version: 66.08
glider: 503
mission: 7
dive: 200
start: 12 14 110 11 12 0
data:
$ID,503
$MISSION,7
$DIVE,200
$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,-19739.221
$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,36
$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
$GPS1,141210,110707,-7640.046,17550.197,45,1.1,45,124.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-75.2
$GPS2,141210,111132,-7640.057,17550.258,13,1.4,13,124.6
$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,305.9,109568,-18.2,-13.333
$D_GRID,385
$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,-219.0,0.0,0.0,0,108,0.00,0.00,-89.82,0.000,2,0.000,0.000,192,2789,3413,0,0,0,0,0,0
$GC,111,-0.84,-219.0,3.2,-6.2,15,138,8.85,2.28,-9.85,0.000,4,0.223,0.047,2521,1372,3856,0,0,0,0,0,0
$GC,350,-0.84,-219.0,48.9,-15.6,57,358,0.00,2.28,0.00,0.000,6,0.000,0.044,2511,2771,3859,0,0,0,0,0,0
$GC,495,-0.84,-219.0,75.4,-19.2,82,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2770,3858,0,0,0,0,0,0
$GC,639,-0.84,-219.0,102.8,-19.1,107,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2770,3859,0,0,0,0,0,0
$GC,767,-0.84,-219.0,126.5,-18.6,119,770,0.00,1.60,0.00,0.000,4,0.000,0.051,2503,3757,3859,0,0,0,0,0,0
$GC,812,-0.84,-219.0,135.3,-19.9,123,815,0.00,1.52,0.00,0.000,6,0.000,0.031,2503,2786,3859,0,0,0,0,0,0
$GC,951,-0.84,-219.0,161.4,-18.4,136,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3859,0,0,0,0,0,0
$GC,1078,-0.84,-219.0,185.1,-18.6,148,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3859,0,0,0,0,0,0
$GC,1206,-0.84,-219.0,208.9,-18.7,160,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3859,0,0,0,0,0,0
$GC,1333,-0.84,-219.0,232.6,-18.7,172,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3859,0,0,0,0,0,0
$GC,1461,-0.84,-219.0,256.4,-18.8,184,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3859,0,0,0,0,0,0
$GC,1654,-0.84,-219.0,290.6,-17.8,202,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3859,0,0,0,0,0,0
$GC,1842,-0.84,-219.0,324.2,-17.4,220,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2785,3860,0,0,0,0,0,0
$GC,2034,-0.84,-219.0,358.2,-18.3,238,2038,0.00,1.60,0.00,0.000,4,0.000,0.051,2495,3767,3859,0,0,0,0,0,0
$GC,2072,-0.84,-219.0,365.7,-18.7,241,2081,0.08,1.52,0.00,0.000,6,0.145,0.031,2522,2784,3859,0,0,0,0,0,0
$STATE,2121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2121,begin apogee
$GC,2126,-0.16,0.0,373.7,16.6,246,2306,0.65,0.00,173.65,0.963,4,0.123,0.000,2741,2688,2959,0,0,0,0,0,0
$STATE,2307,end apogee,CONTROL_FINISHED_OK
$STATE,2307,begin climb
$GC,2309,0.84,219.0,383.0,0.0,262,2512,1.00,2.38,189.40,0.909,4,0.078,0.034,3073,1302,2066,0,0,0,0,0,0
$GC,2716,0.84,219.0,341.2,13.8,298,2720,0.00,2.38,0.00,0.000,6,0.000,0.042,3073,2699,2057,0,0,1,0,0,0
$GC,2913,0.84,219.0,312.6,14.6,316,2918,0.00,2.33,0.00,0.000,4,0.000,0.035,3083,1298,2054,0,0,0,0,0,0
$GC,3080,0.84,219.0,288.5,14.1,330,3088,0.00,2.40,0.00,0.000,6,0.000,0.042,3083,2710,2053,0,0,0,0,0,0
$GC,3280,0.84,219.0,258.5,15.6,349,3283,0.00,1.70,0.00,0.000,4,0.000,0.049,3083,3766,2052,0,0,0,0,0,0
$GC,3340,0.84,219.0,247.7,17.7,354,3348,0.00,1.65,0.00,0.000,6,0.000,0.030,3092,2726,2051,0,0,1,0,0,0
$GC,3475,0.84,219.0,226.7,15.6,367,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2726,2051,0,0,0,0,0,0
$GC,3602,0.84,219.0,206.5,16.1,379,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2726,2051,0,0,0,0,0,0
$GC,3729,0.84,219.0,186.1,15.8,391,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2726,2051,0,0,0,0,0,0
$GC,3857,0.84,219.0,165.9,15.9,403,3861,0.00,1.70,0.00,0.000,4,0.000,0.051,3091,3756,2050,0,0,0,0,0,0
$GC,3901,0.84,219.0,158.3,17.8,407,3905,0.00,1.62,0.00,0.000,6,0.000,0.032,3100,2693,2050,0,0,1,0,0,0
$GC,4041,0.84,219.0,135.7,16.2,420,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2692,2050,0,0,0,0,0,0
$GC,4168,0.84,219.0,114.8,16.1,432,4172,0.00,1.73,0.00,0.000,4,0.000,0.050,3100,3773,2050,0,0,0,0,0,0
$GC,4217,0.84,219.0,105.6,18.4,436,4225,0.10,1.65,0.00,0.000,6,0.152,0.031,3075,2729,2049,0,0,0,0,0,0
$GC,4356,0.84,219.0,85.5,14.4,458,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2729,2049,0,0,0,0,0,0
$GC,4497,0.84,219.0,65.5,13.7,483,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2729,2049,0,0,0,0,0,0
$GC,4637,0.84,219.0,46.1,13.5,508,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2729,2049,0,0,0,0,0,0
$GC,4777,0.84,222.8,26.7,13.2,533,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2729,2049,0,0,0,0,0,0
$FREEZE,8.97,-1.345,-1.898,2,1,0
$FREEZE,8.11,-1.344,-1.898,2,1,0
$FREEZE,7.31,-1.336,-1.897,2,1,0
$GC,4920,0.84,222.8,7.3,13.5,558,4927,0.00,1.70,0.00,0.000,4,0.000,0.051,3075,3768,2049,0,0,0,0,0,0
$FREEZE,4.89,-1.337,-1.895,2,1,0
$FREEZE,4.01,-1.335,-1.895,2,1,0
$FREEZE,3.27,-1.335,-1.894,2,1,0
$FREEZE,2.44,-1.333,-1.894,2,1,0
$STATE,4948,end climb,SURFACE_DEPTH_REACHED
$STATE,4948,begin surface coast
$FREEZE,1.64,-1.334,-1.893,2,1,0
$FINISH,1.6,1.027736
$STATE,4955,end surface coast,CONTROL_FINISHED_OK
$STATE,4955,begin surface
$SM_CCo,4972,46.42,0.101,0,0,1655,320.11
$SM_GC,0.97,0.00,0.00,46.42,0.000,0.000,0.101,188,2772,1655,-8.16,-0.23,320.11
$IRIDIUM_FIX,-7554.21,17606.82,141210,090912
$TT8_MAMPS,0.027713
$HUMID,51.77
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,350.5,36.6
$24V_AH,22.4,15.682
$10V_AH,9.9,6.733
$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,18.300,33.700,363.050,46.425,0.000,28.831,39.549,95.003,1.250,0.000,16.213,1386.564,2129.735,476.858,1189.338,116.656,0.000,1047.258,0.000,948.383,0.000,10.564,0.000
$DEVICE_MAMPS,223.380,81.090,963.135,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.169,728.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37087,564
$CAP_FILE_SIZE,72851,0
$CFSIZE,260165632,240926720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.057,202.9,1
$GPS,141210,123632,-7639.986,17553.090,15,1.3,15,124.6