version: 66.08
glider: 503
mission: 7
dive: 54
start: 12 2 110 20 25 19
data:
$ID,503
$MISSION,7
$DIVE,54
$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,4.92
$_SM_ANGLEo,9.3
$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,-219.0,0.0,0.0,0,25,0.00,0.00,-8.20,0.000,2,0.000,0.000,2820,3755,3340,0,0,0,0,0,0
$GC,27,-0.84,-219.0,6.9,-0.0,1,49,0.77,4.72,-12.60,0.000,4,0.079,0.039,2546,895,3853,0,0,0,0,0,0
$GC,175,-0.84,-219.0,23.3,-12.5,27,182,0.00,2.33,0.00,0.000,6,0.000,0.041,2535,2308,3854,0,0,0,0,0,0
$GC,315,-0.80,-219.0,44.2,-13.9,52,323,0.00,2.33,0.00,0.000,4,0.000,0.050,2535,3703,3854,0,0,0,0,0,0
$GC,427,-0.74,-219.0,62.8,-19.0,72,436,0.12,2.28,0.00,0.000,6,0.133,0.029,2577,2285,3854,0,0,0,0,0,0
$GC,569,-0.78,-219.0,81.8,-11.6,97,576,0.00,2.35,0.00,0.000,4,0.000,0.051,2576,3709,3855,0,0,0,0,0,0
$GC,661,-0.81,-219.0,93.8,-12.7,113,668,0.00,2.22,0.00,0.000,6,0.000,0.031,2576,2301,3854,0,0,0,0,0,0
$GC,799,-0.85,-219.0,114.2,-14.1,129,803,0.00,2.30,0.00,0.000,4,0.000,0.051,2576,3709,3855,0,0,0,0,0,0
$GC,884,-0.89,-219.0,125.6,-13.3,136,888,0.12,2.20,0.00,0.000,6,0.099,0.030,2524,2301,3855,0,0,0,0,0,0
$GC,1019,-0.83,-219.0,149.2,-18.0,148,1023,0.00,2.30,0.00,0.000,4,0.000,0.052,2514,3711,3856,0,0,1,0,0,0
$GC,1092,-0.75,-219.0,163.9,-19.8,154,1097,0.22,2.20,0.00,0.000,6,0.149,0.031,2579,2300,3856,0,0,0,0,0,0
$GC,1228,-0.80,-219.0,182.6,-12.3,166,1232,0.00,2.30,0.00,0.000,4,0.000,0.053,2576,3712,3857,0,0,1,0,0,0
$GC,1324,-0.85,-219.0,193.7,-11.4,174,1328,0.00,2.20,0.00,0.000,6,0.000,0.031,2576,2300,3857,0,0,0,0,0,0
$GC,1460,-0.89,-219.0,209.8,-12.2,186,1464,0.12,2.30,0.00,0.000,4,0.098,0.052,2520,3709,3858,0,0,0,0,0,0
$GC,1523,-0.83,-219.0,220.8,-18.5,191,1533,0.08,2.25,0.00,0.000,6,0.147,0.030,2547,2295,3858,0,0,0,0,0,0
$GC,1659,-0.83,-219.0,240.8,-14.5,204,1663,0.00,2.28,0.00,0.000,4,0.000,0.050,2537,3711,3857,0,0,0,0,0,0
$GC,1743,-0.81,-219.0,253.8,-16.1,211,1747,0.00,2.20,0.00,0.000,6,0.000,0.030,2537,2293,3857,0,0,0,0,0,0
$GC,1942,-0.78,-219.0,283.2,-14.9,229,1947,0.10,2.30,0.00,0.000,4,0.171,0.051,2563,3709,3858,0,0,0,0,0,0
$GC,2076,-0.81,-219.0,300.9,-12.6,240,2083,0.00,2.20,0.00,0.000,6,0.000,0.029,2563,2296,3858,0,0,0,0,0,0
$GC,2276,-0.84,-219.0,324.6,-11.9,259,2280,0.00,2.28,0.00,0.000,4,0.000,0.050,2563,3711,3857,0,0,0,0,0,0
$GC,2410,-0.87,-219.0,341.8,-12.7,270,2417,0.00,2.20,0.00,0.000,6,0.000,0.030,2563,2297,3858,0,0,0,0,0,0
$GC,2609,-0.89,-219.0,365.8,-12.9,289,2613,0.00,2.28,0.00,0.000,4,0.000,0.051,2563,3712,3857,0,0,0,0,0,0
$GC,2739,-0.93,-219.0,383.1,-13.4,300,2744,0.12,2.17,0.00,0.000,6,0.103,0.030,2510,2303,3857,0,0,0,0,0,0
$STATE,2840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2840,begin apogee
$GC,2845,-0.16,0.0,400.3,17.4,309,3029,0.77,0.00,174.27,0.925,6,0.135,0.000,2761,2503,2959,0,0,0,0,0,0
$STATE,3030,end apogee,CONTROL_FINISHED_OK
$STATE,3030,begin climb
$GC,3032,0.84,219.0,412.6,0.0,326,3226,0.95,0.00,184.52,0.872,6,0.070,0.000,3090,2503,2065,0,0,0,0,0,0
$GC,3417,0.70,219.0,368.7,16.6,362,3422,0.15,2.12,0.00,0.000,4,0.160,0.048,3051,3754,2054,0,0,0,0,0,0
$GC,3516,0.59,219.0,352.4,15.7,370,3525,0.12,2.08,0.00,0.000,6,0.139,0.030,3020,2513,2051,0,0,0,0,0,0
$GC,3717,0.66,277.8,329.8,10.9,389,3773,0.00,2.22,50.15,0.843,4,0.000,0.050,3020,3762,1826,0,0,1,0,0,0
$GC,3830,0.66,277.8,315.4,13.9,399,3834,0.00,2.08,0.00,0.000,6,0.000,0.031,3029,2499,1822,0,0,0,0,0,0
$GC,4028,0.68,297.3,290.5,12.5,417,4051,0.00,2.20,17.23,0.817,4,0.000,0.050,3029,3758,1748,0,0,1,0,0,0
$GC,4108,0.68,297.3,279.2,15.0,424,4112,0.00,2.08,0.00,0.000,6,0.000,0.031,3039,2499,1745,0,0,0,0,0,0
$GC,4305,0.68,297.3,250.7,15.2,442,4309,0.00,2.10,0.00,0.000,4,0.000,0.050,3039,3760,1744,0,0,0,0,0,0
$GC,4352,0.65,297.3,242.7,17.5,445,4362,0.00,2.08,0.00,0.000,6,0.000,0.031,3047,2497,1743,0,0,0,0,0,0
$GC,4489,0.65,297.3,221.1,16.1,458,4492,0.00,2.08,0.00,0.000,4,0.000,0.050,3047,3754,1743,0,0,0,0,0,0
$GC,4535,0.61,297.3,212.5,17.2,461,4546,0.10,2.05,0.00,0.000,6,0.135,0.031,3022,2499,1742,0,0,0,0,0,0
$GC,4673,0.69,324.7,195.6,12.2,474,4702,0.00,2.17,24.33,0.797,4,0.000,0.050,3022,3761,1636,0,0,1,0,0,0
$GC,4744,0.73,334.5,186.1,12.9,479,4759,0.00,2.08,9.95,0.742,6,0.000,0.032,3030,2501,1596,0,0,0,0,0,0
$GC,4890,0.81,363.3,169.0,12.2,492,4921,0.15,2.12,26.23,0.770,4,0.078,0.050,3100,3757,1478,0,0,1,0,0,0
$GC,4970,0.68,363.3,152.1,23.0,498,4980,0.20,2.08,0.00,0.000,6,0.137,0.032,3047,2503,1477,0,0,0,0,0,0
$GC,5107,0.68,363.3,129.6,16.4,511,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2503,1474,0,0,0,0,0,0
$GC,5243,0.70,363.3,107.6,15.1,524,5247,0.00,2.08,0.00,0.000,4,0.000,0.050,3047,3764,1474,0,0,0,0,0,0
$GC,5300,0.70,363.3,100.5,13.8,528,5304,0.00,2.03,0.00,0.000,6,0.000,0.032,3055,2490,1473,0,0,0,0,0,0
$GC,5451,0.70,363.3,81.1,15.7,552,5460,0.00,2.10,0.00,0.000,4,0.000,0.048,3055,3751,1473,0,0,0,0,0,0
$GC,5490,0.70,363.3,75.3,14.8,558,5500,0.00,2.03,0.00,0.000,6,0.000,0.032,3065,2502,1472,0,0,0,0,0,0
$GC,5647,0.70,363.3,49.7,16.1,583,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2501,1472,0,0,0,0,0,0
$GC,5800,0.76,425.6,31.2,10.8,608,5858,0.00,2.12,50.35,0.703,4,0.000,0.050,3065,3761,1224,0,0,1,0,0,0
$FREEZE,8.99,-1.892,-1.904,2,7,0
$STATE,5925,end climb,FINISH_DEPTH_REACHED
$STATE,5926,begin subsurface finish
$FINISH1,9.0,1.027823,-16
$GC,5933,-0.02,-15.8,9.0,-14.7,627,6000,0.77,2.35,-59.20,0.000,4,0.119,0.050,2821,1089,3027,0,0,0,0,0,0
$FINISH2,4.7
$STATE,6001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6001,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,49.88
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.3
$24V_AH,22.9,44.433
$10V_AH,10.0,61.992
$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,4.900,96.825,537.025,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1510.292,2099.201,548.444,1781.572,114.089,0.000,1314.899,0.000,1163.785,0.000,9.473,0.000
$DEVICE_MAMPS,171.360,56.610,924.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.212,791.770,986.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40406,637
$CAP_FILE_SIZE,101382,0
$CFSIZE,260165632,247771136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,021210,102852,-7716.136,17056.307,15,4.1,34,134.3