version: 66.08
glider: 503
mission: 7
dive: 53
start: 12 2 110 18 47 48
data:
$ID,503
$MISSION,7
$DIVE,53
$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,40
$R_STBD_OVSHOOT,22
$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,7.41
$_SM_ANGLEo,9.0
$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,-8.98,0.000,2,0.000,0.000,2814,3771,3417,0,0,0,0,0,0
$GC,28,-0.84,-219.0,9.4,-0.0,1,49,0.73,4.70,-9.73,0.000,4,0.081,0.041,2552,894,3857,0,0,0,0,0,0
$GC,160,-0.88,-219.0,26.1,-14.8,24,168,0.00,2.33,0.00,0.000,6,0.000,0.043,2547,2299,3858,0,0,0,0,0,0
$GC,300,-0.88,-219.0,51.4,-20.4,49,307,0.00,2.30,0.00,0.000,4,0.000,0.052,2547,3711,3859,0,0,0,0,0,0
$GC,433,-0.85,-219.0,72.3,-15.5,73,440,0.00,2.25,0.00,0.000,6,0.000,0.028,2547,2284,3859,0,0,0,0,0,0
$GC,572,-0.83,-219.0,92.4,-14.8,98,581,0.00,2.38,0.00,0.000,4,0.000,0.050,2547,3711,3859,0,0,0,0,0,0
$GC,664,-0.83,-219.0,106.7,-16.0,111,669,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2303,3860,0,0,0,0,0,0
$GC,801,-0.83,-219.0,127.6,-15.9,123,805,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3717,3860,0,0,0,0,0,0
$GC,885,-0.81,-219.0,141.5,-17.5,130,889,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2291,3860,0,0,0,0,0,0
$GC,1020,-0.81,-219.0,162.8,-15.3,142,1024,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3711,3860,0,0,0,0,0,0
$GC,1083,-0.81,-219.0,173.3,-15.8,147,1093,0.00,2.22,0.00,0.000,6,0.000,0.031,2547,2309,3860,0,0,0,0,0,0
$GC,1219,-0.81,-219.0,193.3,-14.7,160,1223,0.00,2.28,0.00,0.000,4,0.000,0.051,2538,3717,3860,0,0,0,0,0,0
$GC,1305,-0.79,-219.0,207.5,-15.6,167,1314,0.00,2.25,0.00,0.000,6,0.000,0.031,2538,2300,3860,0,0,0,0,0,0
$GC,1441,-0.76,-219.0,227.2,-14.7,180,1445,0.12,2.30,0.00,0.000,4,0.162,0.052,2569,3712,3860,0,0,0,0,0,0
$GC,1528,-0.79,-219.0,238.6,-12.6,187,1536,0.00,2.22,0.00,0.000,6,0.000,0.031,2569,2306,3860,0,0,0,0,0,0
$GC,1661,-0.83,-219.0,254.6,-12.2,200,1665,0.00,2.28,0.00,0.000,4,0.000,0.051,2563,3714,3860,0,0,0,0,0,0
$GC,1769,-0.86,-219.0,268.7,-13.3,209,1773,0.00,2.20,0.00,0.000,6,0.000,0.030,2563,2294,3859,0,0,0,0,0,0
$GC,1967,-0.88,-219.0,294.1,-12.5,227,1971,0.00,2.28,0.00,0.000,4,0.000,0.050,2563,3712,3859,0,0,0,0,0,0
$GC,2102,-0.91,-219.0,311.6,-12.7,238,2109,0.12,2.20,0.00,0.000,6,0.106,0.030,2511,2296,3860,0,0,0,0,0,0
$GC,2300,-0.84,-219.0,344.2,-17.1,257,2305,0.12,2.28,0.00,0.000,4,0.168,0.050,2534,3711,3860,0,0,0,0,0,0
$GC,2434,-0.81,-219.0,366.4,-16.1,268,2441,0.00,2.17,0.00,0.000,6,0.000,0.030,2535,2299,3859,0,0,0,0,0,0
$GC,2632,-0.79,-219.0,397.0,-15.1,287,2636,0.12,2.28,0.00,0.000,4,0.161,0.050,2563,3711,3859,0,0,0,0,0,0
$STATE,2651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2651,begin apogee
$GC,2658,-0.16,0.0,400.3,14.4,288,2838,0.60,0.00,174.40,0.922,6,0.122,0.000,2765,2488,2959,0,0,0,0,0,0
$STATE,2839,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2841,0.84,219.0,410.4,0.0,305,3038,0.93,2.47,184.20,0.870,4,0.063,0.036,3101,1114,2065,0,0,0,0,0,0
$GC,3117,0.73,219.0,382.7,15.6,330,3123,0.17,2.38,0.00,0.000,6,0.163,0.041,3057,2496,2057,0,0,1,0,0,0
$GC,3317,0.66,219.0,354.5,14.7,348,3321,0.00,2.15,0.00,0.000,4,0.000,0.050,3057,3769,2053,0,0,0,0,0,0
$GC,3440,0.52,219.0,333.8,16.5,358,3448,0.28,2.05,0.00,0.000,6,0.148,0.031,2988,2504,2051,0,0,0,0,0,0
$GC,3639,0.69,320.9,314.2,9.2,377,3739,0.15,2.25,87.53,0.834,4,0.081,0.050,3051,3763,1650,0,0,1,0,0,0
$GC,3811,0.65,320.9,288.7,16.3,392,3819,0.08,2.12,0.00,0.000,6,0.141,0.031,3035,2503,1647,0,0,0,0,0,0
$GC,4012,0.68,327.4,262.5,13.1,411,4024,0.00,2.15,6.03,0.711,4,0.000,0.049,3035,3769,1625,0,0,0,0,0,0
$GC,4081,0.68,327.4,251.7,15.5,417,4085,0.00,2.08,0.00,0.000,6,0.000,0.031,3044,2491,1624,0,0,0,0,0,0
$GC,4282,0.68,327.4,224.1,13.8,435,4286,0.00,2.12,0.00,0.000,4,0.000,0.050,3044,3770,1623,0,0,0,0,0,0
$GC,4337,0.66,327.4,215.1,15.2,439,4346,0.00,2.08,0.00,0.000,6,0.000,0.031,3051,2499,1622,0,0,0,0,0,0
$GC,4473,0.66,327.4,195.0,14.6,452,4477,0.00,2.10,0.00,0.000,4,0.000,0.050,3052,3773,1622,0,0,0,0,0,0
$GC,4515,0.62,327.4,187.6,16.5,455,4524,0.12,2.08,0.00,0.000,6,0.138,0.031,3019,2499,1621,0,0,0,0,0,0
$GC,4653,0.74,378.6,171.0,11.2,468,4702,0.12,0.00,43.92,0.777,6,0.087,0.000,3079,2499,1416,0,0,0,0,0,0
$GC,4831,0.71,378.6,140.9,17.9,485,4836,0.12,2.10,0.00,0.000,4,0.149,0.050,3043,3764,1413,0,0,1,0,0,0
$GC,4894,0.71,378.6,128.0,18.0,490,4903,0.00,2.08,0.00,0.000,6,0.000,0.031,3051,2497,1412,0,0,0,0,0,0
$GC,5032,0.73,378.6,105.8,15.9,503,5036,0.00,2.10,0.00,0.000,4,0.000,0.050,3050,3773,1411,0,0,0,0,0,0
$GC,5073,0.73,378.6,98.4,18.1,506,5081,0.00,2.08,0.00,0.000,6,0.000,0.031,3058,2497,1411,0,0,0,0,0,0
$GC,5214,0.73,378.6,75.6,17.3,531,5221,0.00,2.12,0.00,0.000,4,0.000,0.051,3058,3785,1411,0,0,0,0,0,0
$GC,5252,0.71,378.6,68.3,20.4,537,5259,0.00,2.05,0.00,0.000,6,0.000,0.032,3066,2496,1410,0,0,0,0,0,0
$GC,5389,0.71,378.6,45.5,14.4,562,5397,0.00,2.10,0.00,0.000,4,0.000,0.050,3066,3756,1410,0,0,0,0,0,0
$GC,5436,0.66,378.6,38.3,16.1,570,5445,0.10,2.03,0.00,0.000,6,0.137,0.031,3040,2500,1410,0,0,0,0,0,0
$FREEZE,8.04,-1.890,-1.903,2,6,0
$GC,5578,0.89,509.1,22.4,8.0,595,5657,0.20,0.00,75.78,0.684,2,0.071,0.000,3122,2498,1026,0,0,0,0,0,0
$STATE,5658,end climb,FINISH_DEPTH_REACHED
$STATE,5658,begin subsurface finish
$FINISH1,8.0,1.027825,-16
$GC,5665,-0.02,-15.9,8.0,-27.7,606,5757,0.95,2.15,-82.30,0.000,4,0.121,0.067,2820,3754,3027,0,0,1,0,0,0
$FINISH2,2.4
$STATE,5759,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5759,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,49.68
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.5
$24V_AH,22.9,44.304
$10V_AH,10.0,61.909
$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,5.050,96.675,571.850,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,1442.558,2038.005,606.250,1601.231,121.457,0.000,1363.571,0.000,1144.695,0.000,12.289,0.000
$DEVICE_MAMPS,167.535,67.320,921.825,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.592,774.612,831.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40358,620
$CAP_FILE_SIZE,93475,0
$CFSIZE,260165632,247832576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,021210,102852,-7716.136,17056.307,15,4.1,34,134.3