version: 66.08
glider: 503
mission: 7
dive: 59
start: 12 3 110 4 47 7
data:
$ID,503
$MISSION,7
$DIVE,59
$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,26
$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,9.06
$_SM_ANGLEo,4.0
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,26,0.00,0.00,-9.70,0.000,2,0.000,0.000,2820,2505,3466,0,0,0,0,0,0
$GC,29,-0.84,-219.0,10.2,-0.0,1,45,0.73,1.98,-8.23,0.000,4,0.090,0.067,2551,3718,3856,0,0,0,0,0,0
$GC,60,-1.00,-219.0,13.1,-8.2,5,68,0.15,2.25,0.00,0.000,6,0.092,0.031,2479,2291,3857,0,0,0,0,0,0
$GC,213,-0.87,-219.0,52.8,-22.6,30,223,0.20,2.35,0.00,0.000,4,0.166,0.047,2525,3712,3858,0,0,0,0,0,0
$GC,336,-0.80,-219.0,76.3,-20.0,49,343,0.12,2.22,0.00,0.000,6,0.162,0.031,2559,2294,3858,0,0,0,0,0,0
$GC,489,-0.80,-219.0,100.3,-14.9,74,493,0.00,2.30,0.00,0.000,4,0.000,0.050,2550,3720,3858,0,0,0,0,0,0
$GC,597,-0.80,-219.0,115.2,-12.4,82,606,0.00,2.25,0.00,0.000,6,0.000,0.030,2550,2301,3858,0,0,0,0,0,0
$GC,733,-0.80,-219.0,132.5,-13.4,95,737,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3712,3858,0,0,0,0,0,0
$GC,825,-0.80,-219.0,146.7,-15.6,102,829,0.00,2.20,0.00,0.000,6,0.000,0.031,2547,2298,3858,0,0,0,0,0,0
$GC,963,-0.78,-219.0,166.7,-14.5,114,967,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3712,3858,0,0,0,0,0,0
$GC,1055,-0.78,-219.0,180.5,-14.9,121,1059,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2293,3859,0,0,0,0,0,0
$GC,1191,-0.78,-219.0,200.2,-14.6,133,1196,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3720,3858,0,0,0,0,0,0
$GC,1284,-0.78,-219.0,214.4,-15.1,140,1288,0.00,2.20,0.00,0.000,6,0.000,0.029,2547,2300,3858,0,0,0,0,0,0
$GC,1420,-0.78,-219.0,235.3,-15.2,152,1424,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3712,3858,0,0,0,0,0,0
$GC,1514,-0.78,-219.0,249.8,-15.6,159,1523,0.00,2.20,0.00,0.000,6,0.000,0.031,2547,2289,3859,0,0,0,0,0,0
$GC,1658,-0.78,-219.0,271.9,-14.9,172,1662,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3716,3858,0,0,0,0,0,0
$GC,1746,-0.78,-219.0,285.6,-15.2,179,1753,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2304,3858,0,0,0,0,0,0
$GC,1944,-0.78,-219.0,312.5,-13.2,198,1948,0.00,2.28,0.00,0.000,4,0.000,0.051,2546,3718,3858,0,0,0,0,0,0
$GC,2085,-0.78,-219.0,330.9,-12.9,210,2089,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2302,3858,0,0,0,0,0,0
$GC,2288,-0.78,-219.0,356.5,-12.3,229,2292,0.00,2.28,0.00,0.000,4,0.000,0.052,2547,3712,3858,0,0,1,0,0,0
$GC,2436,-0.78,-219.0,374.9,-12.2,242,2440,0.00,2.17,0.00,0.000,6,0.000,0.030,2547,2300,3858,0,0,0,0,0,0
$STATE,2634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2634,begin apogee
$GC,2639,-0.16,0.0,400.2,13.3,260,2818,0.65,0.00,174.25,0.923,6,0.128,0.000,2764,2512,2960,0,0,0,0,0,0
$STATE,2819,end apogee,CONTROL_FINISHED_OK
$STATE,2819,begin climb
$GC,2821,0.84,219.0,409.8,0.0,276,3018,0.95,2.53,184.50,0.871,4,0.066,0.035,3105,1110,2066,0,0,1,0,0,0
$GC,3102,0.73,219.0,378.7,17.6,301,3110,0.20,2.38,0.00,0.000,6,0.157,0.041,3054,2490,2058,0,0,1,0,0,0
$GC,3301,0.65,219.0,349.0,14.4,320,3305,0.00,2.15,0.00,0.000,4,0.000,0.050,3053,3769,2053,0,0,0,0,0,0
$GC,3420,0.52,219.0,329.2,16.7,330,3425,0.25,2.05,0.00,0.000,6,0.151,0.030,2992,2502,2052,0,0,0,0,0,0
$GC,3618,0.67,312.5,309.5,9.5,348,3707,0.12,2.22,80.60,0.832,4,0.090,0.049,3045,3771,1685,0,0,0,0,0,0
$GC,3803,0.62,312.5,282.6,16.4,364,3811,0.12,2.10,0.00,0.000,6,0.161,0.030,3022,2500,1680,0,0,0,0,0,0
$GC,4002,0.69,332.7,257.1,12.5,383,4026,0.00,2.22,17.77,0.802,4,0.000,0.051,3021,3764,1603,0,0,0,0,0,0
$GC,4112,0.69,332.7,242.7,13.9,392,4116,0.00,2.05,0.00,0.000,6,0.000,0.031,3028,2503,1601,0,0,0,0,0,0
$GC,4249,0.77,362.2,225.6,12.1,404,4281,0.12,2.15,26.12,0.794,4,0.090,0.050,3091,3767,1483,0,0,1,0,0,0
$GC,4339,0.67,362.2,208.8,21.4,411,4343,0.22,2.08,0.00,0.000,6,0.145,0.031,3037,2496,1483,0,0,0,0,0,0
$GC,4476,0.74,387.0,189.3,12.3,423,4505,0.00,2.17,22.10,0.775,4,0.000,0.050,3037,3767,1381,0,0,0,0,0,0
$GC,4571,0.77,387.0,176.1,14.0,430,4580,0.00,2.10,0.00,0.000,6,0.000,0.031,3045,2500,1381,0,0,0,0,0,0
$GC,4708,0.83,401.9,158.8,12.7,443,4728,0.12,2.15,13.98,0.753,4,0.090,0.050,3104,3764,1321,0,0,0,0,0,0
$GC,4792,0.73,401.9,142.1,22.8,449,4797,0.20,2.05,0.00,0.000,6,0.150,0.031,3058,2497,1321,0,0,0,0,0,0
$GC,4929,0.76,401.9,120.3,13.4,461,4933,0.00,2.10,0.00,0.000,4,0.000,0.050,3057,3765,1320,0,0,0,0,0,0
$GC,4985,0.76,401.9,111.6,15.8,465,4989,0.00,2.03,0.00,0.000,6,0.000,0.031,3064,2499,1319,0,0,0,0,0,0
$GC,5131,0.76,401.9,90.1,14.9,483,5138,0.00,2.10,0.00,0.000,4,0.000,0.050,3064,3765,1319,0,0,0,0,0,0
$GC,5196,0.73,401.9,78.6,17.8,493,5203,0.00,2.03,0.00,0.000,6,0.000,0.031,3072,2499,1319,0,0,0,0,0,0
$GC,5348,0.73,401.9,52.2,17.7,518,5358,0.00,2.12,0.00,0.000,4,0.000,0.050,3072,3765,1318,0,0,0,0,0,0
$GC,5421,0.68,401.9,39.3,17.1,529,5429,0.15,2.03,0.00,0.000,6,0.160,0.031,3039,2497,1318,0,0,0,0,0,0
$FREEZE,8.55,-1.904,-1.903,2,12,0
$GC,5576,0.94,559.4,20.7,6.9,554,5650,0.22,0.00,70.18,0.687,2,0.069,0.000,3130,2497,963,0,0,0,0,0,0
$STATE,5651,end climb,FINISH_DEPTH_REACHED
$STATE,5652,begin subsurface finish
$FINISH1,8.5,1.027824,-16
$GC,5657,-0.02,-15.9,8.5,-23.1,563,5773,1.00,2.17,-107.65,0.000,4,0.124,0.067,2815,3766,3025,0,0,1,0,0,0
$FINISH2,-0.2
$STATE,5774,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5774,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.026964
$HUMID,49.09
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.3,19.0
$24V_AH,22.9,45.059
$10V_AH,10.0,62.424
$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,5.550,90.050,589.500,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,1357.688,1912.995,580.657,1857.588,116.489,0.000,1350.090,0.000,1112.937,0.000,15.096,0.000
$DEVICE_MAMPS,166.005,67.320,923.355,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.414,708.094,1071.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37036,579
$CAP_FILE_SIZE,101004,0
$CFSIZE,260165632,247517184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,021210,102852,-7716.136,17056.307,15,4.1,34,134.3