version: 66.08
glider: 503
mission: 7
dive: 34
start: 12 1 110 11 4 56
data:
$ID,503
$MISSION,7
$DIVE,34
$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,28
$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,4.43
$_SM_ANGLEo,3.7
$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,14,begin dive
$GC,16,-0.84,-219.0,0.0,0.0,0,26,0.00,0.00,-8.68,0.000,2,0.000,0.000,2819,2500,3335,0,0,0,0,0,0
$GC,29,-0.84,-219.0,5.7,-0.0,1,50,0.73,2.67,-13.95,0.000,4,0.064,0.047,2546,890,3855,0,0,0,0,0,0
$GC,116,-0.88,-219.0,18.3,-15.9,16,124,0.00,2.35,0.00,0.000,6,0.000,0.044,2537,2292,3858,0,0,0,0,0,0
$GC,256,-0.83,-219.0,34.8,-16.1,41,263,0.00,2.33,0.00,0.000,4,0.000,0.051,2526,3711,3858,0,0,0,0,0,0
$GC,477,-0.80,-219.0,75.5,-16.4,81,485,0.12,2.25,0.00,0.000,6,0.162,0.030,2559,2284,3858,0,0,0,0,0,0
$GC,615,-0.82,-219.0,94.5,-14.3,106,624,0.00,2.38,0.00,0.000,4,0.000,0.052,2550,3710,3858,0,0,0,0,0,0
$GC,687,-0.82,-219.0,105.2,-14.4,116,696,0.00,2.22,0.00,0.000,6,0.000,0.031,2550,2311,3859,0,0,0,0,0,0
$GC,822,-0.82,-219.0,125.2,-15.0,129,826,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3713,3859,0,0,0,0,0,0
$GC,908,-0.82,-219.0,138.7,-14.4,136,917,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2299,3858,0,0,0,0,0,0
$GC,1044,-0.82,-219.0,157.3,-13.9,149,1048,0.00,2.30,0.00,0.000,4,0.000,0.053,2547,3715,3858,0,0,0,0,0,0
$GC,1130,-0.82,-219.0,170.7,-14.8,156,1139,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2298,3858,0,0,0,0,0,0
$GC,1265,-0.82,-219.0,190.2,-15.0,169,1269,0.00,2.30,0.00,0.000,4,0.000,0.052,2547,3717,3858,0,0,0,0,0,0
$GC,1351,-0.84,-219.0,203.4,-14.6,176,1360,0.00,2.25,0.00,0.000,6,0.000,0.031,2547,2296,3858,0,0,0,0,0,0
$GC,1487,-0.84,-219.0,221.9,-13.4,189,1491,0.00,2.30,0.00,0.000,4,0.000,0.051,2538,3720,3859,0,0,0,0,0,0
$GC,1582,-0.84,-219.0,235.7,-14.0,197,1586,0.00,2.22,0.00,0.000,6,0.000,0.030,2536,2296,3858,0,0,0,0,0,0
$GC,1715,-0.84,-219.0,254.5,-14.0,209,1719,0.00,2.28,0.00,0.000,4,0.000,0.051,2532,3713,3858,0,0,0,0,0,0
$GC,1799,-0.84,-219.0,267.0,-15.1,216,1803,0.00,2.17,0.00,0.000,6,0.000,0.031,2532,2303,3858,0,0,0,0,0,0
$GC,1996,-0.84,-219.0,295.2,-13.9,234,2000,0.00,2.28,0.00,0.000,4,0.000,0.052,2521,3714,3858,0,0,0,0,0,0
$GC,2107,-0.84,-219.0,312.6,-15.3,243,2115,0.00,2.22,0.00,0.000,6,0.000,0.030,2521,2303,3858,0,0,0,0,0,0
$GC,2307,-0.82,-219.0,342.2,-15.1,262,2312,0.12,2.28,0.00,0.000,4,0.164,0.051,2547,3713,3858,0,0,0,0,0,0
$GC,2430,-0.84,-219.0,359.7,-13.8,272,2437,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2292,3858,0,0,0,0,0,0
$GC,2629,-0.87,-219.0,385.6,-12.9,291,2633,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3715,3858,0,0,0,0,0,0
$STATE,2733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2733,begin apogee
$GC,2740,-0.16,0.0,400.3,13.7,300,2920,0.65,0.00,173.90,0.925,6,0.126,0.000,2764,2487,2959,0,0,0,0,0,0
$STATE,2921,end apogee,CONTROL_FINISHED_OK
$STATE,2921,begin climb
$GC,2922,0.84,219.0,410.7,0.0,317,3119,0.93,2.47,183.57,0.874,4,0.065,0.036,3097,1109,2065,0,0,0,0,0,0
$GC,3144,0.74,219.0,393.2,14.9,337,3149,0.15,2.40,0.00,0.000,6,0.163,0.041,3061,2498,2061,0,0,1,0,0,0
$GC,3342,0.67,219.0,364.8,14.1,355,3346,0.00,2.12,0.00,0.000,4,0.000,0.050,3061,3765,2053,0,0,0,0,0,0
$GC,3459,0.54,219.0,345.4,17.1,365,3467,0.20,2.05,0.00,0.000,6,0.135,0.031,3000,2519,2051,0,0,0,0,0,0
$GC,3660,0.68,303.2,325.2,9.9,384,3739,0.12,2.22,71.60,0.843,4,0.088,0.050,3053,3767,1723,0,0,1,0,0,0
$GC,3831,0.64,303.2,299.8,16.1,399,3835,0.12,2.10,0.00,0.000,6,0.159,0.031,3030,2495,1717,0,0,0,0,0,0
$GC,4034,0.68,305.4,272.9,13.2,418,4038,0.00,2.12,0.00,0.000,4,0.000,0.050,3030,3765,1713,0,0,0,0,0,0
$GC,4108,0.68,305.4,261.8,15.6,424,4112,0.00,2.03,0.00,0.000,6,0.000,0.031,3037,2498,1712,0,0,0,0,0,0
$GC,4313,0.72,308.9,234.3,13.2,443,4327,0.00,2.12,4.43,0.656,4,0.000,0.050,3037,3759,1700,0,0,1,0,0,0
$GC,4416,0.72,308.9,219.1,15.1,452,4420,0.00,2.00,0.00,0.000,6,0.000,0.031,3045,2498,1700,0,0,0,0,0,0
$GC,4558,0.74,308.9,199.6,13.9,465,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2497,1699,0,0,0,0,0,0
$GC,4694,0.77,314.1,181.2,13.1,478,4708,0.00,2.10,6.30,0.734,4,0.000,0.048,3045,3770,1678,0,0,0,0,0,0
$GC,4788,0.77,314.1,166.9,15.3,486,4797,0.00,2.05,0.00,0.000,6,0.000,0.031,3050,2495,1677,0,0,0,0,0,0
$GC,4924,0.81,342.8,150.0,12.2,499,4955,0.00,2.12,25.77,0.780,4,0.000,0.048,3050,3772,1563,0,0,0,0,0,0
$GC,5001,0.81,342.8,139.8,14.2,505,5004,0.00,2.03,0.00,0.000,6,0.000,0.031,3057,2499,1561,0,0,0,0,0,0
$GC,5143,0.83,342.8,121.6,13.5,518,5147,0.00,2.08,0.00,0.000,4,0.000,0.049,3058,3764,1558,0,0,0,0,0,0
$GC,5193,0.83,342.8,113.6,15.9,522,5197,0.00,2.00,0.00,0.000,6,0.000,0.031,3064,2500,1558,0,0,0,0,0,0
$GC,5328,0.83,342.8,93.6,14.6,538,5336,0.00,2.10,0.00,0.000,4,0.000,0.050,3064,3759,1557,0,0,0,0,0,0
$GC,5407,0.79,342.8,80.3,16.5,552,5415,0.00,2.03,0.00,0.000,6,0.000,0.031,3072,2500,1557,0,0,0,0,0,0
$GC,5548,0.77,342.8,52.7,21.5,577,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2498,1557,0,0,0,0,0,0
$GC,5685,0.74,342.8,23.2,19.3,602,5694,0.00,2.10,0.00,0.000,4,0.000,0.050,3072,3767,1556,0,0,0,0,0,0
$FREEZE,8.99,-1.889,-1.906,2,9,0
$STATE,5752,end climb,FINISH_DEPTH_REACHED
$STATE,5753,begin subsurface finish
$FINISH1,9.0,1.027862,-18
$GC,5760,-0.02,-17.7,9.0,-18.4,613,5807,0.80,0.00,-41.58,0.000,6,0.122,0.000,2817,2488,3036,0,0,0,0,0,0
$FINISH2,7.9
$STATE,5808,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5808,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.027713
$HUMID,51.06
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,18.7
$24V_AH,23.0,41.878
$10V_AH,10.1,60.428
$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,3.950,92.300,465.575,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1487.265,2167.214,494.637,1599.272,111.795,0.000,1225.102,0.000,1160.615,0.000,9.471,0.000
$DEVICE_MAMPS,164.475,52.785,924.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.380,772.636,818.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40437,620
$CAP_FILE_SIZE,87645,0
$CFSIZE,260165632,248881152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301110,224308,-7727.986,17011.598,13,1.9,13,136.2