version: 66.08
glider: 503
mission: 7
dive: 190
start: 12 13 110 19 59 30
data:
$ID,503
$MISSION,7
$DIVE,190
$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,-19726.631
$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,27
$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
$GPS1,131210,195426,-7639.966,17522.781,20,1.8,20,125.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-73.3
$GPS2,131210,195902,-7639.958,17522.844,12,1.3,12,125.3
$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,312.8,121237,-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,-94.53,0.000,2,0.000,0.000,188,2753,3550,0,0,0,0,0,0
$GC,115,-0.84,-219.0,4.0,-10.3,16,136,8.95,1.67,-6.18,0.000,4,0.226,0.066,2514,3770,3857,0,0,1,0,0,0
$GC,354,-0.84,-219.0,59.4,-19.4,58,362,0.00,1.55,0.00,0.000,6,0.000,0.030,2514,2779,3860,0,0,0,0,0,0
$GC,498,-0.84,-219.0,87.7,-20.0,83,504,0.00,2.20,0.00,0.000,4,0.000,0.033,2514,1383,3860,0,0,0,0,0,0
$GC,534,-0.84,-219.0,94.7,-18.9,89,540,0.00,2.28,0.00,0.000,6,0.000,0.045,2504,2776,3860,0,0,0,0,0,0
$GC,670,-0.84,-219.0,121.6,-20.5,104,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2776,3860,0,0,0,0,0,0
$GC,798,-0.84,-219.0,147.1,-20.0,116,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2776,3860,0,0,0,0,0,0
$GC,925,-0.84,-219.0,171.7,-19.4,128,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2776,3859,0,0,0,0,0,0
$GC,1052,-0.84,-219.0,195.5,-18.4,140,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2776,3860,0,0,0,0,0,0
$GC,1180,-0.84,-219.0,219.4,-18.6,152,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2775,3860,0,0,0,0,0,0
$GC,1307,-0.84,-219.0,242.7,-18.4,164,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2776,3860,0,0,0,0,0,0
$GC,1434,-0.84,-219.0,266.0,-18.2,176,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2776,3860,0,0,0,0,0,0
$GC,1627,-0.84,-219.0,301.4,-18.3,194,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2776,3860,0,0,0,0,0,0
$GC,1817,-0.84,-219.0,335.6,-17.8,212,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2776,3860,0,0,0,0,0,0
$GC,2008,-0.84,-219.0,368.7,-16.6,230,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2776,3860,0,0,0,0,0,0
$STATE,2049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2049,begin apogee
$GC,2054,-0.16,0.0,376.0,17.4,234,2233,0.73,0.00,173.90,0.962,4,0.129,0.000,2744,2690,2960,0,0,0,0,0,0
$STATE,2234,end apogee,CONTROL_FINISHED_OK
$STATE,2234,begin climb
$GC,2236,0.84,219.0,384.5,0.0,250,2440,1.00,2.38,189.38,0.908,4,0.079,0.033,3075,1300,2066,0,0,0,0,0,0
$GC,2557,0.84,219.0,352.9,14.8,278,2564,0.00,2.47,0.00,0.000,6,0.000,0.041,3075,2696,2059,0,0,0,0,0,0
$GC,2756,0.84,219.0,322.8,15.5,297,2761,0.00,2.33,0.00,0.000,4,0.000,0.034,3085,1308,2055,0,0,0,0,0,0
$GC,2923,0.84,219.0,298.1,14.5,311,2931,0.00,2.35,0.00,0.000,6,0.000,0.042,3085,2701,2053,0,0,1,0,0,0
$GC,3121,0.84,219.0,267.7,15.4,330,3124,0.00,1.73,0.00,0.000,4,0.000,0.050,3085,3766,2052,0,0,0,0,0,0
$GC,3189,0.84,219.0,256.1,17.3,336,3193,0.00,1.62,0.00,0.000,6,0.000,0.031,3093,2718,2051,0,0,1,0,0,0
$GC,3391,0.84,219.0,224.1,15.6,355,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2718,2051,0,0,0,0,0,0
$GC,3519,0.84,219.0,203.9,16.2,367,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2718,2051,0,0,0,0,0,0
$GC,3647,0.84,219.0,183.1,16.4,379,3650,0.00,1.67,0.00,0.000,4,0.000,0.049,3093,3764,2051,0,0,0,0,0,0
$GC,3684,0.84,219.0,175.9,18.9,382,3693,0.08,1.65,0.00,0.000,6,0.156,0.031,3077,2727,2050,0,0,0,0,0,0
$GC,3819,0.84,219.0,155.5,15.0,395,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2727,2050,0,0,0,0,0,0
$GC,3947,0.84,219.0,136.5,14.4,407,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2727,2050,0,0,0,0,0,0
$GC,4074,0.84,219.0,117.2,15.7,419,4077,0.00,1.67,0.00,0.000,4,0.000,0.049,3077,3772,2050,0,0,0,0,0,0
$GC,4132,0.84,219.0,108.4,15.4,424,4136,0.00,1.62,0.00,0.000,6,0.000,0.030,3085,2701,2050,0,0,1,0,0,0
$GC,4270,0.84,219.0,88.0,15.1,443,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2700,2050,0,0,0,0,0,0
$GC,4411,0.84,219.0,67.9,14.9,468,4418,0.00,1.73,0.00,0.000,4,0.000,0.049,3085,3752,2049,0,0,0,0,0,0
$GC,4469,0.84,219.0,58.6,16.3,478,4476,0.00,1.58,0.00,0.000,6,0.000,0.031,3092,2737,2049,0,0,1,0,0,0
$GC,4609,0.84,219.0,36.9,15.7,503,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2738,2049,0,0,0,0,0,0
$GC,4752,0.84,219.0,14.2,16.1,528,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2738,2049,0,0,0,0,0,0
$FREEZE,8.80,-1.625,-1.899,2,1,0
$FREEZE,7.86,-1.629,-1.899,2,1,0
$FREEZE,7.05,-1.627,-1.898,2,1,0
$FREEZE,6.22,-1.611,-1.897,2,1,0
$FREEZE,5.30,-1.615,-1.897,2,1,0
$FREEZE,4.64,-1.612,-1.896,2,1,0
$FREEZE,3.97,-1.612,-1.895,2,1,0
$FREEZE,3.14,-1.583,-1.894,2,1,0
$FREEZE,2.24,-1.596,-1.894,2,1,0
$STATE,4827,end climb,SURFACE_DEPTH_REACHED
$STATE,4827,begin surface coast
$FREEZE,1.43,-1.604,-1.894,2,1,0
$FREEZE,0.56,-1.587,-1.893,2,1,0
$FREEZE,-0.08,-1.600,-1.011,2,1,0
$FINISH,-0.1,1.014935
$STATE,4846,end surface coast,FINISH_DEPTH_REACHED
$STATE,4846,begin surface
$SM_CCo,4861,45.78,0.101,0,0,1655,320.11
$SM_GC,0.94,0.00,0.00,45.78,0.000,0.000,0.101,188,2783,1655,-8.16,0.08,320.11
$IRIDIUM_FIX,-7554.21,17528.92,131210,181838
$TT8_MAMPS,0.027713
$HUMID,51.85
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,350.6,49.7
$24V_AH,22.4,14.586
$10V_AH,10.0,6.282
$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,18.425,30.675,363.275,45.775,0.000,29.664,38.310,109.063,1.250,0.000,15.461,1333.042,2136.021,471.235,1146.308,112.891,0.000,1014.989,0.000,898.529,0.000,10.598,0.000
$DEVICE_MAMPS,226.440,114.750,962.370,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.606,698.951,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258300
$DATA_FILE_SIZE,33713,545
$CAP_FILE_SIZE,70310,0
$CFSIZE,260165632,241344512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.076,257.6,1
$GPS,131210,212214,-7639.878,17525.256,18,1.4,18,125.2