version: 66.08
glider: 503
mission: 7
dive: 27
start: 12 1 110 0 23 11
data:
$ID,503
$MISSION,7
$DIVE,27
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,7
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,10
$T_DIVE,100
$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,0.050000001
$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,0
$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,10
$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,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16947.678
$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,2820
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,150
$AH0_10V,100
$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
$GPS1,301110,224308,-7727.986,17011.598,13,1.9,13,136.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,83.03
$_SM_ANGLEo,1.9
$GPS2,301110,224308,-7727.986,17011.598,13,1.9,13,136.2
$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,245.1,55614,-18.2,-13.333
$D_GRID,742
$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,-219.0,0.0,0.0,0,26,0.00,0.00,-8.95,0.000,2,0.000,0.000,2812,2498,2255,0,0,0,0,0,0
$GC,28,-0.84,-219.0,83.1,-0.0,1,48,0.75,0.00,-11.95,0.000,6,0.081,0.000,2549,2499,3863,0,0,0,0,0,0
$GC,187,-0.84,-219.0,102.2,-15.2,28,190,0.00,2.03,0.00,0.000,4,0.000,0.050,2547,3721,3864,0,0,0,0,0,0
$GC,245,-0.84,-219.0,111.8,-15.8,33,254,0.00,2.33,0.00,0.000,6,0.000,0.029,2546,2289,3864,0,0,0,0,0,0
$GC,382,-0.84,-219.0,131.0,-14.1,46,387,0.00,2.35,0.00,0.000,4,0.000,0.050,2537,3716,3864,0,0,0,0,0,0
$GC,468,-0.82,-219.0,144.8,-16.0,53,477,0.00,2.28,0.00,0.000,6,0.000,0.030,2537,2305,3864,0,0,0,0,0,0
$GC,606,-0.79,-219.0,164.1,-14.0,66,610,0.00,2.33,0.00,0.000,4,0.000,0.051,2534,3715,3865,0,0,0,0,0,0
$GC,699,-0.79,-219.0,178.6,-15.6,74,704,0.10,2.22,0.00,0.000,6,0.164,0.030,2559,2300,3865,0,0,0,0,0,0
$GC,836,-0.79,-219.0,195.6,-12.4,86,840,0.00,2.33,0.00,0.000,4,0.000,0.051,2549,3720,3865,0,0,0,0,0,0
$GC,921,-0.79,-219.0,207.8,-13.4,93,930,0.00,2.28,0.00,0.000,6,0.000,0.031,2549,2297,3864,0,0,0,0,0,0
$GC,1059,-0.79,-219.0,225.4,-13.0,106,1063,0.00,2.35,0.00,0.000,4,0.000,0.050,2547,3723,3864,0,0,0,0,0,0
$GC,1164,-0.79,-219.0,240.2,-14.2,115,1168,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2295,3864,0,0,0,0,0,0
$GC,1297,-0.79,-219.0,258.5,-13.4,127,1301,0.00,2.33,0.00,0.000,4,0.000,0.050,2537,3722,3865,0,0,0,0,0,0
$GC,1381,-0.79,-219.0,271.0,-14.3,134,1388,0.00,2.22,0.00,0.000,6,0.000,0.029,2537,2298,3864,0,0,0,0,0,0
$GC,1578,-0.79,-219.0,299.8,-14.8,153,1583,0.00,2.30,0.00,0.000,4,0.000,0.050,2533,3717,3864,0,0,0,0,0,0
$GC,1701,-0.79,-219.0,318.8,-15.3,164,1706,0.10,2.20,0.00,0.000,6,0.164,0.031,2560,2298,3864,0,0,0,0,0,0
$GC,1901,-0.82,-219.0,344.9,-12.7,182,1906,0.00,2.30,0.00,0.000,4,0.000,0.051,2560,3720,3864,0,0,0,0,0,0
$GC,2048,-0.86,-219.0,364.3,-12.5,194,2055,0.00,2.20,0.00,0.000,6,0.000,0.030,2559,2298,3864,0,0,0,0,0,0
$GC,2246,-0.89,-219.0,388.4,-12.2,213,2250,0.00,2.30,0.00,0.000,4,0.000,0.051,2560,3723,3864,0,0,0,0,0,0
$STATE,2340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2340,begin apogee
$GC,2347,-0.16,0.0,400.2,12.3,221,2532,0.62,0.00,176.02,0.921,6,0.127,0.000,2768,2498,2958,0,0,0,0,0,0
$STATE,2533,end apogee,CONTROL_FINISHED_OK
$STATE,2533,begin climb
$GC,2535,0.84,219.0,410.2,0.0,238,2724,0.93,0.00,184.10,0.874,6,0.067,0.000,3089,2497,2066,0,0,0,0,0,0
$GC,2919,0.70,219.0,362.7,17.3,273,2924,0.15,2.15,0.00,0.000,4,0.168,0.048,3050,3767,2053,0,0,0,0,0,0
$GC,3015,0.57,219.0,345.7,17.4,281,3020,0.20,2.05,0.00,0.000,6,0.160,0.031,3006,2500,2050,0,0,0,0,0,0
$GC,3213,0.62,259.0,322.0,11.7,299,3251,0.00,2.17,32.55,0.842,4,0.000,0.050,3005,3766,1905,0,0,0,0,0,0
$GC,3364,0.62,259.0,302.2,13.8,312,3368,0.00,2.05,0.00,0.000,6,0.000,0.032,3015,2501,1902,0,0,0,0,0,0
$GC,3561,0.64,276.0,277.6,12.6,330,3584,0.00,2.15,16.02,0.822,4,0.000,0.051,3014,3769,1833,0,0,0,0,0,0
$GC,3701,0.61,276.0,257.1,14.8,342,3708,0.00,2.08,0.00,0.000,6,0.000,0.032,3023,2506,1829,0,0,0,0,0,0
$GC,3900,0.61,276.0,230.2,13.4,361,3904,0.00,2.10,0.00,0.000,4,0.000,0.053,3024,3774,1828,0,0,0,0,0,0
$GC,4019,0.58,276.0,211.3,15.7,371,4028,0.00,2.08,0.00,0.000,6,0.000,0.032,3033,2490,1827,0,0,0,0,0,0
$GC,4155,0.58,276.0,192.5,13.9,384,4158,0.00,2.10,0.00,0.000,4,0.000,0.050,3033,3774,1826,0,0,0,0,0,0
$GC,4241,0.54,276.0,178.4,16.2,391,4250,0.12,2.05,0.00,0.000,6,0.133,0.032,2998,2500,1826,0,0,0,0,0,0
$GC,4379,0.64,315.5,162.6,11.7,404,4420,0.00,2.15,34.22,0.786,4,0.000,0.053,2998,3762,1673,0,0,1,0,0,0
$GC,4495,0.69,322.3,148.3,13.1,414,4509,0.12,2.03,7.10,0.706,6,0.097,0.034,3064,2494,1645,0,0,0,0,0,0
$GC,4636,0.66,322.3,125.8,16.2,427,4641,0.12,2.10,0.00,0.000,4,0.164,0.053,3030,3766,1642,0,0,1,0,0,0
$GC,4700,0.66,322.3,114.7,15.2,432,4709,0.00,2.05,0.00,0.000,6,0.000,0.032,3039,2499,1641,0,0,0,0,0,0
$GC,4837,0.66,322.3,95.7,14.0,447,4843,0.00,2.10,0.00,0.000,4,0.000,0.051,3039,3770,1640,0,0,0,0,0,0
$GC,4909,0.97,491.2,86.0,6.4,460,5050,0.22,2.05,133.73,0.715,2,0.063,0.031,3132,2495,971,0,0,0,0,0,0
$STATE,5051,end climb,NO_VERTICAL_VELOCITY
$STATE,5051,begin subsurface finish
$SM_CCo,5053,105.50,0.676,0,0,444,616.92
$FINISH1,86.1,1.027816,-16
$GC,5321,-0.02,-15.5,86.1,0.0,481,5329,0.93,0.00,-4.80,0.000,2,0.084,0.000,2817,2495,1042,0,0,0,0,0,0
$FINISH2,86.2
$STATE,5330,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5330,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.026964
$HUMID,50.19
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.0,40.848
$10V_AH,10.1,59.969
$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,4.375,73.925,583.750,105.500,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1161.092,2191.834,620.032,1317.703,89.456,0.000,1273.702,0.000,982.062,0.000,10.661,0.000
$DEVICE_MAMPS,168.300,52.785,921.060,676.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.374,561.334,623.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,259000
$DATA_FILE_SIZE,33703,482
$CAP_FILE_SIZE,77431,0
$CFSIZE,260165632,249212928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,301110,224308,-7727.986,17011.598,13,1.9,13,136.2