version: 66.08
glider: 503
mission: 7
dive: 51
start: 12 2 110 15 29 34
data:
$ID,503
$MISSION,7
$DIVE,51
$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,44
$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,6.62
$_SM_ANGLEo,9.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-8.23,0.000,2,0.000,0.000,2813,2499,3348,0,0,0,0,0,0
$GC,27,-0.84,-219.0,7.4,-0.0,1,47,0.73,0.00,-12.52,0.000,6,0.083,0.000,2550,2499,3854,0,0,0,0,0,0
$GC,181,-0.81,-219.0,27.3,-16.1,28,189,0.00,2.00,0.00,0.000,4,0.000,0.051,2547,3709,3857,0,0,0,0,0,0
$GC,283,-0.81,-219.0,44.8,-15.0,46,291,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2295,3857,0,0,0,0,0,0
$GC,424,-0.81,-219.0,65.5,-15.5,71,430,0.00,2.33,0.00,0.000,4,0.000,0.050,2547,3720,3857,0,0,0,0,0,0
$GC,517,-0.81,-219.0,80.1,-15.7,88,525,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2302,3857,0,0,0,0,0,0
$GC,663,-0.81,-219.0,101.8,-14.1,113,667,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3720,3857,0,0,0,0,0,0
$GC,747,-0.81,-219.0,114.5,-14.7,120,751,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2302,3857,0,0,0,0,0,0
$GC,883,-0.81,-219.0,134.7,-14.6,132,887,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3720,3857,0,0,0,0,0,0
$GC,979,-0.81,-219.0,149.9,-15.3,140,988,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2294,3857,0,0,0,0,0,0
$GC,1115,-0.81,-219.0,169.9,-14.8,153,1119,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3720,3857,0,0,0,0,0,0
$GC,1220,-0.81,-219.0,187.1,-16.9,162,1224,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2296,3857,0,0,0,0,0,0
$GC,1356,-0.81,-219.0,208.9,-15.5,174,1360,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3721,3857,0,0,0,0,0,0
$GC,1431,-0.81,-219.0,221.1,-14.9,180,1440,0.00,2.22,0.00,0.000,6,0.000,0.029,2547,2307,3857,0,0,0,0,0,0
$GC,1567,-0.81,-219.0,240.5,-14.6,193,1571,0.00,2.28,0.00,0.000,4,0.000,0.052,2547,3718,3857,0,0,0,0,0,0
$GC,1662,-0.81,-219.0,254.7,-15.1,201,1666,0.00,2.20,0.00,0.000,6,0.000,0.031,2547,2294,3857,0,0,0,0,0,0
$GC,1859,-0.81,-219.0,282.9,-13.8,219,1863,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3715,3857,0,0,0,0,0,0
$GC,2004,-0.81,-219.0,303.1,-14.1,231,2011,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2299,3857,0,0,0,0,0,0
$GC,2201,-0.81,-219.0,331.0,-14.5,250,2205,0.00,2.28,0.00,0.000,4,0.000,0.052,2547,3715,3857,0,0,0,0,0,0
$GC,2331,-0.81,-219.0,349.7,-14.3,261,2338,0.00,2.17,0.00,0.000,6,0.000,0.031,2547,2301,3857,0,0,0,0,0,0
$GC,2536,-0.81,-219.0,377.2,-13.5,280,2540,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3719,3857,0,0,0,0,0,0
$STATE,2702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2702,begin apogee
$GC,2708,-0.16,0.0,400.3,13.4,294,2889,0.65,0.00,173.73,0.923,6,0.128,0.000,2763,2490,2959,0,0,0,0,0,0
$STATE,2889,end apogee,CONTROL_FINISHED_OK
$STATE,2889,begin climb
$GC,2891,0.84,219.0,409.5,0.0,311,3083,0.93,0.00,184.38,0.868,6,0.063,0.000,3090,2490,2065,0,0,0,0,0,0
$GC,3276,0.70,219.0,361.5,17.2,347,3281,0.15,2.17,0.00,0.000,4,0.159,0.048,3051,3768,2055,0,0,0,0,0,0
$GC,3399,0.59,219.0,340.4,16.4,357,3407,0.17,2.05,0.00,0.000,6,0.160,0.030,3013,2509,2052,0,0,0,0,0,0
$GC,3596,0.65,272.4,317.1,11.1,376,3652,0.00,2.22,45.17,0.838,4,0.000,0.051,3013,3763,1848,0,0,1,0,0,0
$GC,3731,0.65,272.4,299.7,13.6,388,3735,0.00,2.08,0.00,0.000,6,0.000,0.032,3021,2498,1845,0,0,0,0,0,0
$GC,3930,0.67,282.6,274.4,12.9,406,3945,0.00,2.17,9.38,0.783,4,0.000,0.050,3021,3764,1808,0,0,1,0,0,0
$GC,4020,0.67,282.6,261.4,15.2,414,4023,0.00,2.05,0.00,0.000,6,0.000,0.032,3030,2496,1807,0,0,0,0,0,0
$GC,4220,0.67,282.6,233.7,14.4,432,4224,0.00,2.10,0.00,0.000,4,0.000,0.050,3030,3764,1805,0,0,0,0,0,0
$GC,4284,0.63,282.6,222.7,16.4,437,4293,0.00,2.08,0.00,0.000,6,0.000,0.032,3040,2495,1804,0,0,0,0,0,0
$GC,4420,0.63,282.6,202.2,15.3,450,4423,0.00,2.10,0.00,0.000,4,0.000,0.050,3041,3770,1804,0,0,0,0,0,0
$GC,4471,0.59,282.6,193.8,16.1,454,4475,0.12,2.03,0.00,0.000,6,0.161,0.031,3015,2493,1803,0,0,0,0,0,0
$GC,4608,0.68,322.4,176.8,11.7,466,4649,0.00,2.12,35.45,0.787,4,0.000,0.052,3014,3764,1645,0,0,1,0,0,0
$GC,4693,0.72,327.6,165.8,13.1,473,4704,0.00,2.08,6.20,0.679,6,0.000,0.032,3022,2507,1623,0,0,0,0,0,0
$GC,4841,0.82,364.5,148.5,11.8,487,4880,0.17,2.17,32.20,0.756,4,0.075,0.050,3103,3764,1474,0,0,1,0,0,0
$GC,4940,0.71,364.5,128.1,23.3,495,4949,0.20,2.10,0.00,0.000,6,0.130,0.031,3049,2499,1473,0,0,0,0,0,0
$GC,5075,0.74,364.5,106.6,15.4,508,5079,0.00,2.10,0.00,0.000,4,0.000,0.050,3049,3764,1470,0,0,0,0,0,0
$GC,5116,0.74,364.5,99.2,16.7,511,5126,0.00,2.08,0.00,0.000,6,0.000,0.031,3056,2497,1469,0,0,0,0,0,0
$GC,5258,0.82,416.2,80.3,11.2,536,5306,0.00,2.20,42.50,0.721,4,0.000,0.051,3056,3763,1263,0,0,1,0,0,0
$GC,5367,0.82,416.2,62.5,15.9,554,5375,0.00,2.10,0.00,0.000,6,0.000,0.032,3064,2499,1263,0,0,0,0,0,0
$GC,5508,0.85,416.2,41.4,14.2,579,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2499,1260,0,0,0,0,0,0
$GC,5645,0.85,416.2,22.9,14.3,604,5654,0.00,2.12,0.00,0.000,4,0.000,0.049,3064,3763,1260,0,0,0,0,0,0
$GC,5724,0.87,416.2,9.8,14.7,617,5731,0.10,2.03,0.00,0.000,6,0.103,0.031,3110,2493,1259,0,0,0,0,0,0
$FREEZE,7.88,-1.893,-1.903,2,4,0
$STATE,5739,end climb,FINISH_DEPTH_REACHED
$STATE,5739,begin subsurface finish
$FINISH1,7.9,1.027828,-16
$GC,5744,-0.02,-16.1,7.9,-12.6,619,5811,0.90,0.00,-59.47,0.000,6,0.131,0.000,2823,2493,3027,0,0,0,0,0,0
$FINISH2,4.3
$STATE,5811,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5811,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,50.00
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.5
$24V_AH,22.9,44.045
$10V_AH,10.1,61.755
$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,4.125,86.650,529.000,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1487.104,2086.916,543.362,1627.787,117.699,0.000,1297.755,0.000,1176.886,0.000,9.465,0.000
$DEVICE_MAMPS,160.650,52.020,922.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.663,787.062,830.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43669,629
$CAP_FILE_SIZE,87739,0
$CFSIZE,260165632,247934976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,021210,102852,-7716.136,17056.307,15,4.1,34,134.3