version: 66.08
glider: 503
mission: 7
dive: 56
start: 12 2 110 23 47 8
data:
$ID,503
$MISSION,7
$DIVE,56
$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,21
$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,5.02
$_SM_ANGLEo,3.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,27,0.00,0.00,-10.00,0.000,2,0.000,0.000,2817,2504,3396,0,0,0,0,0,0
$GC,29,-0.84,-219.0,6.6,-0.0,1,51,0.75,2.62,-11.45,0.000,4,0.091,0.049,2550,897,3856,0,0,0,0,0,0
$GC,90,-0.84,-219.0,14.3,-14.8,10,99,0.00,2.33,0.00,0.000,6,0.000,0.044,2549,2306,3858,0,0,0,0,0,0
$GC,248,-0.84,-219.0,41.8,-15.4,35,255,0.00,2.30,0.00,0.000,4,0.000,0.051,2549,3720,3858,0,0,0,0,0,0
$GC,398,-0.84,-219.0,65.6,-15.2,59,405,0.00,2.22,0.00,0.000,6,0.000,0.030,2549,2288,3858,0,0,0,0,0,0
$GC,551,-0.84,-219.0,86.8,-12.4,84,560,0.00,2.35,0.00,0.000,4,0.000,0.050,2547,3707,3858,0,0,0,0,0,0
$GC,643,-0.81,-219.0,100.8,-14.7,98,652,0.00,2.22,0.00,0.000,6,0.000,0.029,2547,2301,3858,0,0,0,0,0,0
$GC,779,-0.81,-219.0,120.8,-15.6,111,784,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3720,3858,0,0,0,0,0,0
$GC,862,-0.79,-219.0,133.9,-15.4,117,872,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2298,3858,0,0,0,0,0,0
$GC,998,-0.79,-219.0,154.3,-15.2,130,1002,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3712,3858,0,0,0,0,0,0
$GC,1092,-0.79,-219.0,169.3,-15.2,137,1102,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2305,3858,0,0,0,0,0,0
$GC,1228,-0.79,-219.0,188.1,-13.4,150,1232,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3714,3858,0,0,0,0,0,0
$GC,1308,-0.79,-219.0,198.8,-13.8,156,1312,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2295,3858,0,0,0,0,0,0
$GC,1445,-0.79,-219.0,216.8,-13.0,168,1449,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3712,3858,0,0,0,0,0,0
$GC,1528,-0.79,-219.0,229.1,-14.1,174,1538,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2297,3858,0,0,0,0,0,0
$GC,1664,-0.79,-219.0,246.8,-13.6,187,1668,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3712,3858,0,0,0,0,0,0
$GC,1753,-0.79,-219.0,260.4,-15.5,194,1760,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2304,3858,0,0,0,0,0,0
$GC,1951,-0.79,-219.0,289.0,-14.5,213,1955,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3718,3857,0,0,0,0,0,0
$GC,2084,-0.79,-219.0,309.7,-15.4,224,2091,0.00,2.20,0.00,0.000,6,0.000,0.029,2547,2298,3858,0,0,0,0,0,0
$GC,2281,-0.79,-219.0,338.8,-14.3,243,2285,0.00,2.28,0.00,0.000,4,0.000,0.050,2538,3716,3858,0,0,0,0,0,0
$GC,2415,-0.76,-219.0,360.2,-15.5,254,2423,0.12,2.20,0.00,0.000,6,0.158,0.030,2573,2301,3858,0,0,0,0,0,0
$GC,2616,-0.81,-219.0,383.5,-11.1,273,2620,0.00,2.28,0.00,0.000,4,0.000,0.050,2564,3720,3858,0,0,0,0,0,0
$GC,2747,-0.85,-219.0,399.8,-12.4,284,2752,0.00,2.20,0.00,0.000,6,0.000,0.029,2564,2293,3857,0,0,0,0,0,0
$STATE,2756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2756,begin apogee
$GC,2761,-0.16,0.0,401.4,12.0,285,2940,0.60,0.00,174.25,0.921,6,0.125,0.000,2765,2506,2960,0,0,0,0,0,0
$STATE,2941,end apogee,CONTROL_FINISHED_OK
$STATE,2941,begin climb
$GC,2943,0.84,219.0,410.3,0.0,301,3137,0.93,0.00,184.00,0.870,6,0.060,0.000,3095,2506,2066,0,0,0,0,0,0
$GC,3328,0.68,219.0,359.9,18.4,337,3333,0.20,2.12,0.00,0.000,4,0.159,0.046,3044,3754,2055,0,0,0,0,0,0
$GC,3428,0.57,219.0,342.6,15.9,345,3435,0.17,2.00,0.00,0.000,6,0.154,0.030,3007,2507,2052,0,0,1,0,0,0
$GC,3628,0.66,278.2,319.9,10.9,364,3684,0.00,2.22,50.83,0.837,4,0.000,0.051,3006,3753,1824,0,0,1,0,0,0
$GC,3776,0.66,278.2,300.6,14.0,377,3780,0.00,2.08,0.00,0.000,6,0.000,0.031,3016,2500,1820,0,0,0,0,0,0
$GC,3974,0.71,289.0,275.3,12.9,395,3989,0.00,2.15,9.65,0.782,4,0.000,0.050,3016,3745,1780,0,0,1,0,0,0
$GC,4064,0.71,289.0,262.2,14.8,403,4067,0.00,2.03,0.00,0.000,6,0.000,0.032,3025,2499,1780,0,0,0,0,0,0
$GC,4270,0.74,298.7,235.4,12.9,422,4286,0.10,2.15,9.85,0.782,4,0.103,0.048,3081,3754,1742,0,0,1,0,0,0
$GC,4353,0.62,298.7,220.2,19.3,428,4363,0.20,2.08,0.00,0.000,6,0.131,0.031,3025,2495,1741,0,0,0,0,0,0
$GC,4490,0.69,331.2,203.2,12.0,441,4532,0.00,2.17,29.58,0.793,4,0.000,0.050,3025,3751,1609,0,0,1,0,0,0
$GC,4571,0.69,331.2,192.1,14.9,447,4575,0.00,2.05,0.00,0.000,6,0.000,0.031,3032,2493,1608,0,0,0,0,0,0
$GC,4714,0.76,363.6,174.0,12.0,460,4755,0.00,2.20,28.58,0.771,4,0.000,0.050,3032,3759,1477,0,0,1,0,0,0
$GC,4795,0.80,373.3,164.1,12.9,466,4811,0.10,2.05,9.65,0.720,6,0.101,0.032,3093,2500,1438,0,0,0,0,0,0
$GC,4938,0.71,373.3,139.3,18.8,479,4942,0.15,2.10,0.00,0.000,4,0.158,0.048,3053,3754,1436,0,0,0,0,0,0
$GC,4981,0.67,373.3,131.6,16.5,482,4985,0.00,2.03,0.00,0.000,6,0.000,0.031,3062,2493,1436,0,0,0,0,0,0
$GC,5124,0.67,373.3,109.1,15.9,495,5128,0.00,2.08,0.00,0.000,4,0.000,0.048,3062,3754,1434,0,0,0,0,0,0
$GC,5158,0.63,373.3,102.5,17.8,497,5169,0.12,2.05,0.00,0.000,6,0.132,0.031,3028,2500,1434,0,0,0,0,0,0
$GC,5312,0.69,373.6,83.6,13.3,521,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2500,1433,0,0,0,0,0,0
$GC,5465,0.76,373.6,62.6,14.3,546,5475,0.10,2.10,0.00,0.000,4,0.106,0.051,3080,3754,1433,0,0,1,0,0,0
$GC,5552,0.68,373.6,46.8,20.1,559,5559,0.17,2.00,0.00,0.000,6,0.150,0.031,3037,2497,1432,0,0,0,0,0,0
$GC,5706,0.72,373.6,23.8,16.0,584,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2496,1432,0,0,0,0,0,0
$FREEZE,8.17,-1.896,-1.903,2,9,0
$STATE,5843,end climb,FINISH_DEPTH_REACHED
$STATE,5843,begin subsurface finish
$FINISH1,8.2,1.027820,-16
$GC,5848,-0.02,-15.7,8.2,-11.2,606,5901,0.62,2.10,-42.47,0.000,4,0.100,0.063,2818,3756,3025,0,0,0,0,0,0
$FINISH2,7.9
$STATE,5902,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5902,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,50.35
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.0
$24V_AH,22.9,44.678
$10V_AH,10.1,62.163
$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,4.350,90.100,496.375,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1464.153,1921.937,512.942,1945.062,111.264,0.000,1272.228,0.000,1137.678,0.000,9.464,0.000
$DEVICE_MAMPS,159.120,63.495,921.060,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,428.030,761.782,1166.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40415,613
$CAP_FILE_SIZE,103431,0
$CFSIZE,260165632,247660544
$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