version: 66.08
glider: 503
mission: 7
dive: 39
start: 12 1 110 19 17 44
data:
$ID,503
$MISSION,7
$DIVE,39
$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,29
$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,7.47
$_SM_ANGLEo,5.7
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,26,0.00,0.00,-8.68,0.000,2,0.000,0.000,2819,3765,3431,0,0,0,0,0,0
$GC,28,-0.84,-219.0,10.5,-0.0,1,43,0.80,0.00,-8.93,0.000,4,0.129,0.000,2558,3765,3856,0,0,0,0,0,0
$GC,78,-0.84,-219.0,14.2,-9.7,9,85,0.00,2.33,0.00,0.000,6,0.000,0.030,2558,2288,3858,0,0,0,0,0,0
$GC,217,-0.84,-219.0,37.5,-13.2,34,225,0.00,2.35,0.00,0.000,4,0.000,0.050,2550,3705,3858,0,0,0,0,0,0
$GC,359,-0.81,-219.0,62.2,-19.5,59,366,0.00,2.20,0.00,0.000,6,0.000,0.030,2550,2296,3859,0,0,0,0,0,0
$GC,497,-0.81,-219.0,86.2,-13.8,84,505,0.00,2.33,0.00,0.000,4,0.000,0.051,2550,3702,3859,0,0,0,0,0,0
$GC,622,-0.81,-219.0,108.7,-17.0,103,631,0.00,2.20,0.00,0.000,6,0.000,0.029,2550,2309,3859,0,0,0,0,0,0
$GC,758,-0.81,-219.0,132.1,-17.4,116,762,0.00,2.28,0.00,0.000,4,0.000,0.051,2548,3715,3860,0,0,0,0,0,0
$GC,842,-0.81,-219.0,146.0,-15.8,123,846,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2299,3859,0,0,0,0,0,0
$GC,977,-0.81,-219.0,167.1,-14.8,135,981,0.00,2.28,0.00,0.000,4,0.000,0.050,2538,3708,3859,0,0,0,0,0,0
$GC,1062,-0.78,-219.0,181.8,-16.7,142,1072,0.08,2.22,0.00,0.000,6,0.138,0.031,2564,2293,3859,0,0,0,0,0,0
$GC,1198,-0.80,-219.0,200.8,-13.8,155,1202,0.00,2.30,0.00,0.000,4,0.000,0.051,2562,3709,3859,0,0,0,0,0,0
$GC,1303,-0.80,-219.0,216.2,-14.8,164,1307,0.00,2.17,0.00,0.000,6,0.000,0.030,2563,2300,3859,0,0,0,0,0,0
$GC,1438,-0.80,-219.0,235.9,-14.2,176,1442,0.00,2.28,0.00,0.000,4,0.000,0.052,2563,3710,3859,0,0,0,0,0,0
$GC,1532,-0.82,-219.0,249.1,-13.6,184,1537,0.00,2.17,0.00,0.000,6,0.000,0.030,2563,2298,3859,0,0,0,0,0,0
$GC,1673,-0.84,-219.0,267.0,-12.5,197,1677,0.00,2.28,0.00,0.000,4,0.000,0.052,2562,3710,3859,0,0,0,0,0,0
$GC,1773,-0.87,-219.0,280.3,-12.9,205,1780,0.00,2.17,0.00,0.000,6,0.000,0.030,2563,2295,3859,0,0,0,0,0,0
$GC,1971,-0.90,-219.0,304.9,-12.6,224,1976,0.00,2.28,0.00,0.000,4,0.000,0.051,2563,3712,3859,0,0,0,0,0,0
$GC,2113,-0.93,-219.0,324.2,-14.2,236,2118,0.12,2.17,0.00,0.000,6,0.106,0.030,2512,2301,3859,0,0,0,0,0,0
$GC,2317,-0.86,-219.0,359.2,-17.4,255,2322,0.10,2.28,0.00,0.000,4,0.181,0.051,2527,3711,3859,0,0,0,0,0,0
$GC,2459,-0.82,-219.0,383.4,-16.3,267,2463,0.00,2.17,0.00,0.000,6,0.000,0.030,2526,2292,3859,0,0,0,0,0,0
$STATE,2571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2571,begin apogee
$GC,2575,-0.16,0.0,401.5,15.9,277,2755,0.73,0.00,174.00,0.925,6,0.134,0.000,2764,2508,2960,0,0,0,0,0,0
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin climb
$GC,2757,0.84,219.0,412.7,0.0,293,2954,0.95,2.47,183.82,0.873,4,0.067,0.036,3104,1116,2065,0,0,1,0,0,0
$GC,3015,0.73,219.0,387.9,16.7,316,3023,0.12,2.40,0.00,0.000,6,0.145,0.042,3057,2487,2058,0,0,1,0,0,0
$GC,3214,0.64,219.0,358.6,14.7,335,3219,0.12,2.15,0.00,0.000,4,0.164,0.052,3024,3766,2053,0,0,0,0,0,0
$GC,3331,0.57,219.0,341.4,14.5,345,3338,0.00,2.03,0.00,0.000,6,0.000,0.031,3033,2508,2051,0,0,0,0,0,0
$GC,3531,0.52,220.8,315.1,13.3,364,3536,0.15,2.10,0.00,0.000,4,0.154,0.052,2990,3773,2050,0,0,0,0,0,0
$GC,3608,0.55,243.6,304.9,12.4,370,3637,0.00,2.08,20.15,0.838,6,0.000,0.032,2999,2501,1965,0,0,0,0,0,0
$GC,3830,0.62,277.4,279.3,11.9,391,3867,0.00,2.17,30.52,0.828,4,0.000,0.052,2998,3757,1828,0,0,1,0,0,0
$GC,3942,0.62,277.4,264.5,14.2,401,3946,0.00,2.03,0.00,0.000,6,0.000,0.032,3006,2501,1826,0,0,0,0,0,0
$GC,4147,0.67,288.9,238.5,12.9,420,4163,0.00,2.15,10.73,0.789,4,0.000,0.052,3006,3763,1782,0,0,1,0,0,0
$GC,4217,0.67,288.9,227.8,14.6,426,4226,0.00,2.08,0.00,0.000,6,0.000,0.033,3014,2498,1780,0,0,0,0,0,0
$GC,4354,0.70,288.9,208.4,14.8,439,4358,0.00,2.10,0.00,0.000,4,0.000,0.051,3014,3769,1779,0,0,0,0,0,0
$GC,4396,0.70,288.9,200.8,16.7,442,4405,0.00,2.08,0.00,0.000,6,0.000,0.032,3023,2497,1779,0,0,0,0,0,0
$GC,4533,0.70,288.9,179.9,15.6,455,4537,0.00,2.08,0.00,0.000,4,0.000,0.050,3023,3767,1778,0,0,0,0,0,0
$GC,4576,0.67,288.9,171.9,18.4,458,4584,0.00,2.05,0.00,0.000,6,0.000,0.031,3033,2498,1778,0,0,0,0,0,0
$GC,4712,0.67,288.9,149.1,18.4,471,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2497,1778,0,0,0,0,0,0
$GC,4838,0.67,288.9,127.5,15.9,483,4842,0.00,2.08,0.00,0.000,4,0.000,0.050,3033,3773,1778,0,0,0,0,0,0
$GC,4933,0.62,288.9,109.4,17.8,491,4937,0.00,2.00,0.00,0.000,6,0.000,0.031,3042,2498,1776,0,0,0,0,0,0
$GC,5068,0.59,288.9,87.1,16.4,510,5076,0.12,2.10,0.00,0.000,4,0.165,0.052,3008,3763,1776,0,0,1,0,0,0
$GC,5104,0.59,288.9,81.2,16.4,516,5113,0.00,2.03,0.00,0.000,6,0.000,0.033,3016,2496,1776,0,0,0,0,0,0
$GC,5245,0.82,453.4,67.2,6.6,541,5391,0.20,2.20,135.15,0.697,4,0.072,0.042,3112,3763,1111,0,0,0,0,0,0
$GC,5465,0.68,453.4,15.7,34.2,576,5474,0.25,2.08,0.00,0.000,6,0.135,0.031,3044,2513,1108,0,0,0,0,0,0
$FREEZE,8.97,-1.900,-1.906,2,14,2
$FREEZE,8.26,-1.900,-1.905,2,14,2
$FREEZE,7.51,-1.901,-1.904,2,14,2
$FREEZE,6.60,-1.902,-1.904,2,14,2
$FREEZE,5.85,-1.900,-1.903,2,14,2
$FREEZE,5.26,-1.899,-1.903,2,14,2
$FREEZE,4.46,-1.899,-1.902,2,14,2
$FREEZE,3.89,-1.899,-1.902,2,14,2
$FREEZE,3.30,-1.899,-1.901,2,14,2
$FREEZE,2.69,-1.901,-1.901,2,14,2
$STATE,5543,end climb,SURFACE_DEPTH_REACHED
$STATE,5543,begin surface coast
$FREEZE,1.53,-1.899,-1.900,2,14,2
$FREEZE,0.99,-1.897,-1.899,2,14,2
$FREEZE,0.35,-1.897,-1.899,2,14,2
$FREEZE,-0.05,-1.894,-1.898,2,14,2
$FREEZE,-0.16,-1.955,-0.186,2,14,2
$FINISH,-0.2,1.002451
$STATE,5572,end surface coast,CONTROL_FINISHED_OK
$STATE,5572,begin surface
$SM_CCo,5587,86.82,0.099,0,0,445,616.92
$SM_GC,0.36,0.00,0.00,86.82,0.000,0.000,0.099,185,2286,445,-8.21,-0.40,616.92
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.027713
$HUMID,49.05
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,16.6
$24V_AH,23.0,42.522
$10V_AH,10.1,60.802
$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,11.650,85.750,554.375,86.825,0.000,0.000,0.000,0.000,1.500,0.000,0.000,1431.044,2064.818,603.611,1530.319,100.621,0.000,1320.759,0.000,1114.318,0.000,12.280,0.000
$DEVICE_MAMPS,180.540,54.315,924.885,98.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.017,731.282,753.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40561,594
$CAP_FILE_SIZE,89504,0
$CFSIZE,260165632,248627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,301110,224308,-7727.986,17011.598,181,99.0,181,136.2