version: 66.08
glider: 503
mission: 7
dive: 29
start: 12 1 110 3 22 39
data:
$ID,503
$MISSION,7
$DIVE,29
$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,42
$R_STBD_OVSHOOT,24
$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,85.20
$_SM_ANGLEo,1.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-8.62,0.000,2,0.000,0.000,2812,2493,2233,0,0,0,0,0,0
$GC,27,-0.84,-219.0,85.2,-0.0,1,48,0.75,2.65,-12.00,0.000,4,0.081,0.049,2548,894,3865,0,0,0,0,0,0
$GC,93,-0.86,-219.0,90.8,-12.7,12,102,0.00,2.38,0.00,0.000,6,0.000,0.043,2547,2300,3866,0,0,0,0,0,0
$GC,237,-0.86,-219.0,111.4,-14.8,31,241,0.00,2.35,0.00,0.000,4,0.000,0.051,2547,3717,3867,0,0,0,0,0,0
$GC,354,-0.86,-219.0,129.0,-15.2,41,358,0.00,2.28,0.00,0.000,6,0.000,0.030,2547,2290,3867,0,0,0,0,0,0
$GC,489,-0.86,-219.0,149.1,-15.3,53,493,0.00,2.35,0.00,0.000,4,0.000,0.051,2547,3710,3867,0,0,0,0,0,0
$GC,571,-0.86,-219.0,161.8,-14.8,60,576,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2298,3867,0,0,0,0,0,0
$GC,708,-0.86,-219.0,181.9,-14.9,72,712,0.00,2.33,0.00,0.000,4,0.000,0.050,2538,3713,3868,0,0,0,0,0,0
$GC,791,-0.86,-219.0,195.4,-16.5,79,795,0.00,2.22,0.00,0.000,6,0.000,0.030,2538,2299,3868,0,0,0,0,0,0
$GC,926,-0.84,-219.0,216.9,-16.2,91,930,0.00,2.33,0.00,0.000,4,0.000,0.050,2527,3718,3869,0,0,0,0,0,0
$GC,1010,-0.81,-219.0,230.9,-16.6,98,1015,0.10,2.22,0.00,0.000,6,0.168,0.031,2553,2298,3869,0,0,0,0,0,0
$GC,1147,-0.81,-219.0,250.5,-14.0,110,1151,0.00,2.30,0.00,0.000,4,0.000,0.051,2550,3711,3869,0,0,0,0,0,0
$GC,1232,-0.81,-219.0,263.3,-14.1,117,1236,0.00,2.20,0.00,0.000,6,0.000,0.031,2550,2301,3869,0,0,0,0,0,0
$GC,1430,-0.81,-219.0,290.0,-13.1,135,1434,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3715,3869,0,0,0,0,0,0
$GC,1549,-0.81,-219.0,305.7,-13.0,145,1553,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2302,3869,0,0,0,0,0,0
$GC,1748,-0.81,-219.0,332.0,-13.0,163,1752,0.00,2.28,0.00,0.000,4,0.000,0.051,2537,3713,3869,0,0,0,0,0,0
$GC,1867,-0.81,-219.0,349.1,-14.0,173,1872,0.00,2.20,0.00,0.000,6,0.000,0.031,2537,2291,3868,0,0,0,0,0,0
$GC,2071,-0.79,-219.0,378.4,-14.4,192,2075,0.00,2.30,0.00,0.000,4,0.000,0.050,2527,3714,3868,0,0,0,0,0,0
$GC,2194,-0.77,-219.0,397.7,-16.1,202,2201,0.15,2.20,0.00,0.000,6,0.155,0.031,2569,2299,3868,0,0,0,0,0,0
$STATE,2220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2220,begin apogee
$GC,2225,-0.16,0.0,401.4,14.2,205,2410,0.57,0.00,176.88,0.921,6,0.128,0.000,2760,2510,2958,0,0,0,0,0,0
$STATE,2411,end apogee,CONTROL_FINISHED_OK
$STATE,2411,begin climb
$GC,2413,0.84,219.0,412.4,0.0,222,2610,0.95,2.50,184.00,0.874,4,0.073,0.036,3095,1115,2065,0,0,1,0,0,0
$GC,2627,0.71,219.0,394.6,16.3,241,2635,0.17,2.40,0.00,0.000,6,0.161,0.042,3052,2491,2060,0,0,1,0,0,0
$GC,2827,0.63,219.0,365.0,15.4,260,2831,0.00,2.15,0.00,0.000,4,0.000,0.051,3053,3767,2053,0,0,0,0,0,0
$GC,2972,0.49,219.0,339.0,18.2,272,2980,0.28,2.05,0.00,0.000,6,0.151,0.031,2984,2503,2050,0,0,0,0,0,0
$GC,3173,0.64,298.5,317.7,10.1,291,3250,0.12,2.22,67.05,0.840,4,0.090,0.052,3035,3756,1741,0,0,1,0,0,0
$GC,3380,0.59,298.5,285.6,16.8,309,3388,0.10,2.08,0.00,0.000,6,0.140,0.031,3012,2507,1734,0,0,0,0,0,0
$GC,3579,0.66,324.7,261.0,12.3,328,3606,0.00,2.15,22.48,0.812,4,0.000,0.051,3011,3766,1635,0,0,0,0,0,0
$GC,3711,0.66,324.7,242.1,14.8,339,3720,0.00,2.10,0.00,0.000,6,0.000,0.032,3019,2498,1631,0,0,0,0,0,0
$GC,3848,0.72,337.7,224.6,12.8,352,3864,0.00,2.17,11.57,0.785,4,0.000,0.054,3019,3764,1582,0,0,1,0,0,0
$GC,3927,0.72,337.7,213.1,15.3,359,3931,0.00,2.03,0.00,0.000,6,0.000,0.033,3027,2498,1581,0,0,0,0,0,0
$GC,4070,0.77,349.4,194.2,12.9,372,4088,0.12,2.15,11.38,0.776,4,0.093,0.051,3089,3760,1535,0,0,1,0,0,0
$GC,4163,0.64,349.4,174.5,23.1,380,4172,0.20,2.05,0.00,0.000,6,0.139,0.031,3034,2507,1534,0,0,0,0,0,0
$GC,4299,0.68,349.4,153.8,14.1,393,4303,0.00,2.08,0.00,0.000,4,0.000,0.052,3034,3766,1532,0,0,0,0,0,0
$GC,4363,0.68,349.4,143.6,15.3,398,4372,0.00,2.05,0.00,0.000,6,0.000,0.031,3042,2501,1531,0,0,0,0,0,0
$GC,4499,0.70,349.4,125.3,13.4,411,4503,0.00,2.08,0.00,0.000,4,0.000,0.052,3042,3766,1531,0,0,0,0,0,0
$GC,4564,0.68,349.4,114.6,16.2,416,4572,0.00,2.03,0.00,0.000,6,0.000,0.031,3050,2505,1531,0,0,0,0,0,0
$GC,4698,0.68,349.4,94.1,15.1,432,4707,0.00,2.10,0.00,0.000,4,0.000,0.052,3051,3763,1530,0,0,0,0,0,0
$GC,4767,0.68,349.4,82.6,14.9,444,4775,0.00,2.03,0.00,0.000,6,0.000,0.033,3051,2502,1529,0,0,0,0,0,0
$GC,4908,1.32,677.9,82.6,-0.1,469,4916,0.50,0.00,5.18,0.675,2,0.066,0.000,3243,2502,1513,0,0,0,0,0,0
$STATE,4916,end climb,NO_VERTICAL_VELOCITY
$STATE,4917,begin subsurface finish
$SM_CCo,4918,213.35,0.702,0,0,444,616.92
$FINISH1,82.5,1.027821,-16
$GC,5295,-0.02,-15.8,82.5,-0.1,470,5304,1.27,0.00,-5.75,0.000,2,0.084,0.000,2813,2501,1149,0,0,0,0,0,0
$FINISH2,82.5
$STATE,5305,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5305,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.027713
$HUMID,50.19
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.0,41.165
$10V_AH,10.1,60.090
$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,5.300,80.050,478.525,213.350,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1175.674,2134.698,669.598,1278.938,97.415,0.000,1290.665,0.000,963.899,0.000,7.841,0.000
$DEVICE_MAMPS,168.300,56.610,921.060,701.505,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.363,547.235,592.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30480,471
$CAP_FILE_SIZE,79654,0
$CFSIZE,260165632,249126912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,301110,224308,-7727.986,17011.598,13,1.9,13,136.2