version: 66.08
glider: 503
mission: 7
dive: 46
start: 12 2 110 6 56 23
data:
$ID,503
$MISSION,7
$DIVE,46
$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,-17686.783
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,021210,035523,-7630.392,17043.447,0,10000.0,0,136.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.74
$_SM_ANGLEo,6.0
$GPS2,021210,035523,-7630.392,17043.447,0,10000.0,0,136.2
$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,36.6,55267,-18.2,-13.333
$D_GRID,705
$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,-9.20,0.000,2,0.000,0.000,2818,3754,3451,0,0,0,0,0,0
$GC,29,-0.84,-219.0,10.3,-0.0,1,50,0.75,4.72,-8.50,0.000,4,0.091,0.041,2556,894,3857,0,0,0,0,0,0
$GC,79,-0.94,-219.0,14.8,-10.6,9,86,0.00,2.30,0.00,0.000,6,0.000,0.042,2547,2302,3858,0,0,0,0,0,0
$GC,216,-0.94,-219.0,30.9,-13.9,34,224,0.00,2.35,0.00,0.000,4,0.000,0.052,2547,3710,3858,0,0,0,0,0,0
$GC,371,-0.94,-219.0,54.7,-15.7,62,380,0.00,2.28,0.00,0.000,6,0.000,0.030,2547,2291,3859,0,0,0,0,0,0
$GC,511,-0.94,-219.0,74.2,-14.1,87,518,0.00,2.33,0.00,0.000,4,0.000,0.050,2547,3708,3859,0,0,0,0,0,0
$GC,594,-0.94,-219.0,87.8,-17.4,102,602,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2300,3859,0,0,0,0,0,0
$GC,738,-0.94,-219.0,109.9,-15.0,122,742,0.00,2.30,0.00,0.000,4,0.000,0.051,2546,3711,3859,0,0,1,0,0,0
$GC,821,-0.92,-219.0,122.4,-15.3,129,825,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2300,3860,0,0,0,0,0,0
$GC,958,-0.92,-219.0,141.9,-13.7,141,962,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3712,3860,0,0,0,0,0,0
$GC,1031,-0.92,-219.0,151.9,-12.8,147,1035,0.00,2.20,0.00,0.000,6,0.000,0.031,2547,2301,3861,0,0,0,0,0,0
$GC,1167,-0.92,-219.0,170.1,-14.0,159,1171,0.00,2.30,0.00,0.000,4,0.000,0.052,2547,3715,3861,0,0,0,0,0,0
$GC,1241,-0.92,-219.0,182.1,-16.5,165,1250,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2302,3861,0,0,0,0,0,0
$GC,1377,-0.92,-219.0,201.7,-14.7,178,1381,0.00,2.28,0.00,0.000,4,0.000,0.052,2547,3708,3861,0,0,0,0,0,0
$GC,1471,-0.92,-219.0,216.4,-15.7,186,1475,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2288,3862,0,0,0,0,0,0
$GC,1606,-0.92,-219.0,236.5,-14.8,198,1610,0.00,2.30,0.00,0.000,4,0.000,0.052,2547,3709,3862,0,0,0,0,0,0
$GC,1699,-0.92,-219.0,251.1,-15.6,206,1703,0.00,2.17,0.00,0.000,6,0.000,0.030,2547,2299,3862,0,0,0,0,0,0
$GC,1897,-0.92,-219.0,280.0,-13.8,224,1901,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3708,3862,0,0,0,0,0,0
$GC,2042,-0.92,-219.0,301.6,-14.8,236,2049,0.00,2.20,0.00,0.000,6,0.000,0.029,2547,2290,3862,0,0,0,0,0,0
$GC,2240,-0.92,-219.0,328.7,-13.6,255,2244,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3708,3862,0,0,0,0,0,0
$GC,2385,-0.92,-219.0,349.1,-14.3,267,2392,0.00,2.17,0.00,0.000,6,0.000,0.030,2547,2292,3862,0,0,0,0,0,0
$GC,2583,-0.92,-219.0,374.8,-12.6,286,2587,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3710,3862,0,0,0,0,0,0
$GC,2716,-0.92,-219.0,392.8,-13.5,297,2724,0.00,2.20,0.00,0.000,6,0.000,0.029,2547,2304,3862,0,0,0,0,0,0
$STATE,2775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2775,begin apogee
$GC,2780,-0.16,0.0,400.5,13.1,303,2965,0.65,0.00,174.80,0.926,6,0.128,0.000,2764,2502,2958,0,0,0,0,0,0
$STATE,2966,end apogee,CONTROL_FINISHED_OK
$STATE,2966,begin climb
$GC,2967,0.84,219.0,409.1,0.0,320,3157,0.95,0.00,184.35,0.871,6,0.069,0.000,3093,2502,2066,0,0,0,0,0,0
$GC,3351,0.70,219.0,360.7,17.8,355,3356,0.17,2.12,0.00,0.000,4,0.161,0.048,3047,3763,2055,0,0,0,0,0,0
$GC,3429,0.60,219.0,347.2,16.4,361,3436,0.15,2.08,0.00,0.000,6,0.160,0.031,3018,2490,2052,0,0,0,0,0,0
$GC,3627,0.66,265.6,323.7,11.4,380,3672,0.00,2.25,39.55,0.841,4,0.000,0.050,3017,3760,1876,0,0,1,0,0,0
$GC,3766,0.66,265.6,305.2,13.8,392,3774,0.00,2.10,0.00,0.000,6,0.000,0.032,3027,2500,1872,0,0,0,0,0,0
$GC,3965,0.68,279.8,280.1,12.8,411,3988,0.00,2.17,13.00,0.809,4,0.000,0.050,3027,3754,1819,0,0,1,0,0,0
$GC,4059,0.68,279.8,266.1,15.0,419,4067,0.00,2.08,0.00,0.000,6,0.000,0.031,3035,2500,1817,0,0,0,0,0,0
$GC,4259,0.68,279.8,238.8,14.1,438,4263,0.00,2.10,0.00,0.000,4,0.000,0.051,3035,3764,1815,0,0,1,0,0,0
$GC,4323,0.64,279.8,228.1,15.4,443,4332,0.00,2.08,0.00,0.000,6,0.000,0.032,3044,2496,1814,0,0,0,0,0,0
$GC,4459,0.64,279.8,208.6,14.7,456,4463,0.00,2.08,0.00,0.000,4,0.000,0.050,3044,3757,1814,0,0,0,0,0,0
$GC,4510,0.60,279.8,200.3,16.5,460,4515,0.15,2.00,0.00,0.000,6,0.157,0.031,3010,2497,1813,0,0,0,0,0,0
$GC,4647,0.70,321.6,183.5,11.6,472,4690,0.10,2.12,36.95,0.791,4,0.103,0.048,3058,3758,1648,0,0,0,0,0,0
$GC,4728,0.66,321.6,170.1,17.4,478,4737,0.10,2.08,0.00,0.000,6,0.139,0.031,3032,2503,1647,0,0,0,0,0,0
$GC,4863,0.69,321.6,151.0,14.5,491,4867,0.00,2.08,0.00,0.000,4,0.000,0.051,3032,3753,1644,0,0,0,0,0,0
$GC,4905,0.69,321.6,143.8,16.3,494,4914,0.00,2.05,0.00,0.000,6,0.000,0.032,3041,2500,1644,0,0,0,0,0,0
$GC,5042,0.71,321.6,124.2,14.7,507,5045,0.00,2.08,0.00,0.000,4,0.000,0.051,3041,3758,1643,0,0,1,0,0,0
$GC,5072,0.71,321.6,118.4,16.5,509,5082,0.00,2.05,0.00,0.000,6,0.000,0.032,3049,2495,1642,0,0,0,0,0,0
$GC,5209,0.72,329.3,100.0,13.0,522,5219,0.00,0.00,7.12,0.712,6,0.000,0.000,3049,2494,1617,0,0,0,0,0,0
$GC,5353,0.72,329.3,77.3,16.2,547,5360,0.00,2.08,0.00,0.000,4,0.000,0.049,3049,3760,1616,0,0,0,0,0,0
$GC,5421,0.74,343.0,67.3,12.8,559,5442,0.00,2.00,13.10,0.732,6,0.000,0.031,3058,2498,1561,0,0,0,0,0,0
$GC,5576,0.74,343.0,44.5,17.5,586,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2498,1560,0,0,0,0,0,0
$GC,5715,0.74,343.0,20.5,14.9,611,5725,0.00,2.08,0.00,0.000,4,0.000,0.049,3058,3766,1559,0,0,0,0,0,0
$GC,5770,0.70,343.0,9.5,20.1,620,5778,0.00,2.03,0.00,0.000,6,0.000,0.031,3068,2504,1559,0,0,0,0,0,0
$FREEZE,6.49,-1.898,-1.904,2,21,0
$STATE,5784,end climb,FINISH_DEPTH_REACHED
$STATE,5784,begin subsurface finish
$FINISH1,6.5,1.027850,-17
$GC,5789,-0.02,-17.2,6.5,-21.1,622,5850,0.75,0.00,-56.08,0.000,6,0.118,0.000,2819,2504,3031,0,0,0,0,0,0
$FINISH2,2.7
$STATE,5851,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5851,begin surface
$IRIDIUM_FIX,-7630.39,17043.45,021210,030323
$TT8_MAMPS,0.027713
$HUMID,50.19
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.8
$24V_AH,22.9,43.385
$10V_AH,10.0,61.358
$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,3.775,94.125,468.875,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1499.311,2168.793,518.091,1612.018,105.369,0.000,1261.009,0.000,1167.856,0.000,9.467,0.000
$DEVICE_MAMPS,160.650,57.375,926.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.512,790.463,823.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258928
$DATA_FILE_SIZE,43722,631
$CAP_FILE_SIZE,88269,0
$CFSIZE,260165632,248193024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,021210,035523,-7630.392,17043.447,0,10000.0,0,136.2