version: 66.08
glider: 503
mission: 7
dive: 210
start: 12 15 110 2 3 4
data:
$ID,503
$MISSION,7
$DIVE,210
$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,-19751.795
$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,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
$GPS1,151210,015757,-7639.199,17612.246,18,3.2,37,124.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-73.6
$GPS2,151210,020236,-7639.208,17612.168,29,0.9,29,124.1
$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,298.4,99966,-18.2,-13.333
$D_GRID,436
$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,-219.0,0.0,0.0,0,108,0.00,0.00,-90.10,0.000,2,0.000,0.000,189,2771,3431,0,0,0,0,0,0
$GC,110,-0.84,-219.0,3.2,-6.6,15,138,8.77,1.62,-9.30,0.000,4,0.219,0.068,2516,3767,3856,0,0,1,0,0,0
$GC,378,-0.84,-219.0,60.3,-18.2,62,385,0.00,1.55,0.00,0.000,6,0.000,0.030,2516,2778,3859,0,0,0,0,0,0
$GC,520,-0.84,-219.0,86.8,-18.8,87,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2778,3859,0,0,0,0,0,0
$GC,657,-0.84,-219.0,112.3,-18.1,106,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3859,0,0,0,0,0,0
$GC,785,-0.84,-219.0,136.4,-19.1,118,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3859,0,0,0,0,0,0
$GC,913,-0.84,-219.0,160.5,-18.7,130,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2778,3860,0,0,0,0,0,0
$GC,1040,-0.84,-219.0,184.6,-19.0,142,1044,0.00,2.20,0.00,0.000,4,0.000,0.034,2516,1369,3859,0,0,0,0,0,0
$GC,1079,-0.84,-219.0,191.8,-17.9,145,1083,0.00,2.30,0.00,0.000,6,0.000,0.047,2506,2789,3860,0,0,0,0,0,0
$GC,1213,-0.84,-219.0,216.9,-19.1,157,1217,0.00,1.58,0.00,0.000,4,0.000,0.053,2499,3762,3860,0,0,0,0,0,0
$GC,1246,-0.84,-219.0,223.7,-21.0,160,1250,0.08,1.52,0.00,0.000,6,0.147,0.032,2524,2792,3860,0,0,0,0,0,0
$GC,1384,-0.84,-219.0,248.1,-17.0,173,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2791,3860,0,0,0,0,0,0
$GC,1512,-0.84,-219.0,269.7,-16.8,185,1516,0.00,1.58,0.00,0.000,4,0.000,0.051,2517,3758,3860,0,0,0,0,0,0
$GC,1557,-0.84,-219.0,278.0,-18.6,189,1561,0.00,1.50,0.00,0.000,6,0.000,0.031,2517,2798,3860,0,0,0,0,0,0
$GC,1760,-0.84,-219.0,313.7,-17.8,208,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2797,3860,0,0,0,0,0,0
$GC,1951,-0.84,-219.0,347.2,-17.7,226,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2798,3860,0,0,0,0,0,0
$GC,2142,-0.84,-219.0,361.8,0.3,244,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2797,3860,0,0,0,0,0,0
$STATE,2206,end dive,NO_VERTICAL_VELOCITY
$STATE,2206,begin apogee
$GC,2211,-0.16,0.0,361.8,0.0,250,2392,0.65,0.00,173.45,0.951,4,0.098,0.000,2747,2683,2959,0,0,0,0,0,0
$STATE,2393,end apogee,CONTROL_FINISHED_OK
$STATE,2393,begin climb
$GC,2395,0.84,219.0,361.8,0.0,266,2592,0.95,1.88,188.93,0.896,4,0.070,0.051,3069,3758,2066,0,0,1,0,0,0
$GC,2597,0.84,219.0,343.4,15.5,284,2604,0.00,1.83,0.00,0.000,6,0.000,0.029,3076,2725,2065,0,0,1,0,0,0
$GC,2795,0.84,219.0,313.2,14.8,303,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2724,2057,0,0,0,0,0,0
$GC,2986,0.84,219.0,284.3,14.9,321,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2724,2055,0,0,0,0,0,0
$GC,3177,0.84,219.0,255.6,14.8,339,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2724,2053,0,0,0,0,0,0
$GC,3368,0.84,219.0,227.0,14.6,357,3372,0.00,1.70,0.00,0.000,4,0.000,0.048,3077,3767,2053,0,0,0,0,0,0
$GC,3427,0.84,219.0,217.0,16.7,362,3435,0.00,1.70,0.00,0.000,6,0.000,0.030,3084,2693,2052,0,0,1,0,0,0
$GC,3562,0.84,219.0,196.6,14.8,375,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2694,2052,0,0,0,0,0,0
$GC,3689,0.84,219.0,177.8,14.7,387,3693,0.00,1.73,0.00,0.000,4,0.000,0.049,3084,3764,2052,0,0,0,0,0,0
$GC,3712,0.84,219.0,174.1,16.2,389,3715,0.00,1.65,0.00,0.000,6,0.000,0.032,3093,2705,2052,0,0,0,0,0,0
$GC,3852,0.84,219.0,152.5,15.6,402,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2705,2052,0,0,0,0,0,0
$GC,3979,0.84,219.0,133.0,15.2,414,3983,0.00,1.75,0.00,0.000,4,0.000,0.050,3093,3765,2052,0,0,0,0,0,0
$GC,4013,0.84,219.0,127.3,17.6,417,4017,0.08,1.67,0.00,0.000,6,0.155,0.032,3076,2715,2051,0,0,0,0,0,0
$GC,4152,0.84,219.0,107.3,14.3,430,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2714,2051,0,0,0,0,0,0
$GC,4283,0.84,219.0,89.0,13.5,449,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2714,2051,0,0,0,0,0,0
$GC,4424,0.84,219.0,69.5,13.9,474,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2714,2051,0,0,0,0,0,0
$GC,4565,0.84,219.0,49.9,14.2,499,4572,0.00,1.70,0.00,0.000,4,0.000,0.050,3075,3754,2051,0,0,0,0,0,0
$GC,4611,0.84,219.0,43.2,14.9,507,4618,0.00,1.67,0.00,0.000,6,0.000,0.031,3083,2692,2050,0,0,0,0,0,0
$GC,4752,0.84,219.0,22.3,15.3,532,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2692,2050,0,0,0,0,0,0
$FREEZE,8.86,-1.200,-1.898,2,1,0
$FREEZE,8.03,-1.184,-1.897,2,1,0
$FREEZE,7.24,-1.172,-1.896,2,1,0
$FREEZE,6.45,-1.168,-1.896,2,1,0
$FREEZE,5.73,-1.160,-1.895,2,1,0
$FREEZE,5.01,-1.120,-1.894,2,1,0
$FREEZE,4.36,-1.115,-1.894,2,1,0
$FREEZE,3.33,-1.144,-1.895,2,1,0
$FREEZE,2.67,-1.124,-1.893,2,1,0
$STATE,4885,end climb,SURFACE_DEPTH_REACHED
$STATE,4885,begin surface coast
$FREEZE,1.95,-1.122,-1.892,2,1,0
$FREEZE,1.14,-1.117,-1.892,2,1,0
$FREEZE,0.36,-1.102,-1.891,2,1,0
$FREEZE,0.11,-1.094,-1.082,2,1,0
$FINISH,0.1,1.015994
$STATE,4909,end surface coast,FINISH_DEPTH_REACHED
$STATE,4909,begin surface
$SM_CCo,4925,46.15,0.101,0,0,1655,320.11
$SM_GC,0.99,0.00,0.00,46.15,0.000,0.000,0.101,186,2806,1655,-8.17,0.74,320.11
$IRIDIUM_FIX,-7554.21,17607.45,151210,000011
$TT8_MAMPS,0.027713
$HUMID,52.36
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.2
$24V_AH,22.4,16.775
$10V_AH,10.0,7.176
$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,18.150,31.400,362.375,46.150,0.000,29.939,39.455,94.527,1.500,0.000,31.887,1379.101,2161.067,458.966,1151.482,114.946,0.000,1009.922,0.000,897.784,0.000,13.243,0.000
$DEVICE_MAMPS,218.790,74.205,950.895,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.524,724.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258276
$DATA_FILE_SIZE,37117,560
$CAP_FILE_SIZE,72565,0
$CFSIZE,260165632,240500736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.151,199.7,1
$GPS,151210,032650,-7639.239,17614.447,16,1.2,16,124.0