version: 66.08
glider: 503
mission: 7
dive: 38
start: 12 1 110 17 37 57
data:
$ID,503
$MISSION,7
$DIVE,38
$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,34
$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,8.04
$_SM_ANGLEo,6.0
$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,-9.05,0.000,2,0.000,0.000,2813,3754,3467,0,0,0,0,0,0
$GC,28,-0.84,-219.0,11.4,-0.0,1,49,0.77,4.68,-7.75,0.000,4,0.109,0.037,2554,877,3855,0,0,0,0,0,0
$GC,223,-0.87,-219.0,41.3,-18.8,36,232,0.00,2.35,0.00,0.000,6,0.000,0.042,2550,2295,3858,0,0,0,0,0,0
$GC,364,-0.82,-219.0,62.9,-16.5,61,371,0.00,2.25,0.00,0.000,4,0.000,0.035,2550,883,3857,0,0,0,0,0,0
$GC,534,-0.85,-219.0,87.7,-12.1,92,542,0.00,2.33,0.00,0.000,6,0.000,0.043,2550,2294,3858,0,0,0,0,0,0
$GC,675,-0.85,-219.0,108.5,-14.1,112,679,0.00,2.30,0.00,0.000,4,0.000,0.052,2550,3715,3858,0,0,0,0,0,0
$GC,780,-0.85,-219.0,125.5,-15.3,121,785,0.00,2.22,0.00,0.000,6,0.000,0.031,2550,2284,3858,0,0,0,0,0,0
$GC,915,-0.85,-219.0,145.0,-13.2,133,919,0.00,2.33,0.00,0.000,4,0.000,0.052,2548,3715,3858,0,0,0,0,0,0
$GC,968,-0.85,-219.0,152.7,-14.0,137,977,0.00,2.25,0.00,0.000,6,0.000,0.031,2547,2297,3858,0,0,0,0,0,0
$GC,1106,-0.85,-219.0,169.9,-13.0,150,1110,0.00,2.28,0.00,0.000,4,0.000,0.052,2547,3708,3857,0,0,0,0,0,0
$GC,1202,-0.85,-219.0,184.8,-14.3,158,1212,0.00,2.22,0.00,0.000,6,0.000,0.030,2548,2293,3858,0,0,0,0,0,0
$GC,1339,-0.85,-219.0,203.5,-14.4,171,1343,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3709,3858,0,0,0,0,0,0
$GC,1422,-0.85,-219.0,216.0,-14.9,178,1426,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2299,3858,0,0,0,0,0,0
$GC,1557,-0.85,-219.0,234.9,-14.0,190,1561,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3708,3858,0,0,0,0,0,0
$GC,1642,-0.85,-219.0,247.5,-13.7,197,1651,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2296,3858,0,0,0,0,0,0
$GC,1777,-0.85,-219.0,265.3,-13.3,210,1781,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3709,3858,0,0,0,0,0,0
$GC,1861,-0.85,-219.0,277.2,-13.9,217,1866,0.00,2.17,0.00,0.000,6,0.000,0.030,2547,2296,3857,0,0,0,0,0,0
$GC,2061,-0.85,-219.0,303.3,-13.0,235,2065,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3709,3857,0,0,0,0,0,0
$GC,2192,-0.85,-219.0,321.6,-13.3,246,2196,0.00,2.17,0.00,0.000,6,0.000,0.029,2547,2291,3858,0,0,0,0,0,0
$GC,2389,-0.85,-219.0,348.3,-13.4,264,2393,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3711,3858,0,0,0,0,0,0
$GC,2520,-0.85,-219.0,365.9,-13.1,275,2524,0.00,2.17,0.00,0.000,6,0.000,0.029,2547,2300,3857,0,0,0,0,0,0
$GC,2723,-0.85,-219.0,391.9,-12.7,294,2727,0.00,2.28,0.00,0.000,4,0.000,0.051,2537,3717,3857,0,0,0,0,0,0
$STATE,2786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2786,begin apogee
$GC,2792,-0.16,0.0,400.7,14.8,299,2971,0.68,0.00,173.65,0.926,6,0.130,0.000,2761,2489,2960,0,0,0,0,0,0
$STATE,2972,end apogee,CONTROL_FINISHED_OK
$STATE,2972,begin climb
$GC,2973,0.84,219.0,410.6,0.0,315,3162,0.95,0.00,183.60,0.874,6,0.067,0.000,3090,2489,2067,0,0,0,0,0,0
$GC,3350,0.70,219.0,364.5,16.8,350,3355,0.17,2.15,0.00,0.000,4,0.160,0.048,3045,3756,2054,0,0,0,0,0,0
$GC,3445,0.59,219.0,349.0,15.6,358,3450,0.15,2.03,0.00,0.000,6,0.164,0.031,3014,2507,2052,0,0,0,0,0,0
$GC,3644,0.64,260.2,325.6,11.6,376,3688,0.00,2.20,34.45,0.844,4,0.000,0.052,3014,3756,1898,0,0,1,0,0,0
$GC,3781,0.62,260.2,308.0,13.6,388,3785,0.00,2.03,0.00,0.000,6,0.000,0.032,3023,2502,1895,0,0,0,0,0,0
$GC,3978,0.67,294.6,283.6,11.9,406,4015,0.00,2.17,30.83,0.828,4,0.000,0.052,3023,3753,1758,0,0,1,0,0,0
$GC,4101,0.67,294.6,266.9,14.2,417,4104,0.00,2.05,0.00,0.000,6,0.000,0.032,3033,2496,1754,0,0,0,0,0,0
$GC,4305,0.68,306.2,240.3,12.9,436,4321,0.00,2.15,10.88,0.789,4,0.000,0.050,3033,3751,1711,0,0,1,0,0,0
$GC,4408,0.68,306.2,224.8,14.9,445,4417,0.00,2.05,0.00,0.000,6,0.000,0.031,3042,2499,1708,0,0,0,0,0,0
$GC,4545,0.68,306.2,206.2,13.8,458,4549,0.00,2.08,0.00,0.000,4,0.000,0.050,3042,3757,1708,0,0,0,0,0,0
$GC,4598,0.65,306.2,197.3,15.6,462,4608,0.00,2.05,0.00,0.000,6,0.000,0.031,3051,2496,1707,0,0,0,0,0,0
$GC,4734,0.65,306.2,177.8,14.8,475,4738,0.00,2.08,0.00,0.000,4,0.000,0.050,3051,3761,1707,0,0,0,0,0,0
$GC,4798,0.60,306.2,167.0,16.2,480,4807,0.12,2.03,0.00,0.000,6,0.132,0.031,3018,2505,1707,0,0,0,0,0,0
$GC,4936,0.71,360.8,151.6,11.1,493,4994,0.00,2.15,46.88,0.773,4,0.000,0.052,3017,3748,1489,0,0,1,0,0,0
$GC,5010,0.76,360.9,141.9,13.3,499,5019,0.08,2.08,0.00,0.000,6,0.067,0.033,3074,2498,1487,0,0,0,0,0,0
$GC,5145,0.72,360.9,118.9,18.4,512,5149,0.00,2.08,0.00,0.000,4,0.000,0.048,3074,3759,1485,0,0,0,0,0,0
$GC,5185,0.64,360.9,111.2,19.8,515,5190,0.20,2.00,0.00,0.000,6,0.147,0.031,3026,2498,1484,0,0,0,0,0,0
$GC,5320,0.69,360.9,94.3,14.4,530,5328,0.00,2.12,0.00,0.000,4,0.000,0.052,3026,3754,1483,0,0,0,0,0,0
$GC,5354,0.72,360.9,89.3,16.3,535,5361,0.00,2.00,0.00,0.000,6,0.000,0.033,3034,2498,1482,0,0,0,0,0,0
$GC,5492,0.76,367.9,67.7,13.0,560,5507,0.00,2.12,6.28,0.682,4,0.000,0.050,3033,3750,1460,0,0,0,0,0,0
$GC,5563,0.79,367.9,55.9,15.8,572,5571,0.00,2.03,0.00,0.000,6,0.000,0.032,3042,2496,1460,0,0,0,0,0,0
$GC,5705,0.81,367.9,35.4,14.5,597,5711,0.10,0.00,0.00,0.000,6,0.099,0.000,3101,2497,1459,0,0,0,0,0,0
$FREEZE,8.72,-1.896,-1.905,2,13,0
$STATE,5829,end climb,FINISH_DEPTH_REACHED
$STATE,5829,begin subsurface finish
$FINISH1,8.7,1.027847,-17
$GC,5835,-0.02,-17.0,8.7,-23.7,619,5895,0.88,2.10,-50.00,0.000,4,0.133,0.067,2819,3765,3033,0,0,1,0,0,0
$FINISH2,6.0
$STATE,5896,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5896,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.027713
$HUMID,50.63
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,16.8
$24V_AH,23.0,42.388
$10V_AH,10.1,60.730
$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,4.100,95.450,486.550,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1511.229,2199.454,511.171,1618.480,105.874,0.000,1254.502,0.000,1171.775,0.000,9.471,0.000
$DEVICE_MAMPS,164.475,66.555,925.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.952,782.367,823.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43714,628
$CAP_FILE_SIZE,89715,0
$CFSIZE,260165632,248672256
$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