version: 66.08
glider: 503
mission: 7
dive: 321
start: 12 20 110 14 20 7
data:
$ID,503
$MISSION,7
$DIVE,321
$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,-5
$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,-19893.406
$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,23
$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,48
$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
$GPS1,201210,141524,-7630.608,17952.703,27,1.0,44,118.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.4
$GPS2,201210,141938,-7630.559,17952.891,12,2.0,12,118.3
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7700.000,17100.000
$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,116.3,228605,-18.2,-13.333
$D_GRID,391
$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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,111,0.00,0.00,-94.22,0.000,2,0.000,0.000,183,2785,3540,0,0,0,0,0,0
$GC,114,-0.84,-219.0,3.8,-9.6,16,136,8.85,1.62,-6.40,0.000,4,0.216,0.065,2517,3772,3857,0,0,0,0,0,0
$GC,380,-0.84,-219.0,64.6,-19.2,63,387,0.00,1.55,0.00,0.000,6,0.000,0.029,2517,2778,3860,0,0,0,0,0,0
$GC,522,-0.84,-219.0,91.9,-19.4,88,529,0.00,2.20,0.00,0.000,4,0.000,0.032,2517,1383,3860,0,0,0,0,0,0
$GC,616,-0.84,-219.0,109.1,-17.9,100,624,0.00,2.30,0.00,0.000,6,0.000,0.044,2506,2775,3860,0,0,0,0,0,0
$GC,751,-0.84,-219.0,135.4,-21.3,113,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2775,3860,0,0,0,0,0,0
$GC,879,-0.84,-219.0,161.0,-20.1,125,883,0.00,2.20,0.00,0.000,4,0.000,0.033,2507,1378,3860,0,0,0,0,0,0
$GC,916,-0.84,-219.0,168.5,-18.4,128,924,0.08,2.28,0.00,0.000,6,0.132,0.044,2523,2763,3860,0,0,0,0,0,0
$GC,1050,-0.84,-219.0,192.4,-18.0,141,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2763,3861,0,0,0,0,0,0
$GC,1178,-0.84,-219.0,217.1,-19.1,153,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2763,3861,0,0,0,0,0,0
$GC,1305,-0.84,-219.0,239.6,-17.1,165,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2763,3861,0,0,0,0,0,0
$GC,1433,-0.84,-219.0,239.7,-0.1,177,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2763,3861,0,0,0,0,0,0
$STATE,1473,end dive,NO_VERTICAL_VELOCITY
$STATE,1473,begin apogee
$GC,1478,-0.16,0.0,239.6,0.0,181,1657,0.60,0.00,171.23,0.878,4,0.070,0.000,2759,2763,2960,0,0,0,0,0,0
$STATE,1658,end apogee,CONTROL_FINISHED_OK
$STATE,1658,begin climb
$GC,1660,0.84,219.0,239.7,0.0,197,1855,0.90,1.75,186.27,0.822,4,0.070,0.051,3071,3761,2067,0,0,0,0,0,0
$GC,2058,0.84,219.0,192.8,15.3,232,2061,0.00,1.70,0.00,0.000,6,0.000,0.029,3080,2700,2057,0,0,1,0,0,0
$GC,2197,0.84,222.6,173.8,13.2,245,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2700,2055,0,0,0,0,0,0
$GC,2324,0.85,227.7,157.0,13.1,257,2337,0.00,1.83,6.97,0.711,4,0.000,0.049,3080,3762,2031,0,0,0,0,0,0
$GC,2409,0.85,227.7,143.7,15.7,264,2417,0.00,1.67,0.00,0.000,6,0.000,0.029,3087,2713,2030,0,0,1,0,0,0
$GC,2544,0.85,227.7,125.1,13.7,277,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2713,2029,0,0,0,0,0,0
$GC,2672,0.86,235.4,108.2,13.0,289,2682,0.00,0.00,8.27,0.738,6,0.000,0.000,3087,2713,2000,0,0,0,0,0,0
$GC,2811,0.87,241.2,90.0,13.1,309,2824,0.00,0.00,6.47,0.698,6,0.000,0.000,3087,2712,1977,0,0,0,0,0,0
$GC,2961,0.87,241.2,70.2,13.6,335,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2712,1977,0,0,0,0,0,0
$GC,3101,0.87,241.2,51.0,14.5,360,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2713,1976,0,0,0,0,0,0
$GC,3241,0.87,241.2,30.8,14.6,385,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2713,1975,0,0,0,0,0,0
$GC,3381,0.87,241.2,9.3,15.5,410,3388,0.00,1.73,0.00,0.000,4,0.000,0.050,3087,3762,1975,0,0,0,0,0,0
$FREEZE,7.08,-0.537,-1.896,2,1,0
$FREEZE,6.21,-0.529,-1.896,2,1,0
$FREEZE,5.50,-0.529,-1.896,2,1,0
$FREEZE,4.48,-0.524,-1.895,2,1,0
$FREEZE,3.63,-0.525,-1.895,2,1,0
$FREEZE,2.72,-0.481,-1.893,2,1,0
$STATE,3420,end climb,SURFACE_DEPTH_REACHED
$STATE,3420,begin surface coast
$FREEZE,1.73,-0.467,-1.893,2,1,0
$FREEZE,0.69,-0.483,-1.892,2,1,0
$FREEZE,-0.15,-0.478,-1.892,2,1,0
$FINISH,-0.2,1.027698
$STATE,3439,end surface coast,CONTROL_FINISHED_OK
$STATE,3439,begin surface
$SM_CCo,3456,38.03,0.103,0,0,1654,320.11
$SM_GC,0.55,0.00,0.00,38.03,0.000,0.000,0.103,179,2776,1654,-8.19,-0.08,320.11
$IRIDIUM_FIX,-7545.40,17941.57,201210,131332
$TT8_MAMPS,0.027713
$HUMID,52.24
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.9
$24V_AH,22.7,28.303
$10V_AH,10.0,11.378
$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,18.050,22.400,379.225,38.025,0.000,30.132,40.357,85.745,0.250,0.000,14.842,1009.346,1268.548,462.491,926.027,100.770,0.000,914.086,0.000,710.394,0.000,2.611,0.000
$DEVICE_MAMPS,215.730,65.025,878.220,102.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.637,640.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267200
$DATA_FILE_SIZE,27137,420
$CAP_FILE_SIZE,55638,0
$CFSIZE,260165632,236294144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.458, 42.4,1
$GPS,201210,151908,-7630.237,17953.787,8,1.8,8,118.3