,2,0.000,0.000,186,2796,3522,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.7,-9.0,16,136,8.95,1.60,-6.90,0.000,4,0.223,0.066,2518,3764,3856,0,0,0,0,0,0
$GC,385,-0.84,-219.0,64.0,-18.6,64,392,0.00,1.55,0.00,0.000,6,0.000,0.029,2517,2774,3859,0,0,0,0,0,0
$GC,526,-0.84,-219.0,90.2,-19.0,89,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2774,3859,0,0,0,0,0,0
$GC,668,-0.84,-219.0,116.2,-18.2,107,672,0.00,1.60,0.00,0.000,4,0.000,0.051,2510,3748,3859,0,0,0,0,0,0
$GC,702,-0.84,-219.0,122.5,-18.5,110,705,0.00,1.52,0.00,0.000,6,0.000,0.031,2510,2776,3859,0,0,0,0,0,0
$GC,841,-0.84,-219.0,148.5,-18.4,123,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3860,0,0,0,0,0,0
$GC,970,-0.84,-219.0,171.9,-18.1,135,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2775,3860,0,0,0,0,0,0
$GC,1096,-0.84,-219.0,194.7,-17.9,147,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3860,0,0,0,0,0,0
$GC,1224,-0.84,-219.0,217.8,-18.1,159,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3860,0,0,0,0,0,0
$GC,1352,-0.84,-219.0,241.2,-18.6,171,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3860,0,0,0,0,0,0
$GC,1479,-0.84,-219.0,264.7,-18.7,183,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3860,0,0,0,0,0,0
$GC,1669,-0.84,-219.0,298.6,-17.4,201,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2776,3860,0,0,0,0,0,0
$GC,1863,-0.84,-219.0,331.7,-17.5,219,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2776,3860,0,0,0,0,0,0
$GC,2051,-0.84,-219.0,365.6,-17.7,237,2055,0.00,1.58,0.00,0.000,4,0.000,0.052,2503,3743,3860,0,0,0,0,0,0
$GC,2085,-0.84,-219.0,371.5,-17.8,240,2089,0.00,1.50,0.00,0.000,6,0.000,0.031,2502,2779,3860,0,0,0,0,0,0
$STATE,2105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2106,begin apogee
$GC,2110,-0.16,0.0,375.4,18.0,242,2290,0.73,0.00,173.77,0.964,4,0.128,0.000,2742,2700,2959,0,0,0,0,0,0
$STATE,2291,end apogee,CONTROL_FINISHED_OK
$STATE,2291,begin climb
$GC,2293,0.84,219.0,384.2,0.0,258,2497,1.00,2.40,189.02,0.910,4,0.078,0.033,3073,1296,2067,0,0,0,0,0,0
$GC,2647,0.84,219.0,349.3,13.4,289,2655,0.00,2.45,0.00,0.000,6,0.000,0.041,3073,2686,2058,0,0,0,0,0,0
$GC,2847,0.84,219.0,319.7,15.4,308,2851,0.00,2.30,0.00,0.000,4,0.000,0.034,3085,1302,2055,0,0,0,0,0,0
$GC,3020,0.84,219.0,293.9,14.9,323,3025,0.00,2.38,0.00,0.000,6,0.000,0.042,3084,2710,2054,0,0,0,0,0,0
$GC,3220,0.84,219.0,262.6,16.2,341,3223,0.00,1.70,0.00,0.000,4,0.000,0.049,3084,3768,2052,0,0,0,0,0,0
$GC,3290,0.84,219.0,248.9,18.8,347,3299,0.00,1.67,0.00,0.000,6,0.000,0.030,3092,2714,2052,0,0,1,0,0,0
$GC,3426,0.84,219.0,226.5,16.9,360,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2714,2051,0,0,0,0,0,0
$GC,3553,0.84,219.0,205.4,16.5,372,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2714,2051,0,0,0,0,0,0
$GC,3680,0.84,219.0,184.3,16.5,384,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2714,2051,0,0,0,0,0,0
$GC,3808,0.84,219.0,163.8,15.7,396,3811,0.00,1.70,0.00,0.000,4,0.000,0.049,3092,3774,2051,0,0,0,0,0,0
$GC,3865,0.84,219.0,154.0,17.2,401,3869,0.00,1.65,0.00,0.000,6,0.000,0.031,3101,2720,2050,0,0,1,0,0,0
$GC,4004,0.84,219.0,131.5,16.3,414,4006,0.12,0.00,0.00,0.000,6,0.176,0.000,3068,2718,2050,0,0,0,0,0,0
$GC,4131,0.84,219.0,113.7,13.6,426,4135,0.00,1.67,0.00,0.000,4,0.000,0.049,3067,3768,2050,0,0,0,0,0,0
$GC,4165,0.84,219.0,108.7,15.1,429,4168,0.00,1.65,0.00,0.000,6,0.000,0.031,3076,2699,2050,0,0,0,0,0,0
$GC,4303,0.84,219.0,89.3,13.8,448,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2698,2050,0,0,0,0,0,0
$GC,4443,0.84,219.0,69.3,14.6,473,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2698,2050,0,0,0,0,0,0
$GC,4582,0.84,219.0,49.4,14.5,498,4589,0.00,1.73,0.00,0.000,4,0.000,0.049,3076,3756,2049,0,0,0,0,0,0
$GC,4641,0.84,219.0,39.9,17.3,508,4647,0.00,1.62,0.00,0.000,6,0.000,0.031,3084,2722,2049,0,0,0,0,0,0
$GC,4783,0.84,219.0,18.3,14.9,533,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2723,2049,0,0,0,0,0,0
$FREEZE,8.93,-1.390,-1.899,2,1,0
$FREEZE,8.12,-1.382,-1.898,2,1,0
$FREEZE,7.22,-1.369,-1.898,2,1,0
$FREEZE,6.35,-1.368,-1.897,2,1,0
$FREEZE,5.69,-1.365,-1.896,2,1,0
$FREEZE,4.86,-1.364,-1.896,2,1,0
$FREEZE,4.10,-1.367,-1.895,2,1,0
$FREEZE,3.43,-1.367,-1.895,2,1,0
$FREEZE,2.50,-1.371,-1.894,2,1,0
$STATE,4887,end climb,SURFACE_DEPTH_REACHED
$STATE,4888,begin surface coast
$FREEZE,1.71,-1.368,-1.894,2,1,0
$FREEZE,0.75,-1.365,-1.893,2,1,0
$FREEZE,0.12,-1.365,-1.892,2,1,0
$FREEZE,-0.01,-1.395,-0.924,2,1,0
$FINISH,-0.0,1.013638
$STATE,4910,end surface coast,FINISH_DEPTH_REACHED
$STATE,4911,begin surface
$SM_CCo,4926,45.78,0.101,0,0,1655,320.11
$SM_GC,1.01,0.00,0.00,45.78,0.000,0.000,0.101,183,2796,1655,-8.18,0.45,320.11
$IRIDIUM_FIX,-7554.21,17538.23,141210,060655
$TT8_MAMPS,0.027713
$HUMID,52.04
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.2
$ALTIM_BOTTOM_PING,350.5,39.1
$24V_AH,22.4,15.360
$10V_AH,9.9,6.598
$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,18.475,32.450,362.800,45.775,0.000,58.044,73.274,146.798,1.500,0.000,15.600,1377.998,2182.036,463.576,1291.304,123.723,0.000,1026.511,0.000,932.481,0.000,14.608,0.000
$DEVICE_MAMPS,223.380,99.450,963.900,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.696,717.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37105,556
$CAP_FILE_SIZE,75484,0
$CFSIZE,260165632,241045504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.064,205.9,1
$GPS,141210,080500,-7640.146,17544.283,52,1.3,58,124.8