version: 66.08
glider: 503
mission: 7
dive: 60
start: 12 3 110 6 24 52
data:
$ID,503
$MISSION,7
$DIVE,60
$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,43
$R_STBD_OVSHOOT,22
$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,-0.04
$_SM_ANGLEo,8.0
$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,-219.0,0.0,0.0,0,68,0.00,2.35,-46.15,0.000,6,0.000,0.042,2825,2299,3853,0,0,0,0,0,0
$GC,71,-0.84,-219.0,1.2,-4.2,7,77,0.80,0.00,0.00,0.000,6,0.096,0.000,2552,2299,3853,0,0,0,0,0,0
$GC,223,-0.84,-219.0,20.5,-12.0,32,232,0.00,2.40,0.00,0.000,4,0.000,0.053,2550,3712,3854,0,0,0,0,0,0
$GC,338,-0.81,-219.0,38.4,-16.3,50,347,0.00,2.28,0.00,0.000,6,0.000,0.030,2550,2304,3854,0,0,0,0,0,0
$GC,496,-0.81,-219.0,60.6,-12.4,75,503,0.00,2.35,0.00,0.000,4,0.000,0.053,2547,3717,3855,0,0,0,0,0,0
$GC,584,-0.81,-219.0,75.3,-16.1,89,591,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2298,3855,0,0,0,0,0,0
$GC,738,-0.81,-219.0,98.6,-15.0,114,747,0.00,2.35,0.00,0.000,4,0.000,0.051,2547,3706,3855,0,0,0,0,0,0
$GC,842,-0.81,-219.0,111.9,-12.4,123,852,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2301,3856,0,0,0,0,0,0
$GC,979,-0.81,-219.0,128.5,-13.4,136,983,0.00,2.33,0.00,0.000,4,0.000,0.052,2547,3721,3856,0,0,1,0,0,0
$GC,1060,-0.81,-219.0,140.4,-13.8,142,1071,0.00,2.28,0.00,0.000,6,0.000,0.029,2547,2300,3856,0,0,0,0,0,0
$GC,1198,-0.81,-219.0,158.0,-12.9,155,1202,0.00,2.30,0.00,0.000,4,0.000,0.052,2547,3715,3856,0,0,1,0,0,0
$GC,1293,-0.81,-219.0,172.2,-13.6,162,1304,0.00,2.25,0.00,0.000,6,0.000,0.031,2547,2302,3856,0,0,0,0,0,0
$GC,1430,-0.81,-219.0,190.4,-14.3,175,1434,0.00,2.30,0.00,0.000,4,0.000,0.052,2547,3715,3856,0,0,0,0,0,0
$GC,1535,-0.81,-219.0,207.6,-16.3,183,1539,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2291,3857,0,0,0,0,0,0
$GC,1671,-0.81,-219.0,228.6,-15.1,195,1675,0.00,2.33,0.00,0.000,4,0.000,0.052,2547,3722,3858,0,0,0,0,0,0
$GC,1778,-0.83,-219.0,244.1,-14.6,203,1782,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2289,3858,0,0,0,0,0,0
$GC,1911,-0.83,-219.0,263.0,-13.4,215,1915,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3714,3857,0,0,0,0,0,0
$GC,1999,-0.86,-219.0,275.0,-13.1,222,2006,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2293,3858,0,0,0,0,0,0
$GC,2200,-0.88,-219.0,299.7,-12.7,241,2204,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3718,3858,0,0,0,0,0,0
$GC,2360,-0.91,-219.0,322.0,-14.3,255,2364,0.00,2.20,0.00,0.000,6,0.000,0.030,2546,2301,3858,0,0,0,0,0,0
$GC,2558,-0.93,-219.0,349.0,-13.3,273,2563,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3715,3858,0,0,0,0,0,0
$GC,2704,-0.96,-219.0,368.6,-13.1,285,2712,0.10,2.20,0.00,0.000,6,0.120,0.030,2503,2294,3858,0,0,0,0,0,0
$GC,2903,-0.91,-219.0,399.4,-16.0,304,2910,0.00,2.30,0.00,0.000,4,0.000,0.050,2492,3722,3857,0,0,0,0,0,0
$STATE,2915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2915,begin apogee
$GC,2922,-0.16,0.0,401.8,16.0,305,3107,0.82,0.00,174.98,0.923,6,0.138,0.000,2760,2490,2959,0,0,0,0,0,0
$STATE,3107,end apogee,CONTROL_FINISHED_OK
$STATE,3108,begin climb
$GC,3109,0.84,219.0,411.9,0.0,322,3306,0.95,2.50,184.65,0.873,4,0.070,0.036,3099,1111,2066,0,0,0,0,0,0
$GC,3346,0.74,219.0,390.4,15.7,343,3353,0.15,2.42,0.00,0.000,6,0.157,0.041,3063,2500,2060,0,0,1,0,0,0
$GC,3544,0.67,219.0,362.2,14.0,362,3548,0.00,2.12,0.00,0.000,4,0.000,0.049,3062,3765,2054,0,0,0,0,0,0
$GC,3655,0.55,219.0,343.3,17.5,371,3663,0.25,2.10,0.00,0.000,6,0.146,0.030,3002,2505,2051,0,0,0,0,0,0
$GC,3854,0.68,297.1,322.2,10.1,390,3932,0.12,2.22,66.95,0.841,4,0.089,0.050,3059,3756,1747,0,0,1,0,0,0
$GC,4028,0.64,297.1,294.2,17.9,405,4036,0.15,2.08,0.00,0.000,6,0.155,0.030,3028,2493,1743,0,0,0,0,0,0
$GC,4227,0.72,330.5,268.4,12.0,424,4261,0.00,2.25,29.12,0.815,4,0.000,0.050,3028,3770,1612,0,0,1,0,0,0
$GC,4320,0.75,330.5,256.4,13.4,432,4324,0.00,2.10,0.00,0.000,6,0.000,0.031,3035,2496,1611,0,0,0,0,0,0
$GC,4521,0.83,354.3,231.8,12.4,450,4550,0.15,2.17,21.58,0.797,4,0.079,0.047,3103,3773,1514,0,0,0,0,0,0
$GC,4602,0.74,354.3,216.1,21.9,456,4607,0.17,2.08,0.00,0.000,6,0.150,0.031,3064,2497,1514,0,0,0,0,0,0
$GC,4739,0.74,354.3,194.5,14.8,468,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2497,1512,0,0,0,0,0,0
$GC,4876,0.74,354.3,173.4,15.5,481,4879,0.00,2.10,0.00,0.000,4,0.000,0.050,3063,3766,1512,0,0,0,0,0,0
$GC,4932,0.74,354.3,164.6,15.8,485,4936,0.00,2.03,0.00,0.000,6,0.000,0.031,3072,2497,1511,0,0,0,0,0,0
$GC,5074,0.74,354.3,141.6,16.6,498,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2497,1510,0,0,0,0,0,0
$GC,5211,0.74,354.3,120.4,15.2,511,5214,0.00,2.08,0.00,0.000,4,0.000,0.050,3072,3765,1510,0,0,0,0,0,0
$GC,5269,0.72,354.3,109.8,16.7,515,5279,0.00,2.05,0.00,0.000,6,0.000,0.031,3080,2500,1509,0,0,0,0,0,0
$GC,5413,0.72,354.3,86.9,16.2,534,5423,0.00,2.10,0.00,0.000,4,0.000,0.050,3080,3757,1509,0,0,0,0,0,0
$GC,5474,0.68,354.3,76.5,17.8,543,5481,0.17,2.00,0.00,0.000,6,0.147,0.031,3036,2497,1509,0,0,0,0,0,0
$GC,5630,0.74,356.3,52.8,13.3,568,5639,0.00,2.10,0.00,0.000,4,0.000,0.052,3036,3754,1509,0,0,0,0,0,0
$GC,5682,0.78,356.3,45.1,14.2,576,5691,0.00,2.03,0.00,0.000,6,0.000,0.033,3043,2498,1508,0,0,0,0,0,0
$GC,5840,0.82,356.3,24.5,14.5,601,5848,0.12,2.08,0.00,0.000,4,0.090,0.051,3104,3767,1508,0,0,1,0,0,0
$GC,5887,0.71,356.3,15.3,19.9,608,5897,0.17,2.03,0.00,0.000,6,0.132,0.032,3055,2507,1508,0,0,0,0,0,0
$FREEZE,8.29,-1.902,-1.904,2,13,0
$STATE,5923,end climb,FINISH_DEPTH_REACHED
$STATE,5924,begin subsurface finish
$FINISH1,8.3,1.027830,-16
$GC,5929,-0.02,-16.2,8.3,-20.0,613,5987,0.70,0.00,-51.42,0.000,6,0.109,0.000,2813,2507,3027,0,0,0,0,0,0
$FINISH2,3.6
$STATE,5988,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5988,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,50.19
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.9
$24V_AH,22.8,45.177
$10V_AH,10.1,62.514
$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,4.850,94.825,477.275,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1466.112,1956.769,540.833,1954.790,121.094,0.000,1310.194,0.000,1148.523,0.000,9.462,0.000
$DEVICE_MAMPS,156.825,52.785,923.355,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.783,769.624,1165.966,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40426,621
$CAP_FILE_SIZE,102682,0
$CFSIZE,260165632,247463936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,021210,102852,-7716.136,17056.307,15,4.1,34,134.3