version: 66.08
glider: 503
mission: 7
dive: 58
start: 12 3 110 3 7 34
data:
$ID,503
$MISSION,7
$DIVE,58
$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,42
$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,10.21
$_SM_ANGLEo,7.5
$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,-9.98,0.000,2,0.000,0.000,2820,3766,3537,0,0,0,0,0,0
$GC,30,-0.84,-219.0,12.9,-0.0,1,46,0.75,4.65,-6.10,0.000,4,0.084,0.039,2550,894,3856,0,0,0,0,0,0
$GC,219,-0.89,-219.0,34.3,-13.7,31,226,0.00,2.30,0.00,0.000,6,0.000,0.045,2550,2303,3858,0,0,0,0,0,0
$GC,373,-0.87,-219.0,53.3,-14.2,56,382,0.00,2.33,0.00,0.000,4,0.000,0.052,2551,3709,3859,0,0,0,0,0,0
$GC,511,-0.83,-219.0,75.0,-15.5,78,520,0.00,2.25,0.00,0.000,6,0.000,0.030,2550,2292,3859,0,0,0,0,0,0
$GC,674,-0.80,-219.0,102.6,-17.5,103,678,0.00,2.30,0.00,0.000,4,0.000,0.047,2547,3717,3859,0,0,0,0,0,0
$GC,792,-0.77,-219.0,122.4,-16.2,112,796,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2304,3859,0,0,0,0,0,0
$GC,930,-0.74,-219.0,141.8,-12.9,124,935,0.12,2.30,0.00,0.000,4,0.160,0.051,2573,3712,3859,0,0,0,0,0,0
$GC,1000,-0.77,-219.0,150.2,-10.8,129,1010,0.00,2.25,0.00,0.000,6,0.000,0.031,2572,2300,3859,0,0,0,0,0,0
$GC,1138,-0.80,-219.0,165.3,-11.4,142,1143,0.00,2.28,0.00,0.000,4,0.000,0.051,2563,3711,3859,0,0,0,0,0,0
$GC,1231,-0.80,-219.0,176.9,-12.4,149,1235,0.00,2.20,0.00,0.000,6,0.000,0.030,2564,2297,3859,0,0,0,0,0,0
$GC,1369,-0.80,-219.0,194.5,-12.9,161,1373,0.00,2.30,0.00,0.000,4,0.000,0.051,2563,3719,3859,0,0,0,0,0,0
$GC,1462,-0.80,-219.0,208.7,-14.1,168,1473,0.00,2.25,0.00,0.000,6,0.000,0.030,2563,2296,3859,0,0,0,0,0,0
$GC,1600,-0.80,-219.0,227.4,-14.2,181,1604,0.00,2.28,0.00,0.000,4,0.000,0.050,2563,3712,3858,0,0,0,0,0,0
$GC,1694,-0.80,-219.0,241.7,-14.4,188,1704,0.00,2.22,0.00,0.000,6,0.000,0.030,2563,2303,3859,0,0,0,0,0,0
$GC,1830,-0.80,-219.0,259.3,-12.9,201,1834,0.00,2.28,0.00,0.000,4,0.000,0.052,2563,3715,3858,0,0,0,0,0,0
$GC,1914,-0.80,-219.0,271.1,-13.8,208,1918,0.00,2.20,0.00,0.000,6,0.000,0.031,2563,2299,3859,0,0,0,0,0,0
$GC,2113,-0.82,-219.0,296.8,-13.3,226,2117,0.00,2.28,0.00,0.000,4,0.000,0.051,2563,3712,3859,0,0,0,0,0,0
$GC,2247,-0.84,-219.0,315.4,-14.2,237,2254,0.00,2.20,0.00,0.000,6,0.000,0.030,2563,2287,3859,0,0,0,0,0,0
$GC,2445,-0.86,-219.0,341.7,-13.1,256,2450,0.00,2.30,0.00,0.000,4,0.000,0.052,2562,3717,3858,0,0,0,0,0,0
$GC,2586,-0.89,-219.0,361.5,-14.0,268,2590,0.00,2.17,0.00,0.000,6,0.000,0.030,2563,2304,3858,0,0,0,0,0,0
$GC,2785,-0.91,-219.0,387.2,-12.9,286,2790,0.12,2.30,0.00,0.000,4,0.104,0.053,2500,3711,3858,0,0,0,0,0,0
$STATE,2857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2858,begin apogee
$GC,2864,-0.16,0.0,400.1,18.3,292,3044,0.80,0.00,174.40,0.923,6,0.138,0.000,2760,2489,2959,0,0,0,0,0,0
$STATE,3045,end apogee,CONTROL_FINISHED_OK
$STATE,3045,begin climb
$GC,3046,0.84,219.0,410.8,0.0,308,3238,0.95,0.00,184.65,0.873,6,0.067,0.000,3091,2489,2066,0,0,0,0,0,0
$GC,3431,0.70,219.0,365.3,17.0,344,3436,0.17,2.17,0.00,0.000,4,0.158,0.048,3047,3761,2055,0,0,0,0,0,0
$GC,3554,0.59,219.0,345.3,15.0,354,3562,0.17,2.05,0.00,0.000,6,0.154,0.030,3009,2507,2052,0,0,0,0,0,0
$GC,3752,0.69,294.9,324.1,10.2,373,3822,0.00,2.20,65.22,0.842,4,0.000,0.050,3009,3760,1757,0,0,0,0,0,0
$GC,3924,0.71,312.9,303.6,12.6,388,3947,0.00,2.08,16.65,0.805,6,0.000,0.031,3016,2500,1684,0,0,0,0,0,0
$GC,4140,0.80,350.2,278.5,11.8,408,4184,0.17,2.22,33.40,0.814,4,0.075,0.050,3102,3760,1531,0,0,1,0,0,0
$GC,4277,0.69,350.2,250.7,21.5,420,4282,0.25,2.08,0.00,0.000,6,0.144,0.031,3041,2497,1530,0,0,0,0,0,0
$GC,4477,0.72,350.2,220.1,14.6,438,4481,0.00,2.12,0.00,0.000,4,0.000,0.050,3041,3765,1527,0,0,0,0,0,0
$GC,4547,0.72,350.2,207.6,16.8,443,4557,0.00,2.08,0.00,0.000,6,0.000,0.031,3049,2498,1526,0,0,0,0,0,0
$GC,4684,0.72,350.2,186.8,15.3,456,4688,0.00,2.10,0.00,0.000,4,0.000,0.050,3049,3766,1526,0,0,0,0,0,0
$GC,4743,0.72,350.2,176.2,16.5,460,4753,0.00,2.08,0.00,0.000,6,0.000,0.031,3059,2498,1525,0,0,0,0,0,0
$GC,4880,0.72,350.2,155.0,15.9,473,4884,0.00,2.08,0.00,0.000,4,0.000,0.050,3059,3761,1525,0,0,0,0,0,0
$GC,4938,0.69,350.2,144.0,17.8,477,4948,0.00,2.03,0.00,0.000,6,0.000,0.031,3067,2508,1525,0,0,0,0,0,0
$GC,5076,0.67,350.2,122.3,17.0,490,5081,0.12,2.08,0.00,0.000,4,0.163,0.053,3031,3766,1524,0,0,1,0,0,0
$GC,5133,0.67,350.2,112.4,14.2,494,5144,0.00,2.05,0.00,0.000,6,0.000,0.031,3040,2501,1524,0,0,0,0,0,0
$GC,5275,0.67,350.2,92.6,17.6,510,5284,0.00,2.10,0.00,0.000,4,0.000,0.052,3040,3756,1524,0,0,0,0,0,0
$GC,5323,0.67,350.2,83.9,19.0,517,5330,0.00,2.00,0.00,0.000,6,0.000,0.031,3048,2497,1524,0,0,0,0,0,0
$GC,5475,0.67,350.2,61.1,15.9,542,5484,0.00,2.10,0.00,0.000,4,0.000,0.050,3048,3760,1524,0,0,0,0,0,0
$GC,5538,0.67,350.2,50.9,16.5,552,5548,0.00,2.03,0.00,0.000,6,0.000,0.032,3056,2498,1524,0,0,0,0,0,0
$GC,5697,0.67,350.2,26.0,16.3,577,5703,0.00,2.08,0.00,0.000,4,0.000,0.050,3056,3770,1523,0,0,0,0,0,0
$GC,5753,0.63,350.2,17.4,16.2,586,5763,0.12,2.03,0.00,0.000,6,0.136,0.031,3022,2506,1523,0,0,0,0,0,0
$FREEZE,8.37,-1.898,-1.903,2,11,0
$STATE,5826,end climb,FINISH_DEPTH_REACHED
$STATE,5826,begin subsurface finish
$FINISH1,8.4,1.027821,-16
$GC,5832,-0.02,-15.7,8.4,-11.7,597,5881,0.57,0.00,-41.85,0.000,6,0.103,0.000,2819,2504,3027,0,0,0,0,0,0
$FINISH2,7.5
$STATE,5882,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5882,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,51.18
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.1
$24V_AH,22.8,44.919
$10V_AH,10.1,62.340
$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,4.350,93.475,474.325,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1451.599,1931.974,505.334,1925.314,117.904,0.000,1237.807,0.000,1135.063,0.000,9.472,0.000
$DEVICE_MAMPS,162.945,52.785,923.355,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.940,746.767,1139.969,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37058,604
$CAP_FILE_SIZE,100332,0
$CFSIZE,260165632,247566336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,021210,102852,-7716.136,17056.307,15,4.1,34,134.3