version: 66.08
glider: 503
mission: 7
dive: 31
start: 12 1 110 6 20 25
data:
$ID,503
$MISSION,7
$DIVE,31
$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,41
$R_STBD_OVSHOOT,22
$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,78.02
$_SM_ANGLEo,1.6
$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,16,-0.84,-219.0,0.0,0.0,0,26,0.00,0.00,-8.50,0.000,2,0.000,0.000,2808,2496,1979,0,0,0,0,0,0
$GC,28,-0.84,-219.0,78.0,-0.0,1,50,0.73,2.70,-14.57,0.000,4,0.083,0.047,2554,893,3862,0,0,0,0,0,0
$GC,80,-0.88,-219.0,81.6,-11.3,9,87,0.00,2.35,0.00,0.000,6,0.000,0.042,2550,2305,3864,0,0,0,0,0,0
$GC,218,-0.88,-219.0,100.6,-14.0,34,222,0.00,2.35,0.00,0.000,4,0.000,0.050,2550,3710,3865,0,0,0,0,0,0
$GC,339,-0.88,-219.0,118.2,-14.2,45,343,0.00,2.25,0.00,0.000,6,0.000,0.029,2550,2294,3865,0,0,0,0,0,0
$GC,475,-0.88,-219.0,137.1,-13.9,57,479,0.00,2.35,0.00,0.000,4,0.000,0.050,2547,3715,3865,0,0,0,0,0,0
$GC,548,-0.88,-219.0,148.3,-14.9,63,552,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2294,3866,0,0,0,0,0,0
$GC,684,-0.88,-219.0,167.9,-14.2,75,688,0.00,2.33,0.00,0.000,4,0.000,0.050,2537,3711,3866,0,0,0,0,0,0
$GC,756,-0.88,-219.0,179.5,-16.1,81,760,0.00,2.22,0.00,0.000,6,0.000,0.030,2537,2298,3866,0,0,0,0,0,0
$GC,893,-0.88,-219.0,199.7,-14.9,93,897,0.00,2.33,0.00,0.000,4,0.000,0.051,2533,3716,3866,0,0,0,0,0,0
$GC,966,-0.88,-219.0,211.1,-15.3,99,970,0.00,2.22,0.00,0.000,6,0.000,0.031,2534,2299,3867,0,0,0,0,0,0
$GC,1102,-0.86,-219.0,231.0,-14.2,111,1107,0.00,2.30,0.00,0.000,4,0.000,0.051,2524,3710,3867,0,0,0,0,0,0
$GC,1167,-0.82,-219.0,241.7,-15.7,116,1176,0.08,2.25,0.00,0.000,6,0.142,0.031,2549,2301,3867,0,0,0,0,0,0
$GC,1301,-0.82,-219.0,259.7,-13.4,129,1305,0.00,2.33,0.00,0.000,4,0.000,0.052,2549,3714,3867,0,0,0,0,0,0
$GC,1375,-0.84,-219.0,269.7,-13.9,135,1379,0.00,2.20,0.00,0.000,6,0.000,0.031,2550,2302,3866,0,0,0,0,0,0
$GC,1578,-0.84,-219.0,296.9,-13.3,154,1582,0.00,2.30,0.00,0.000,4,0.000,0.052,2547,3714,3867,0,0,1,0,0,0
$GC,1679,-0.84,-219.0,311.2,-13.8,162,1686,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2294,3867,0,0,0,0,0,0
$GC,1876,-0.84,-219.0,338.0,-13.7,181,1880,0.00,2.30,0.00,0.000,4,0.000,0.050,2537,3717,3867,0,0,0,0,0,0
$GC,1985,-0.84,-219.0,354.2,-14.4,190,1994,0.00,2.22,0.00,0.000,6,0.000,0.030,2536,2309,3867,0,0,0,0,0,0
$GC,2184,-0.84,-219.0,382.2,-14.2,209,2188,0.00,2.28,0.00,0.000,4,0.000,0.052,2534,3717,3867,0,0,0,0,0,0
$GC,2296,-0.84,-219.0,399.0,-15.6,219,2300,0.00,2.20,0.00,0.000,6,0.000,0.030,2534,2294,3866,0,0,0,0,0,0
$STATE,2312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2312,begin apogee
$GC,2317,-0.16,0.0,401.5,14.7,220,2502,0.70,0.00,176.35,0.921,6,0.135,0.000,2762,2506,2959,0,0,0,0,0,0
$STATE,2503,end apogee,CONTROL_FINISHED_OK
$STATE,2503,begin climb
$GC,2505,0.84,219.0,412.3,0.0,237,2696,0.95,0.00,184.43,0.872,6,0.069,0.000,3090,2506,2066,0,0,0,0,0,0
$GC,2888,0.69,219.0,365.2,17.4,273,2893,0.17,2.12,0.00,0.000,4,0.166,0.050,3046,3760,2052,0,0,0,0,0,0
$GC,3007,0.57,219.0,345.1,16.1,283,3012,0.17,2.08,0.00,0.000,6,0.161,0.031,3009,2491,2050,0,0,0,0,0,0
$GC,3211,0.64,278.7,321.7,10.9,302,3267,0.00,2.25,49.70,0.840,4,0.000,0.052,3009,3754,1824,0,0,1,0,0,0
$GC,3368,0.64,278.7,302.0,14.0,316,3372,0.00,2.05,0.00,0.000,6,0.000,0.031,3017,2498,1819,0,0,0,0,0,0
$GC,3565,0.71,307.5,278.5,12.2,334,3600,0.00,2.17,25.42,0.820,4,0.000,0.051,3017,3752,1706,0,0,1,0,0,0
$GC,3701,0.71,307.5,259.6,14.6,346,3704,0.00,2.03,0.00,0.000,6,0.000,0.031,3027,2499,1701,0,0,0,0,0,0
$GC,3906,0.76,333.7,233.4,12.3,365,3935,0.12,2.15,23.10,0.804,4,0.094,0.050,3087,3751,1598,0,0,1,0,0,0
$GC,4051,0.64,333.7,204.3,21.1,378,4056,0.25,2.00,0.00,0.000,6,0.148,0.030,3025,2499,1595,0,0,0,0,0,0
$GC,4188,0.72,360.3,185.7,12.2,390,4217,0.00,2.15,23.20,0.783,4,0.000,0.052,3025,3744,1490,0,0,1,0,0,0
$GC,4268,0.74,360.3,175.0,14.3,397,4272,0.00,2.00,0.00,0.000,6,0.000,0.032,3032,2499,1488,0,0,0,0,0,0
$GC,4410,0.79,360.9,155.9,13.3,410,4414,0.12,2.10,0.00,0.000,4,0.092,0.050,3089,3763,1486,0,0,1,0,0,0
$GC,4473,0.69,360.9,143.0,20.3,415,4483,0.17,2.05,0.00,0.000,6,0.136,0.032,3042,2507,1486,0,0,0,0,0,0
$GC,4609,0.72,360.9,123.3,13.9,428,4612,0.00,2.05,0.00,0.000,4,0.000,0.052,3042,3753,1485,0,0,0,0,0,0
$GC,4676,0.72,360.9,113.1,15.7,434,4680,0.00,2.00,0.00,0.000,6,0.000,0.031,3050,2483,1485,0,0,0,0,0,0
$GC,4810,0.74,360.9,93.6,13.7,450,4819,0.00,2.12,0.00,0.000,4,0.000,0.051,3050,3750,1484,0,0,0,0,0,0
$GC,4886,0.74,360.9,81.6,16.8,463,4893,0.00,1.98,0.00,0.000,6,0.000,0.031,3059,2498,1483,0,0,0,0,0,0
$GC,5024,1.32,681.5,69.6,0.2,488,5104,0.47,0.00,76.62,0.720,2,0.065,0.000,3243,2498,1103,0,0,0,0,0,0
$STATE,5105,end climb,NO_VERTICAL_VELOCITY
$STATE,5105,begin subsurface finish
$SM_CCo,5107,131.88,0.677,0,0,445,616.92
$FINISH1,69.7,1.027827,-16
$GC,5402,-0.02,-16.1,69.7,0.0,500,5412,1.27,0.00,-5.75,0.000,2,0.091,0.000,2818,2498,1091,0,0,0,0,0,0
$FINISH2,69.7
$STATE,5413,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5413,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.026964
$HUMID,50.78
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.0,41.482
$10V_AH,10.1,60.213
$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,5.225,79.600,558.825,131.875,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1222.978,2190.651,631.715,1329.722,88.743,0.000,1278.565,0.000,991.048,0.000,7.850,0.000
$DEVICE_MAMPS,166.005,55.080,921.060,677.025,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.876,586.936,628.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33629,501
$CAP_FILE_SIZE,80017,0
$CFSIZE,260165632,249032704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,301110,224308,-7727.986,17011.598,13,1.9,13,136.2