version: 66.08
glider: 503
mission: 7
dive: 35
start: 12 1 110 12 43 15
data:
$ID,503
$MISSION,7
$DIVE,35
$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,45
$R_STBD_OVSHOOT,23
$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,10.67
$_SM_ANGLEo,3.8
$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,-9.05,0.000,2,0.000,0.000,2817,2487,3506,0,0,0,0,0,0
$GC,28,-0.84,-219.0,13.3,-0.0,1,43,0.75,2.00,-6.35,0.000,4,0.093,0.065,2547,3720,3856,0,0,0,0,0,0
$GC,68,-0.91,-219.0,19.0,-14.4,7,75,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2294,3857,0,0,0,0,0,0
$GC,206,-0.86,-219.0,37.3,-12.2,32,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2294,3859,0,0,0,0,0,0
$GC,346,-0.86,-219.0,62.0,-13.4,57,353,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3714,3859,0,0,0,0,0,0
$GC,492,-0.86,-219.0,82.6,-10.2,83,499,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2300,3859,0,0,0,0,0,0
$GC,631,-0.84,-219.0,104.2,-17.8,106,635,0.00,2.28,0.00,0.000,4,0.000,0.052,2538,3714,3859,0,0,1,0,0,0
$GC,738,-0.84,-219.0,120.5,-14.7,115,747,0.00,2.22,0.00,0.000,6,0.000,0.030,2538,2302,3859,0,0,0,0,0,0
$GC,875,-0.84,-219.0,140.8,-15.1,128,879,0.00,2.28,0.00,0.000,4,0.000,0.052,2534,3714,3859,0,0,0,0,0,0
$GC,949,-0.84,-219.0,153.9,-15.8,134,958,0.00,2.22,0.00,0.000,6,0.000,0.031,2533,2302,3859,0,0,0,0,0,0
$GC,1085,-0.84,-219.0,174.7,-15.4,147,1089,0.00,2.28,0.00,0.000,4,0.000,0.051,2524,3717,3859,0,0,0,0,0,0
$GC,1157,-0.84,-219.0,186.2,-15.9,153,1161,0.00,2.20,0.00,0.000,6,0.000,0.031,2524,2294,3859,0,0,0,0,0,0
$GC,1294,-0.82,-219.0,205.7,-14.0,165,1299,0.10,2.30,0.00,0.000,4,0.177,0.050,2542,3715,3858,0,0,0,0,0,0
$GC,1368,-0.82,-219.0,216.9,-14.1,171,1377,0.00,2.22,0.00,0.000,6,0.000,0.031,2542,2298,3859,0,0,0,0,0,0
$GC,1504,-0.82,-219.0,235.6,-14.0,184,1508,0.00,2.28,0.00,0.000,4,0.000,0.052,2534,3714,3859,0,0,0,0,0,0
$GC,1589,-0.82,-219.0,249.2,-15.2,191,1598,0.00,2.22,0.00,0.000,6,0.000,0.031,2534,2298,3859,0,0,0,0,0,0
$GC,1723,-0.82,-219.0,268.9,-14.5,204,1727,0.00,2.28,0.00,0.000,4,0.000,0.053,2534,3714,3858,0,0,0,0,0,0
$GC,1808,-0.82,-219.0,281.7,-15.1,211,1812,0.00,2.17,0.00,0.000,6,0.000,0.031,2534,2300,3859,0,0,0,0,0,0
$GC,2006,-0.82,-219.0,309.5,-13.3,229,2010,0.00,2.28,0.00,0.000,4,0.000,0.052,2524,3717,3858,0,0,0,0,0,0
$GC,2135,-0.82,-219.0,328.3,-15.2,240,2140,0.10,2.17,0.00,0.000,6,0.168,0.031,2551,2299,3858,0,0,0,0,0,0
$GC,2334,-0.85,-219.0,353.8,-12.6,258,2338,0.00,2.28,0.00,0.000,4,0.000,0.052,2547,3714,3858,0,0,0,0,0,0
$GC,2471,-0.88,-219.0,371.7,-12.6,270,2475,0.00,2.17,0.00,0.000,6,0.000,0.030,2547,2298,3859,0,0,0,0,0,0
$GC,2668,-0.90,-219.0,396.8,-12.6,288,2673,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3717,3858,0,0,0,0,0,0
$STATE,2696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2696,begin apogee
$GC,2703,-0.16,0.0,400.6,13.5,290,2881,0.65,0.00,173.32,0.926,6,0.126,0.000,2765,2487,2960,0,0,0,0,0,0
$STATE,2882,end apogee,CONTROL_FINISHED_OK
$STATE,2882,begin climb
$GC,2884,0.84,219.0,410.5,0.0,306,3081,0.93,2.47,183.70,0.874,4,0.066,0.036,3098,1110,2065,0,0,0,0,0,0
$GC,3142,0.74,219.0,385.5,16.6,329,3150,0.15,2.38,0.00,0.000,6,0.164,0.041,3062,2499,2059,0,0,1,0,0,0
$GC,3341,0.67,219.0,356.3,15.0,348,3345,0.00,2.12,0.00,0.000,4,0.000,0.050,3061,3770,2053,0,0,0,0,0,0
$GC,3448,0.55,219.0,337.9,17.9,357,3453,0.25,2.03,0.00,0.000,6,0.150,0.030,3001,2504,2051,0,0,0,0,0,0
$GC,3647,0.65,277.1,314.9,11.0,375,3703,0.00,2.22,49.05,0.842,4,0.000,0.052,3000,3762,1830,0,0,1,0,0,0
$GC,3786,0.70,291.0,298.1,12.8,387,3805,0.10,2.10,13.40,0.798,6,0.107,0.032,3057,2503,1773,0,0,0,0,0,0
$GC,3996,0.70,291.0,268.6,14.0,407,3999,0.00,2.10,0.00,0.000,4,0.000,0.050,3057,3764,1768,0,0,0,0,0,0
$GC,4070,0.64,291.0,256.7,16.6,413,4074,0.15,2.05,0.00,0.000,6,0.162,0.031,3026,2492,1767,0,0,0,0,0,0
$GC,4276,0.77,365.1,233.6,10.3,432,4352,0.12,2.22,63.65,0.802,4,0.086,0.050,3088,3764,1471,0,0,1,0,0,0
$GC,4412,0.73,365.1,212.2,16.4,443,4421,0.12,2.10,0.00,0.000,6,0.127,0.031,3057,2505,1468,0,0,0,0,0,0
$GC,4548,0.83,420.0,196.9,11.1,456,4598,0.00,0.00,45.65,0.774,6,0.000,0.000,3057,2504,1247,0,0,0,0,0,0
$GC,4727,0.93,457.6,176.9,11.8,473,4766,0.17,2.17,30.98,0.756,4,0.069,0.049,3127,3763,1093,0,0,0,0,0,0
$GC,4804,0.89,457.6,161.6,21.5,479,4813,0.08,2.12,0.00,0.000,6,0.144,0.032,3112,2501,1093,0,0,0,0,0,0
$GC,4939,0.89,457.6,135.5,18.4,492,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2500,1092,0,0,0,0,0,0
$GC,5067,0.86,457.6,108.6,18.2,504,5070,0.00,2.10,0.00,0.000,4,0.000,0.050,3112,3764,1090,0,0,1,0,0,0
$GC,5118,0.81,457.6,97.3,23.7,509,5125,0.15,2.05,0.00,0.000,6,0.154,0.033,3079,2498,1090,0,0,0,0,0,0
$GC,5256,0.81,457.6,69.0,26.0,534,5264,0.00,2.12,0.00,0.000,4,0.000,0.048,3078,3766,1089,0,0,0,0,0,0
$GC,5303,0.85,457.6,60.8,16.2,542,5311,0.00,2.05,0.00,0.000,6,0.000,0.031,3086,2501,1089,0,0,0,0,0,0
$GC,5444,0.84,471.9,38.6,12.8,567,5458,0.00,0.00,12.15,0.711,6,0.000,0.000,3086,2499,1035,0,0,0,0,0,0
$GC,5590,0.84,471.9,11.7,17.3,593,5597,0.00,2.08,0.00,0.000,4,0.000,0.047,3086,3766,1035,0,0,0,0,0,0
$FREEZE,8.44,-1.908,-1.906,2,10,0
$STATE,5608,end climb,FINISH_DEPTH_REACHED
$STATE,5608,begin subsurface finish
$FINISH1,8.4,1.027859,-18
$GC,5616,-0.02,-17.6,8.4,-16.6,596,5676,0.85,0.00,-54.00,0.000,6,0.121,0.000,2817,2491,3035,0,0,0,0,0,0
$FINISH2,9.1
$STATE,5677,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5677,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.027713
$HUMID,51.10
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.1
$24V_AH,23.1,42.016
$10V_AH,10.1,60.501
$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,4.675,87.350,571.900,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1434.068,2074.071,566.684,1551.961,101.088,0.000,1305.599,0.000,1126.913,0.000,9.469,0.000
$DEVICE_MAMPS,177.480,65.025,926.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.541,749.078,780.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40441,605
$CAP_FILE_SIZE,88488,0
$CFSIZE,260165632,248832000
$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