version: 66.08
glider: 503
mission: 7
dive: 41
start: 12 1 110 22 48 55
data:
$ID,503
$MISSION,7
$DIVE,41
$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,44
$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,-7727.986,17011.598,181,99.0,181,136.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.96
$_SM_ANGLEo,3.5
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-8.40,0.000,2,0.000,0.000,2818,3754,3292,0,0,0,0,0,0
$GC,27,-0.84,-219.0,4.4,-0.0,1,54,0.70,0.00,-17.62,0.000,6,0.058,0.000,2542,3755,3855,0,0,0,0,0,0
$GC,187,-0.76,-219.0,30.9,-12.7,29,195,0.12,4.62,0.00,0.000,4,0.171,0.037,2576,895,3858,0,0,0,0,0,0
$GC,250,-0.76,-219.0,37.8,-11.3,40,258,0.00,2.30,0.00,0.000,6,0.000,0.044,2573,2294,3857,0,0,0,0,0,0
$GC,393,-0.76,-219.0,59.0,-13.0,65,400,0.00,2.30,0.00,0.000,4,0.000,0.051,2563,3718,3858,0,0,0,0,0,0
$GC,484,-0.72,-219.0,73.7,-17.3,81,491,0.00,2.22,0.00,0.000,6,0.000,0.031,2563,2297,3857,0,0,0,0,0,0
$GC,623,-0.68,-219.0,96.0,-15.3,106,632,0.12,2.35,0.00,0.000,4,0.164,0.052,2588,3710,3858,0,0,0,0,0,0
$GC,739,-0.70,-219.0,111.9,-13.4,119,743,0.00,2.20,0.00,0.000,6,0.000,0.031,2588,2290,3857,0,0,0,0,0,0
$GC,873,-0.70,-219.0,130.3,-13.6,131,877,0.00,2.30,0.00,0.000,4,0.000,0.050,2578,3714,3858,0,0,0,0,0,0
$GC,946,-0.70,-219.0,141.3,-16.1,137,950,0.00,2.20,0.00,0.000,6,0.000,0.031,2577,2291,3858,0,0,0,0,0,0
$GC,1081,-0.70,-219.0,161.9,-14.7,149,1085,0.00,2.30,0.00,0.000,4,0.000,0.051,2576,3718,3858,0,0,0,0,0,0
$GC,1153,-0.70,-219.0,172.6,-15.0,155,1157,0.00,2.22,0.00,0.000,6,0.000,0.030,2576,2294,3857,0,0,0,0,0,0
$GC,1288,-0.70,-219.0,191.4,-13.4,167,1292,0.00,2.28,0.00,0.000,4,0.000,0.050,2576,3711,3858,0,0,0,0,0,0
$GC,1374,-0.73,-219.0,204.1,-14.2,174,1383,0.00,2.22,0.00,0.000,6,0.000,0.030,2576,2294,3858,0,0,0,0,0,0
$GC,1511,-0.73,-219.0,221.5,-13.1,187,1515,0.00,2.28,0.00,0.000,4,0.000,0.051,2576,3712,3858,0,0,0,0,0,0
$GC,1608,-0.75,-219.0,235.4,-13.7,195,1617,0.00,2.22,0.00,0.000,6,0.000,0.031,2576,2298,3857,0,0,0,0,0,0
$GC,1743,-0.78,-219.0,252.1,-12.7,208,1747,0.00,2.28,0.00,0.000,4,0.000,0.052,2576,3715,3857,0,0,0,0,0,0
$GC,1840,-0.81,-219.0,264.8,-12.7,216,1844,0.00,2.17,0.00,0.000,6,0.000,0.031,2576,2301,3858,0,0,0,0,0,0
$GC,2039,-0.84,-219.0,291.4,-13.9,234,2043,0.00,2.28,0.00,0.000,4,0.000,0.053,2575,3715,3858,0,0,1,0,0,0
$GC,2172,-0.87,-219.0,312.2,-15.7,245,2180,0.12,2.17,0.00,0.000,6,0.103,0.030,2525,2300,3857,0,0,0,0,0,0
$GC,2373,-0.82,-219.0,347.9,-17.2,264,2377,0.12,2.28,0.00,0.000,4,0.168,0.051,2550,3711,3857,0,0,0,0,0,0
$GC,2505,-0.82,-219.0,368.7,-14.3,275,2513,0.00,2.20,0.00,0.000,6,0.000,0.030,2550,2305,3857,0,0,0,0,0,0
$GC,2705,-0.82,-219.0,394.9,-13.6,294,2709,0.00,2.25,0.00,0.000,4,0.000,0.052,2547,3711,3857,0,0,0,0,0,0
$STATE,2737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2737,begin apogee
$GC,2743,-0.16,0.0,400.0,14.6,296,2923,0.65,0.00,173.45,0.925,6,0.129,0.000,2762,2498,2959,0,0,0,0,0,0
$STATE,2924,end apogee,CONTROL_FINISHED_OK
$STATE,2924,begin climb
$GC,2926,0.84,219.0,407.6,0.0,313,3123,0.98,2.47,183.82,0.871,4,0.083,0.035,3099,1111,2065,0,0,0,0,0,0
$GC,3147,0.77,219.0,386.8,15.1,333,3152,0.12,2.40,0.00,0.000,6,0.160,0.041,3070,2496,2061,0,0,1,0,0,0
$GC,3346,0.71,219.0,357.8,13.9,351,3349,0.00,2.15,0.00,0.000,4,0.000,0.050,3070,3769,2054,0,0,0,0,0,0
$GC,3475,0.62,219.0,337.5,15.5,362,3483,0.22,2.05,0.00,0.000,6,0.148,0.030,3016,2505,2052,0,0,0,0,0,0
$GC,3674,0.73,280.5,316.1,10.8,381,3734,0.12,2.20,52.03,0.840,4,0.090,0.050,3073,3764,1815,0,0,1,0,0,0
$GC,3841,0.66,280.5,289.1,17.2,396,3846,0.17,2.05,0.00,0.000,6,0.149,0.031,3035,2498,1811,0,0,0,0,0,0
$GC,4040,0.70,281.1,263.3,13.3,414,4044,0.00,2.12,0.00,0.000,4,0.000,0.050,3035,3766,1809,0,0,0,0,0,0
$GC,4124,0.70,281.1,250.9,14.4,421,4131,0.00,2.03,0.00,0.000,6,0.000,0.031,3043,2498,1807,0,0,0,0,0,0
$GC,4324,0.72,281.1,223.8,13.9,440,4328,0.00,2.10,0.00,0.000,4,0.000,0.050,3043,3771,1806,0,0,0,0,0,0
$GC,4418,0.72,281.1,209.1,16.0,448,4422,0.00,2.00,0.00,0.000,6,0.000,0.031,3051,2501,1806,0,0,0,0,0,0
$GC,4559,0.72,281.1,188.2,15.4,461,4563,0.00,2.08,0.00,0.000,4,0.000,0.050,3051,3767,1805,0,0,0,0,0,0
$GC,4623,0.70,281.1,176.9,17.6,466,4631,0.00,2.03,0.00,0.000,6,0.000,0.031,3060,2505,1805,0,0,0,0,0,0
$GC,4758,0.70,281.1,155.0,16.6,479,4762,0.00,2.05,0.00,0.000,4,0.000,0.051,3060,3766,1804,0,0,0,0,0,0
$GC,4805,0.65,281.1,146.6,18.5,483,4809,0.12,1.98,0.00,0.000,6,0.168,0.032,3033,2500,1804,0,0,0,0,0,0
$GC,4942,0.69,281.8,127.1,13.3,495,4946,0.00,2.05,0.00,0.000,4,0.000,0.051,3033,3766,1804,0,0,0,0,0,0
$GC,4978,0.69,281.8,122.1,14.1,498,4982,0.00,1.98,0.00,0.000,6,0.000,0.033,3041,2501,1804,0,0,0,0,0,0
$GC,5119,0.75,326.6,103.5,11.5,511,5165,0.00,2.12,38.97,0.754,4,0.000,0.050,3041,3766,1627,0,0,0,0,0,0
$GC,5221,0.75,326.6,89.5,14.4,525,5227,0.00,2.03,0.00,0.000,6,0.000,0.031,3049,2499,1624,0,0,0,0,0,0
$GC,5361,0.79,326.6,70.0,13.8,550,5369,0.00,2.12,0.00,0.000,4,0.000,0.051,3049,3766,1622,0,0,0,0,0,0
$GC,5436,0.76,326.6,58.6,14.1,563,5443,0.00,2.00,0.00,0.000,6,0.000,0.031,3058,2499,1621,0,0,0,0,0,0
$GC,5575,0.76,326.6,37.0,17.0,588,5583,0.00,2.10,0.00,0.000,4,0.000,0.050,3058,3758,1619,0,0,0,0,0,0
$GC,5622,0.74,326.6,30.1,15.3,596,5631,0.00,2.03,0.00,0.000,6,0.000,0.032,3064,2501,1620,0,0,0,0,0,0
$GC,5766,0.77,354.3,13.7,12.2,621,5795,0.00,2.15,23.00,0.706,4,0.000,0.051,3064,3769,1515,0,0,1,0,0,0
$FREEZE,7.98,-1.891,-1.906,2,16,0
$STATE,5801,end climb,FINISH_DEPTH_REACHED
$STATE,5801,begin subsurface finish
$FINISH1,8.0,1.027862,-18
$GC,5808,-0.02,-17.8,8.0,-14.5,626,5863,0.75,2.12,-46.58,0.000,4,0.109,0.066,2820,3773,3034,0,0,0,0,0,0
$FINISH2,4.9
$STATE,5864,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5864,begin surface
$IRIDIUM_FIX,-7639.69,17024.14,301110,222221
$TT8_MAMPS,0.027713
$HUMID,50.31
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,20.3
$24V_AH,23.0,42.755
$10V_AH,10.1,60.970
$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,4.350,104.025,471.275,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,1526.994,2127.592,503.304,1630.452,126.621,0.000,1247.647,0.000,1176.434,0.000,12.291,0.000
$DEVICE_MAMPS,170.595,65.790,924.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.936,800.986,848.439,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43685,634
$CAP_FILE_SIZE,91898,0
$CFSIZE,260165632,248512512
$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