version: 66.08
glider: 503
mission: 7
dive: 40
start: 12 1 110 21 6 30
data:
$ID,503
$MISSION,7
$DIVE,40
$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,-17317.652
$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,50
$R_STBD_OVSHOOT,20
$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,-7727.986,17011.598,181,99.0,181,136.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-43.6
$GPS2,301110,224308,-7727.986,17011.598,181,99.0,181,136.2
$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,-219.0,0.0,0.0,0,182,0.00,0.00,-162.65,0.000,2,0.000,0.000,160,2285,3694,0,0,0,0,0,0
$GC,184,-0.84,-219.0,3.3,-8.2,25,206,9.05,2.38,-3.42,0.000,4,0.223,0.059,2532,3720,3857,0,0,0,0,0,0
$GC,453,-0.55,-219.0,81.9,-26.1,73,461,0.38,2.22,0.00,0.000,6,0.163,0.028,2639,2291,3858,0,0,0,0,0,0
$GC,593,-0.50,-219.0,100.0,-12.2,98,601,0.00,2.35,0.00,0.000,4,0.000,0.048,2629,3717,3859,0,0,0,0,0,0
$GC,774,-0.44,-219.0,125.9,-15.0,115,784,0.12,2.22,0.00,0.000,6,0.145,0.030,2671,2310,3859,0,0,0,0,0,0
$GC,911,-0.46,-219.0,138.4,-8.2,128,915,0.00,2.28,0.00,0.000,4,0.000,0.052,2671,3717,3859,0,0,0,0,0,0
$GC,995,-0.46,-219.0,147.7,-10.5,135,999,0.00,2.20,0.00,0.000,6,0.000,0.031,2671,2303,3859,0,0,0,0,0,0
$GC,1133,-0.49,-219.0,162.4,-11.3,147,1137,0.00,2.30,0.00,0.000,4,0.000,0.054,2671,3717,3859,0,0,1,0,0,0
$GC,1198,-0.54,-219.0,171.2,-12.7,152,1206,0.00,2.25,0.00,0.000,6,0.000,0.031,2671,2301,3859,0,0,0,0,0,0
$GC,1335,-0.59,-219.0,187.7,-12.8,165,1340,0.12,2.30,0.00,0.000,4,0.103,0.053,2610,3717,3859,0,0,0,0,0,0
$GC,1421,-0.54,-219.0,203.0,-16.8,172,1430,0.08,2.22,0.00,0.000,6,0.153,0.031,2636,2303,3859,0,0,0,0,0,0
$GC,1558,-0.54,-219.0,221.1,-12.5,185,1562,0.00,2.28,0.00,0.000,4,0.000,0.052,2626,3717,3859,0,0,0,0,0,0
$GC,1654,-0.54,-219.0,235.0,-13.4,193,1664,0.00,2.22,0.00,0.000,6,0.000,0.031,2626,2306,3859,0,0,0,0,0,0
$GC,1789,-0.54,-219.0,252.1,-13.0,206,1793,0.00,2.28,0.00,0.000,4,0.000,0.052,2615,3718,3859,0,0,0,0,0,0
$GC,1885,-0.54,-219.0,265.6,-13.7,214,1890,0.10,2.20,0.00,0.000,6,0.177,0.031,2641,2291,3859,0,0,0,0,0,0
$GC,2086,-0.58,-219.0,289.1,-11.2,232,2090,0.00,2.30,0.00,0.000,4,0.000,0.050,2632,3724,3859,0,0,0,0,0,0
$GC,2220,-0.62,-219.0,305.7,-11.8,243,2227,0.00,2.20,0.00,0.000,6,0.000,0.030,2632,2292,3858,0,0,0,0,0,0
$GC,2420,-0.66,-219.0,326.8,-10.6,262,2424,0.00,2.30,0.00,0.000,4,0.000,0.051,2629,3724,3858,0,0,0,0,0,0
$GC,2544,-0.70,-219.0,341.3,-11.6,272,2552,0.10,2.20,0.00,0.000,6,0.125,0.029,2587,2301,3858,0,0,0,0,0,0
$GC,2742,-0.70,-219.0,368.4,-13.6,291,2746,0.00,2.30,0.00,0.000,4,0.000,0.051,2576,3721,3859,0,0,0,0,0,0
$GC,2877,-0.67,-219.0,388.9,-14.9,302,2884,0.00,2.20,0.00,0.000,6,0.000,0.029,2576,2294,3858,0,0,0,0,0,0
$STATE,2957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2957,begin apogee
$GC,2961,-0.16,0.0,400.5,14.2,310,3141,0.57,0.00,174.18,0.926,6,0.133,0.000,2766,2514,2960,0,0,0,0,0,0
$STATE,3141,end apogee,CONTROL_FINISHED_OK
$STATE,3142,begin climb
$GC,3143,0.84,219.0,408.9,0.0,326,3341,0.98,2.53,183.88,0.871,4,0.090,0.036,3097,1109,2064,0,0,1,0,0,0
$GC,3446,0.81,219.0,377.6,14.2,353,3454,0.00,2.35,0.00,0.000,6,0.000,0.041,3097,2492,2056,0,0,1,0,0,0
$GC,3645,0.73,219.0,348.0,14.8,372,3650,0.15,2.12,0.00,0.000,4,0.155,0.050,3056,3763,2051,0,0,0,0,0,0
$GC,3775,0.67,219.0,329.1,14.7,383,3779,0.00,2.00,0.00,0.000,6,0.000,0.031,3066,2510,2049,0,0,0,0,0,0
$GC,3979,0.66,227.0,302.4,13.0,402,3992,0.12,2.10,5.15,0.708,4,0.159,0.050,3030,3763,2034,0,0,0,0,0,0
$GC,4060,0.66,234.1,291.8,13.0,409,4073,0.00,2.00,8.32,0.789,6,0.000,0.031,3040,2499,2005,0,0,0,0,0,0
$GC,4266,0.75,283.4,268.3,11.3,428,4314,0.00,2.15,43.53,0.829,4,0.000,0.050,3040,3763,1804,0,0,0,0,0,0
$GC,4420,0.76,291.4,248.4,13.0,441,4433,0.00,2.08,8.20,0.754,6,0.000,0.031,3048,2497,1771,0,0,0,0,0,0
$GC,4565,0.87,335.5,232.3,11.5,454,4616,0.15,2.20,39.10,0.802,4,0.084,0.050,3111,3760,1591,0,0,1,0,0,0
$GC,4684,0.81,335.5,211.1,19.4,464,4689,0.15,2.05,0.00,0.000,6,0.155,0.031,3081,2497,1588,0,0,0,0,0,0
$GC,4820,0.85,335.5,191.0,13.7,476,4824,0.00,2.10,0.00,0.000,4,0.000,0.050,3080,3763,1586,0,0,0,0,0,0
$GC,4860,0.85,335.5,184.9,15.2,479,4864,0.00,2.03,0.00,0.000,6,0.000,0.031,3088,2497,1585,0,0,0,0,0,0
$GC,5000,0.85,335.5,164.8,14.2,492,5004,0.00,2.10,0.00,0.000,4,0.000,0.051,3088,3767,1583,0,0,0,0,0,0
$GC,5052,0.82,335.5,157.1,15.1,496,5055,0.00,2.03,0.00,0.000,6,0.000,0.031,3098,2493,1583,0,0,0,0,0,0
$GC,5193,0.80,335.5,137.2,14.9,509,5196,0.00,2.10,0.00,0.000,4,0.000,0.050,3098,3772,1583,0,0,0,0,0,0
$GC,5244,0.74,335.5,127.5,20.0,513,5249,0.17,2.00,0.00,0.000,6,0.149,0.031,3056,2499,1582,0,0,0,0,0,0
$GC,5380,0.79,335.5,105.6,17.2,525,5384,0.00,2.08,0.00,0.000,4,0.000,0.052,3055,3766,1581,0,0,0,0,0,0
$GC,5440,0.79,335.5,97.0,13.7,532,5447,0.00,2.03,0.00,0.000,6,0.000,0.032,3064,2506,1581,0,0,0,0,0,0
$GC,5581,0.84,335.5,76.3,18.1,557,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2506,1581,0,0,0,0,0,0
$GC,5717,0.89,335.5,55.3,17.0,582,5726,0.12,2.08,0.00,0.000,4,0.095,0.052,3118,3754,1580,0,0,0,0,0,0
$GC,5832,0.80,335.5,32.7,22.5,602,5840,0.15,2.00,0.00,0.000,6,0.134,0.032,3078,2500,1579,0,0,0,0,0,0
$GC,5975,0.80,335.5,10.6,15.5,627,5982,0.00,2.05,0.00,0.000,4,0.000,0.050,3077,3765,1580,0,0,0,0,0,0
$FREEZE,8.22,-1.900,-1.905,2,15,0
$STATE,5989,end climb,FINISH_DEPTH_REACHED
$STATE,5989,begin subsurface finish
$FINISH1,8.2,1.027855,-17
$GC,5996,-0.02,-17.4,8.2,-17.1,629,6050,0.77,2.10,-42.15,0.000,4,0.106,0.068,2818,3754,3035,0,0,0,0,0,0
$FINISH2,7.2
$STATE,6051,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6051,begin surface
$IRIDIUM_FIX,-7639.69,17024.14,301110,222221
$TT8_MAMPS,0.027713
$HUMID,50.82
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.7
$24V_AH,23.0,42.640
$10V_AH,10.0,60.892
$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,13.300,93.825,462.350,0.000,0.000,88.578,29.970,0.000,1.750,0.000,184.278,1505.908,2336.364,587.029,1987.217,252.863,0.000,1381.186,0.000,1220.675,0.000,15.110,0.000
$DEVICE_MAMPS,222.615,68.085,925.650,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.969,790.088,834.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43799,637
$CAP_FILE_SIZE,100606,0
$CFSIZE,260165632,248557568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,301110,224308,-7727.986,17011.598,181,99.0,181,136.2