version: 66.08
glider: 503
mission: 7
dive: 50
start: 12 2 110 13 51 0
data:
$ID,503
$MISSION,7
$DIVE,50
$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,-17688.041
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,021210,102852,-7716.136,17056.307,15,4.1,34,134.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.98
$_SM_ANGLEo,4.3
$GPS2,021210,102852,-7716.136,17056.307,15,4.1,34,134.3
$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,228.6,29924,-18.2,-13.333
$D_GRID,747
$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,-8.82,0.000,2,0.000,0.000,2822,2497,3347,0,0,0,0,0,0
$GC,28,-0.84,-219.0,6.2,-0.0,1,50,0.75,2.67,-13.65,0.000,4,0.091,0.050,2557,885,3855,0,0,0,0,0,0
$GC,73,-0.90,-219.0,9.1,-6.7,8,81,0.00,2.35,0.00,0.000,6,0.000,0.045,2550,2299,3856,0,0,0,0,0,0
$GC,214,-0.90,-219.0,31.2,-18.1,33,221,0.00,2.35,0.00,0.000,4,0.000,0.054,2550,3714,3858,0,0,0,0,0,0
$GC,361,-0.90,-219.0,59.0,-20.3,60,369,0.00,2.28,0.00,0.000,6,0.000,0.030,2551,2293,3858,0,0,0,0,0,0
$GC,502,-0.90,-219.0,81.2,-16.0,85,509,0.00,2.33,0.00,0.000,4,0.000,0.050,2547,3713,3857,0,0,0,0,0,0
$GC,581,-0.90,-219.0,93.6,-13.1,99,588,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2297,3858,0,0,0,0,0,0
$GC,724,-0.90,-219.0,113.2,-13.0,116,728,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3714,3859,0,0,0,0,0,0
$GC,819,-0.90,-219.0,127.0,-14.1,124,823,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2303,3859,0,0,0,0,0,0
$GC,954,-0.90,-219.0,144.9,-13.6,136,958,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3716,3859,0,0,0,0,0,0
$GC,1038,-0.90,-219.0,156.3,-13.6,143,1042,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2301,3859,0,0,0,0,0,0
$GC,1174,-0.90,-219.0,175.2,-14.3,155,1178,0.00,2.30,0.00,0.000,4,0.000,0.051,2538,3719,3860,0,0,0,0,0,0
$GC,1248,-0.90,-219.0,187.2,-15.2,161,1257,0.00,2.25,0.00,0.000,6,0.000,0.031,2538,2301,3860,0,0,0,0,0,0
$GC,1384,-0.90,-219.0,207.3,-15.4,174,1388,0.00,2.28,0.00,0.000,4,0.000,0.052,2535,3712,3860,0,0,1,0,0,0
$GC,1467,-0.90,-219.0,220.7,-15.4,181,1471,0.00,2.20,0.00,0.000,6,0.000,0.031,2535,2296,3860,0,0,0,0,0,0
$GC,1604,-0.90,-219.0,241.5,-16.1,193,1608,0.00,2.30,0.00,0.000,4,0.000,0.051,2531,3720,3860,0,0,0,0,0,0
$GC,1688,-0.87,-219.0,255.8,-16.0,200,1692,0.00,2.20,0.00,0.000,6,0.000,0.030,2531,2297,3860,0,0,0,0,0,0
$GC,1887,-0.87,-219.0,286.1,-14.8,218,1891,0.00,2.28,0.00,0.000,4,0.000,0.050,2520,3712,3861,0,0,0,0,0,0
$GC,2031,-0.83,-219.0,310.7,-16.6,230,2039,0.10,2.22,0.00,0.000,6,0.172,0.030,2547,2303,3861,0,0,0,0,0,0
$GC,2229,-0.83,-219.0,337.8,-13.6,249,2233,0.00,2.28,0.00,0.000,4,0.000,0.051,2537,3718,3860,0,0,0,0,0,0
$GC,2372,-0.83,-219.0,357.8,-14.5,261,2376,0.00,2.20,0.00,0.000,6,0.000,0.030,2537,2295,3860,0,0,0,0,0,0
$GC,2569,-0.83,-219.0,386.3,-14.2,279,2573,0.00,2.28,0.00,0.000,4,0.000,0.050,2533,3714,3860,0,0,0,0,0,0
$STATE,2665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2666,begin apogee
$GC,2672,-0.16,0.0,400.8,15.7,287,2852,0.70,0.00,174.60,0.923,6,0.127,0.000,2766,2487,2960,0,0,0,0,0,0
$STATE,2852,end apogee,CONTROL_FINISHED_OK
$STATE,2853,begin climb
$GC,2854,0.84,219.0,412.4,0.0,303,3051,0.93,2.47,184.30,0.871,4,0.065,0.036,3100,1112,2065,0,0,0,0,0,0
$GC,3079,0.73,219.0,394.9,15.4,323,3087,0.17,2.42,0.00,0.000,6,0.157,0.041,3055,2499,2060,0,0,1,0,0,0
$GC,3279,0.66,219.0,366.9,14.4,342,3283,0.00,2.12,0.00,0.000,4,0.000,0.049,3056,3765,2054,0,0,0,0,0,0
$GC,3390,0.54,219.0,348.4,16.1,351,3398,0.22,2.08,0.00,0.000,6,0.134,0.031,2995,2520,2052,0,0,0,0,0,0
$GC,3590,0.69,305.8,328.6,9.8,370,3671,0.12,2.17,74.75,0.842,4,0.090,0.049,3047,3763,1712,0,0,0,0,0,0
$GC,3767,0.65,305.8,303.1,15.4,385,3774,0.00,2.08,0.00,0.000,6,0.000,0.031,3057,2497,1705,0,0,0,0,0,0
$GC,3964,0.65,305.8,273.8,14.7,404,3968,0.00,2.12,0.00,0.000,4,0.000,0.050,3057,3766,1703,0,0,0,0,0,0
$GC,4019,0.60,305.8,264.5,16.6,408,4027,0.15,2.08,0.00,0.000,6,0.134,0.031,3016,2511,1703,0,0,0,0,0,0
$GC,4221,0.72,363.9,242.5,11.0,427,4277,0.10,2.20,49.30,0.806,4,0.099,0.049,3068,3764,1475,0,0,1,0,0,0
$GC,4332,0.69,363.9,225.0,16.2,435,4342,0.10,2.10,0.00,0.000,6,0.130,0.030,3044,2504,1473,0,0,0,0,0,0
$GC,4468,0.73,363.9,206.4,14.2,448,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2505,1471,0,0,0,0,0,0
$GC,4595,0.76,363.9,188.6,13.8,460,4599,0.00,2.10,0.00,0.000,4,0.000,0.050,3044,3768,1470,0,0,0,0,0,0
$GC,4657,0.76,363.9,179.2,15.1,465,4661,0.00,2.03,0.00,0.000,6,0.000,0.031,3052,2498,1469,0,0,0,0,0,0
$GC,4799,0.78,363.9,158.2,15.0,478,4803,0.00,2.10,0.00,0.000,4,0.000,0.050,3052,3770,1469,0,0,0,0,0,0
$GC,4842,0.78,363.9,150.1,17.8,481,4851,0.00,2.05,0.00,0.000,6,0.000,0.031,3060,2504,1468,0,0,0,0,0,0
$GC,4979,0.78,363.9,128.8,14.9,494,4983,0.00,2.08,0.00,0.000,4,0.000,0.050,3060,3772,1468,0,0,0,0,0,0
$GC,5011,0.75,363.9,123.0,18.1,496,5020,0.00,2.05,0.00,0.000,6,0.000,0.031,3068,2503,1468,0,0,0,0,0,0
$GC,5147,0.75,363.9,101.8,16.4,509,5150,0.00,2.05,0.00,0.000,4,0.000,0.050,3068,3765,1468,0,0,0,0,0,0
$GC,5191,0.72,363.9,93.9,18.2,516,5199,0.00,2.03,0.00,0.000,6,0.000,0.032,3078,2508,1467,0,0,0,0,0,0
$GC,5332,0.69,363.9,69.6,15.9,541,5339,0.12,2.05,0.00,0.000,4,0.171,0.051,3042,3764,1467,0,0,0,0,0,0
$GC,5379,0.71,377.8,63.3,12.8,549,5400,0.00,2.00,11.35,0.731,6,0.000,0.032,3051,2499,1419,0,0,0,0,0,0
$GC,5533,0.74,377.8,42.4,15.6,576,5541,0.00,2.10,0.00,0.000,4,0.000,0.050,3051,3756,1418,0,0,0,0,0,0
$GC,5565,0.74,377.8,37.7,15.4,581,5572,0.00,2.00,0.00,0.000,6,0.000,0.032,3058,2498,1417,0,0,0,0,0,0
$GC,5705,0.76,377.8,14.9,15.2,606,5713,0.00,2.10,0.00,0.000,4,0.000,0.050,3059,3763,1416,0,0,0,0,0,0
$GC,5741,0.76,377.8,9.2,13.8,612,5749,0.00,2.03,0.00,0.000,6,0.000,0.032,3066,2498,1417,0,0,0,0,0,0
$FREEZE,6.59,-1.906,-1.902,2,3,0
$STATE,5755,end climb,FINISH_DEPTH_REACHED
$STATE,5755,begin subsurface finish
$FINISH1,6.6,1.027832,-16
$GC,5760,-0.02,-16.3,6.6,-16.2,614,5821,0.75,0.00,-55.10,0.000,6,0.115,0.000,2813,2499,3029,0,0,0,0,0,0
$FINISH2,4.6
$STATE,5822,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5822,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,50.82
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.4
$24V_AH,22.9,43.919
$10V_AH,9.8,61.679
$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,4.225,100.500,494.300,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1494.463,2130.263,528.221,1604.582,114.519,0.000,1273.580,0.000,1153.727,0.000,9.470,0.000
$DEVICE_MAMPS,172.125,53.550,922.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.679,778.358,832.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258940
$DATA_FILE_SIZE,40437,623
$CAP_FILE_SIZE,91957,0
$CFSIZE,260165632,247988224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,021210,102852,-7716.136,17056.307,15,4.1,34,134.3