version: 66.08
glider: 503
mission: 7
dive: 121
start: 12 8 110 15 13 42
data:
$ID,503
$MISSION,7
$DIVE,121
$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,616.91943
$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,-19639.451
$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,45
$R_STBD_OVSHOOT,43
$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,,,-7645.817,17108.318,241,99.0,241,132.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-58.1
$GPS2,081210,151257,-7645.849,17111.018,65,3.8,84,132.0
$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,310.7,230577,-18.2,-13.333
$D_GRID,753
$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,-219.0,0.0,0.0,0,171,0.00,0.00,-151.23,0.000,2,0.000,0.000,169,2795,3452,0,0,0,0,0,0
$GC,173,-0.84,-219.0,3.5,-6.5,25,200,8.75,1.55,-8.82,0.000,4,0.220,0.069,2515,3748,3857,0,0,0,0,0,0
$GC,355,-0.84,-219.0,46.6,-20.8,57,362,0.00,1.52,0.00,0.000,6,0.000,0.030,2515,2768,3859,0,0,0,0,0,0
$GC,496,-0.84,-219.0,73.2,-19.3,82,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2768,3860,0,0,0,0,0,0
$GC,641,-0.84,-219.0,102.3,-19.7,107,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2768,3859,0,0,0,0,0,0
$GC,768,-0.84,-219.0,127.4,-21.3,119,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2768,3860,0,0,0,0,0,0
$GC,896,-0.84,-219.0,151.8,-18.2,131,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,1023,-0.84,-219.0,174.0,-17.0,143,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2768,3860,0,0,0,0,0,0
$GC,1151,-0.84,-219.0,196.5,-18.0,155,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2768,3860,0,0,0,0,0,0
$GC,1278,-0.84,-219.0,220.4,-18.9,167,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3860,0,0,0,0,0,0
$GC,1406,-0.84,-219.0,245.2,-19.1,179,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2768,3859,0,0,0,0,0,0
$GC,1533,-0.84,-219.0,269.2,-18.7,191,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2768,3860,0,0,0,0,0,0
$GC,1724,-0.84,-219.0,304.3,-18.3,209,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2768,3859,0,0,0,0,0,0
$GC,1916,-0.84,-219.0,338.6,-17.2,227,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2768,3860,0,0,0,0,0,0
$GC,2107,-0.84,-219.0,371.8,-17.3,245,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2767,3859,0,0,0,0,0,0
$GC,2298,-0.84,-219.0,405.6,-17.6,263,2301,0.00,1.58,0.00,0.000,4,0.000,0.050,2508,3741,3859,0,0,0,0,0,0
$GC,2343,-0.84,-219.0,413.9,-18.2,267,2347,0.00,1.48,0.00,0.000,6,0.000,0.031,2508,2789,3859,0,0,0,0,0,0
$GC,2547,-0.84,-219.0,450.7,-18.6,286,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3859,0,0,0,0,0,0
$GC,2738,-0.84,-219.0,485.7,-18.1,304,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3859,0,0,0,0,0,0
$GC,2947,-0.84,-219.0,522.2,-17.6,316,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3859,0,0,0,0,0,0
$GC,3130,-0.84,-219.0,553.8,-17.0,322,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3859,0,0,0,0,0,0
$GC,3313,-0.84,-219.0,584.7,-16.8,328,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3859,0,0,0,0,0,0
$GC,3497,-0.84,-219.0,615.8,-16.9,334,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3859,0,0,0,0,0,0
$GC,3680,-0.84,-219.0,646.7,-16.8,340,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2789,3859,0,0,0,0,0,0
$GC,3863,-0.84,-219.0,677.2,-16.4,346,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2788,3859,0,0,0,0,0,0
$GC,4050,-0.84,-219.0,702.6,-13.3,352,4054,0.00,1.55,0.00,0.000,4,0.000,0.055,2508,3741,3859,0,0,0,0,0,0
$RESTART_TIME,Wed Dec  8 16:37:33 2010