version: 66.08
glider: 503
mission: 7
dive: 57
start: 12 3 110 1 27 1
data:
$ID,503
$MISSION,7
$DIVE,57
$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,41
$R_STBD_OVSHOOT,32
$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,7.99
$_SM_ANGLEo,7.2
$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,-219.0,0.0,0.0,0,27,0.00,0.00,-10.07,0.000,2,0.000,0.000,2818,3756,3467,0,0,0,0,0,0
$GC,30,-0.84,-219.0,9.5,-0.0,1,47,0.75,4.62,-8.48,0.000,4,0.090,0.038,2552,889,3855,0,0,0,0,0,0
$GC,159,-0.84,-219.0,24.5,-16.1,21,166,0.00,2.28,0.00,0.000,6,0.000,0.040,2547,2300,3858,0,0,0,0,0,0
$GC,312,-0.84,-219.0,48.3,-15.8,46,321,0.00,2.33,0.00,0.000,4,0.000,0.050,2547,3703,3858,0,0,0,0,0,0
$GC,474,-0.79,-219.0,73.3,-18.0,72,483,0.00,2.25,0.00,0.000,6,0.000,0.029,2547,2286,3857,0,0,0,0,0,0
$GC,632,-0.76,-219.0,95.1,-14.9,97,638,0.00,2.33,0.00,0.000,4,0.000,0.052,2547,3711,3857,0,0,0,0,0,0
$GC,736,-0.74,-219.0,110.7,-13.7,108,746,0.08,2.22,0.00,0.000,6,0.139,0.031,2573,2303,3857,0,0,0,0,0,0
$GC,873,-0.78,-219.0,125.7,-10.9,121,877,0.00,2.28,0.00,0.000,4,0.000,0.050,2564,3709,3857,0,0,0,0,0,0
$GC,966,-0.78,-219.0,137.9,-14.1,128,970,0.00,2.20,0.00,0.000,6,0.000,0.030,2564,2294,3858,0,0,0,0,0,0
$GC,1103,-0.78,-219.0,156.8,-14.0,140,1107,0.00,2.28,0.00,0.000,4,0.000,0.050,2563,3708,3858,0,0,0,0,0,0
$GC,1172,-0.78,-219.0,167.6,-14.5,145,1183,0.00,2.22,0.00,0.000,6,0.000,0.029,2563,2298,3857,0,0,0,0,0,0
$GC,1312,-0.80,-219.0,185.1,-12.4,158,1316,0.00,2.28,0.00,0.000,4,0.000,0.051,2563,3710,3857,0,0,0,0,0,0
$GC,1429,-0.80,-219.0,200.9,-13.6,167,1433,0.00,2.17,0.00,0.000,6,0.000,0.029,2563,2301,3857,0,0,0,0,0,0
$GC,1567,-0.83,-219.0,218.5,-12.7,179,1571,0.00,2.28,0.00,0.000,4,0.000,0.052,2563,3711,3858,0,0,1,0,0,0
$GC,1659,-0.85,-219.0,231.3,-13.7,186,1664,0.00,2.17,0.00,0.000,6,0.000,0.030,2563,2303,3857,0,0,0,0,0,0
$GC,1797,-0.88,-219.0,249.7,-13.5,198,1804,0.00,2.28,0.00,0.000,4,0.000,0.052,2563,3712,3857,0,0,0,0,0,0
$GC,1901,-0.90,-219.0,265.0,-14.6,207,1906,0.10,2.20,0.00,0.000,6,0.119,0.031,2522,2296,3857,0,0,0,0,0,0
$GC,2105,-0.86,-219.0,299.2,-17.2,226,2110,0.00,2.28,0.00,0.000,4,0.000,0.051,2511,3711,3857,0,0,0,0,0,0
$GC,2221,-0.79,-219.0,322.2,-18.9,236,2229,0.15,2.22,0.00,0.000,6,0.138,0.030,2560,2301,3857,0,0,0,0,0,0
$GC,2422,-0.81,-219.0,350.7,-13.7,255,2427,0.00,2.28,0.00,0.000,4,0.000,0.051,2560,3716,3857,0,0,0,0,0,0
$GC,2568,-0.83,-219.0,372.6,-14.9,267,2575,0.00,2.20,0.00,0.000,6,0.000,0.030,2560,2291,3857,0,0,0,0,0,0
$GC,2767,-0.83,-219.0,399.9,-13.8,286,2772,0.00,2.28,0.00,0.000,4,0.000,0.050,2550,3711,3857,0,0,0,0,0,0
$STATE,2776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2777,begin apogee
$GC,2783,-0.16,0.0,401.5,13.6,287,2962,0.65,0.00,174.20,0.923,6,0.129,0.000,2765,2499,2960,0,0,0,0,0,0
$STATE,2963,end apogee,CONTROL_FINISHED_OK
$STATE,2963,begin climb
$GC,2965,0.84,219.0,412.5,0.0,303,3162,0.93,2.50,184.40,0.872,4,0.066,0.036,3099,1112,2065,0,0,0,0,0,0
$GC,3210,0.72,219.0,390.1,17.1,325,3215,0.17,2.40,0.00,0.000,6,0.160,0.041,3056,2495,2059,0,0,1,0,0,0
$GC,3408,0.63,219.0,359.8,15.1,343,3413,0.12,2.15,0.00,0.000,4,0.161,0.051,3023,3767,2054,0,0,0,0,0,0
$GC,3531,0.56,219.0,341.4,14.0,353,3538,0.12,2.05,0.00,0.000,6,0.162,0.031,2999,2505,2051,0,0,0,0,0,0
$GC,3731,0.65,276.9,319.6,11.0,372,3787,0.00,2.22,49.22,0.845,4,0.000,0.051,2999,3763,1831,0,0,1,0,0,0
$GC,3855,0.67,289.7,304.2,12.8,383,3877,0.00,2.08,12.40,0.793,6,0.000,0.032,3006,2500,1779,0,0,0,0,0,0
$GC,4070,0.75,315.2,278.2,12.3,403,4104,0.15,2.20,23.58,0.817,4,0.083,0.048,3078,3764,1673,0,0,1,0,0,0
$GC,4176,0.65,315.2,257.5,20.8,412,4184,0.17,2.10,0.00,0.000,6,0.131,0.031,3032,2504,1672,0,0,0,0,0,0
$GC,4377,0.70,338.2,230.7,12.4,431,4406,0.00,2.15,20.77,0.800,4,0.000,0.050,3032,3766,1580,0,0,0,0,0,0
$GC,4470,0.70,338.2,218.4,13.8,438,4474,0.00,2.05,0.00,0.000,6,0.000,0.031,3040,2499,1579,0,0,0,0,0,0
$GC,4607,0.72,356.9,200.9,12.6,450,4627,0.00,0.00,17.17,0.783,6,0.000,0.000,3041,2498,1503,0,0,0,0,0,0
$GC,4755,0.77,372.0,183.0,12.7,464,4773,0.00,2.15,13.60,0.766,4,0.000,0.048,3040,3766,1444,0,0,0,0,0,0
$GC,4839,0.77,372.0,170.4,14.4,470,4848,0.00,2.08,0.00,0.000,6,0.000,0.031,3049,2502,1444,0,0,0,0,0,0
$GC,4976,0.77,372.0,151.6,16.6,483,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2503,1443,0,0,0,0,0,0
$GC,5112,0.77,372.0,130.0,15.4,496,5116,0.00,2.08,0.00,0.000,4,0.000,0.049,3049,3765,1442,0,0,0,0,0,0
$GC,5181,0.74,372.0,118.7,17.2,501,5185,0.00,2.03,0.00,0.000,6,0.000,0.031,3058,2498,1442,0,0,0,0,0,0
$GC,5321,0.72,372.0,92.9,20.6,516,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2497,1441,0,0,0,0,0,0
$GC,5478,0.72,372.0,68.1,15.6,541,5485,0.00,2.08,0.00,0.000,4,0.000,0.050,3058,3764,1440,0,0,0,0,0,0
$GC,5546,0.67,372.0,57.6,15.8,552,5555,0.00,2.03,0.00,0.000,6,0.000,0.031,3067,2507,1440,0,0,0,0,0,0
$GC,5704,0.63,372.0,29.4,20.2,577,5711,0.15,0.00,0.00,0.000,6,0.164,0.000,3024,2507,1440,0,0,0,0,0,0
$FREEZE,8.81,-1.895,-1.903,2,10,0
$GC,5857,0.83,452.9,9.6,10.0,602,5870,0.17,0.00,10.55,0.708,2,0.076,0.000,3105,2507,1394,0,0,0,0,0,0
$STATE,5871,end climb,FINISH_DEPTH_REACHED
$STATE,5871,begin subsurface finish
$FINISH1,8.8,1.027820,-16
$GC,5877,-0.02,-15.7,8.8,-10.3,603,5941,0.88,2.12,-54.40,0.000,4,0.125,0.067,2820,3766,3027,0,0,0,0,0,0
$FINISH2,6.1
$STATE,5942,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5942,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,50.03
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.2
$24V_AH,22.9,44.802
$10V_AH,10.1,62.253
$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,4.600,87.975,505.900,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1456.281,1937.158,520.749,1963.118,116.012,0.000,1269.426,0.000,1132.523,0.000,9.453,0.000
$DEVICE_MAMPS,163.710,67.320,922.590,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.234,765.277,1196.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40308,612
$CAP_FILE_SIZE,103282,0
$CFSIZE,260165632,247611392
$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