version: 66.08
glider: 503
mission: 7
dive: 196
start: 12 14 110 5 10 0
data:
$ID,503
$MISSION,7
$DIVE,196
$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,-19734.188
$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,49
$R_STBD_OVSHOOT,26
$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
$GPS1,141210,050507,-7640.143,17538.676,49,1.1,49,124.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.5
$GPS2,141210,050932,-7640.142,17538.721,11,1.5,11,124.9
$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,302.5,114513,-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,-219.0,0.0,0.0,0,112,0.00,0.00,-94.75,0.000,2,0.000,0.000,187,2770,3560,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-10.2,16,136,8.85,1.67,-5.93,0.000,4,0.222,0.065,2516,3777,3857,0,0,0,0,0,0
$GC,352,-0.84,-219.0,59.1,-19.8,58,360,0.00,1.58,0.00,0.000,6,0.000,0.029,2516,2770,3861,0,0,0,0,0,0
$GC,494,-0.84,-219.0,86.5,-19.4,83,501,0.00,2.20,0.00,0.000,4,0.000,0.031,2516,1373,3860,0,0,0,0,0,0
$GC,541,-0.84,-219.0,95.6,-17.9,91,548,0.00,2.28,0.00,0.000,6,0.000,0.044,2506,2771,3859,0,0,0,0,0,0
$GC,683,-0.84,-219.0,123.5,-19.7,106,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2771,3860,0,0,0,0,0,0
$GC,811,-0.84,-219.0,148.7,-19.7,118,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2771,3860,0,0,0,0,0,0
$GC,938,-0.84,-219.0,173.9,-19.8,130,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2771,3860,0,0,0,0,0,0
$GC,1065,-0.84,-219.0,199.1,-19.5,142,1069,0.00,1.60,0.00,0.000,4,0.000,0.051,2498,3758,3861,0,0,0,0,0,0
$GC,1114,-0.84,-219.0,209.0,-19.8,146,1123,0.08,1.55,0.00,0.000,6,0.145,0.031,2524,2762,3860,0,0,0,0,0,0
$GC,1249,-0.84,-219.0,231.7,-16.6,159,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2762,3860,0,0,0,0,0,0
$GC,1377,-0.84,-219.0,253.5,-17.7,171,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2762,3861,0,0,0,0,0,0
$GC,1567,-0.84,-219.0,287.1,-17.7,189,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2762,3860,0,0,0,0,0,0
$GC,1760,-0.84,-219.0,320.5,-17.5,207,1764,0.00,1.62,0.00,0.000,4,0.000,0.050,2516,3792,3861,0,0,0,0,0,0
$GC,1816,-0.84,-219.0,330.9,-17.2,212,1820,0.00,1.60,0.00,0.000,6,0.000,0.030,2517,2762,3861,0,0,0,0,0,0
$GC,2022,-0.84,-219.0,365.8,-17.6,231,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2760,3860,0,0,0,0,0,0
$STATE,2081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2081,begin apogee
$GC,2085,-0.16,0.0,376.6,17.1,237,2265,0.68,0.00,173.73,0.963,4,0.122,0.000,2743,2760,2959,0,0,0,0,0,0
$STATE,2266,end apogee,CONTROL_FINISHED_OK
$STATE,2266,begin climb
$GC,2267,0.84,219.0,384.5,0.0,253,2471,1.00,2.50,189.30,0.908,4,0.076,0.033,3075,1299,2067,0,0,0,0,0,0
$GC,2663,0.86,237.5,344.9,12.6,288,2686,0.00,2.40,16.80,0.856,6,0.000,0.041,3076,2699,1991,0,0,0,0,0,0
$GC,2878,0.86,237.5,313.0,15.0,308,2883,0.00,2.33,0.00,0.000,4,0.000,0.034,3086,1305,1987,0,0,0,0,0,0
$GC,3035,0.86,237.5,289.6,14.9,321,3041,0.00,2.35,0.00,0.000,6,0.000,0.042,3086,2709,1985,0,0,0,0,0,0
$GC,3232,0.86,237.5,258.4,16.0,340,3235,0.00,1.70,0.00,0.000,4,0.000,0.048,3086,3764,1984,0,0,0,0,0,0
$GC,3267,0.86,237.5,252.4,18.3,343,3270,0.00,1.65,0.00,0.000,6,0.000,0.031,3094,2714,1983,0,0,0,0,0,0
$GC,3470,0.86,237.5,217.6,16.5,362,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2714,1983,0,0,0,0,0,0
$GC,3597,0.86,237.5,196.4,16.6,374,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2714,1983,0,0,0,0,0,0
$GC,3724,0.86,237.5,175.9,15.8,386,3728,0.00,1.70,0.00,0.000,4,0.000,0.049,3094,3770,1982,0,0,0,0,0,0
$GC,3773,0.86,237.5,166.9,18.7,390,3782,0.00,1.65,0.00,0.000,6,0.000,0.031,3103,2718,1982,0,0,1,0,0,0
$GC,3908,0.86,237.5,143.9,18.0,403,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2718,1981,0,0,0,0,0,0
$GC,4035,0.86,237.5,122.1,16.7,415,4039,0.00,1.67,0.00,0.000,4,0.000,0.049,3103,3764,1982,0,0,0,0,0,0
$GC,4081,0.86,237.5,113.7,18.4,419,4085,0.12,1.65,0.00,0.000,6,0.172,0.032,3077,2699,1981,0,0,0,0,0,0
$GC,4217,0.86,237.5,93.2,14.5,435,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2699,1981,0,0,0,0,0,0
$GC,4356,0.86,237.5,72.5,14.7,460,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2699,1981,0,0,0,0,0,0
$GC,4498,0.86,237.5,52.0,14.0,485,4505,0.00,1.73,0.00,0.000,4,0.000,0.050,3077,3754,1981,0,0,0,0,0,0
$GC,4549,0.86,237.5,43.8,15.8,494,4557,0.00,1.62,0.00,0.000,6,0.000,0.031,3084,2722,1981,0,0,0,0,0,0
$GC,4694,0.86,237.5,22.3,15.0,519,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2721,1980,0,0,0,0,0,0
$FREEZE,8.86,-1.331,-1.898,2,1,0
$FREEZE,7.96,-1.320,-1.898,2,1,0
$FREEZE,7.15,-1.317,-1.897,2,1,0
$FREEZE,6.58,-1.315,-1.897,2,1,0
$FREEZE,5.64,-1.307,-1.896,2,1,0
$FREEZE,4.90,-1.304,-1.896,2,1,0
$FREEZE,4.09,-1.314,-1.895,2,1,0
$FREEZE,3.21,-1.310,-1.895,2,1,0
$FREEZE,2.39,-1.305,-1.894,2,1,0
$STATE,4825,end climb,SURFACE_DEPTH_REACHED
$STATE,4825,begin surface coast
$FREEZE,1.60,-1.298,-1.893,2,1,0
$FREEZE,0.74,-1.296,-1.893,2,1,0
$FREEZE,0.06,-1.295,-1.892,2,1,0
$FINISH,0.1,1.027738
$STATE,4842,end surface coast,CONTROL_FINISHED_OK
$STATE,4842,begin surface
$SM_CCo,4858,38.08,0.101,0,0,1655,320.11
$SM_GC,0.60,0.00,0.00,38.08,0.000,0.000,0.101,187,2795,1655,-8.17,0.42,320.11
$IRIDIUM_FIX,-7554.21,17529.65,141210,030301
$TT8_MAMPS,0.026964
$HUMID,52.44
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,19.9
$ALTIM_BOTTOM_PING,300.3,95.3
$24V_AH,22.4,15.250
$10V_AH,10.0,6.552
$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,18.400,37.150,379.825,38.075,0.000,29.858,38.385,98.526,1.250,0.000,13.678,1342.147,2083.814,478.433,1159.884,112.107,0.000,1040.318,0.000,922.072,0.000,9.005,0.000
$DEVICE_MAMPS,221.850,96.390,963.135,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.088,699.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33662,546
$CAP_FILE_SIZE,71830,0
$CFSIZE,260165632,241094656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.087,210.9,1
$GPS,141210,063232,-7640.168,17541.488,18,1.1,18,124.8