version: 66.08
glider: 503
mission: 7
dive: 81
start: 12 5 110 4 44 8
data:
$ID,503
$MISSION,7
$DIVE,81
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,4
$T_DIVE,125
$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,0.0099999998
$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,-18430.605
$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,2800
$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,2780
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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,134.3
$AH0_10V,102.9
$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
$GPS1,051210,012058,-7659.960,17055.094,16,6.1,35,133.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.87
$_SM_ANGLEo,5.8
$GPS2,051210,012058,-7659.960,17055.094,16,6.1,35,133.3
$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,318.7,2045,-23.4,-13.333
$D_GRID,775
$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,-0.90,-134.4,0.0,0.0,0,25,0.00,0.00,-7.72,0.000,2,0.000,0.000,2795,3768,3319,0,0,0,0,0,0
$GC,27,-1.00,-219.0,7.1,-0.0,1,52,0.88,3.90,-13.60,0.000,4,0.085,0.044,2482,1375,3856,0,0,0,0,0,0
$GC,132,-1.00,-219.0,23.7,-21.6,19,139,0.00,2.30,0.00,0.000,6,0.000,0.047,2481,2782,3857,0,0,0,0,0,0
$GC,276,-0.96,-219.0,52.6,-18.5,44,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2782,3858,0,0,0,0,0,0
$GC,418,-0.91,-219.0,84.5,-25.0,69,425,0.00,2.25,0.00,0.000,4,0.000,0.034,2480,1361,3858,0,0,0,0,0,0
$GC,443,-0.89,-219.0,90.0,-22.1,73,451,0.12,2.33,0.00,0.000,6,0.174,0.049,2514,2784,3859,0,0,0,0,0,0
$GC,586,-0.89,-219.0,116.6,-21.0,91,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,715,-0.91,-219.0,140.8,-18.5,103,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,842,-0.94,-219.0,164.5,-18.2,115,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2784,3859,0,0,0,0,0,0
$GC,969,-0.97,-219.0,187.3,-18.2,127,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2785,3859,0,0,0,0,0,0
$GC,1097,-0.99,-219.0,210.1,-17.7,139,1099,0.10,0.00,0.00,0.000,6,0.115,0.000,2465,2784,3859,0,0,0,0,0,0
$GC,1224,-0.94,-219.0,238.1,-22.5,151,1226,0.10,0.00,0.00,0.000,6,0.181,0.000,2490,2785,3859,0,0,0,0,0,0
$GC,1351,-0.94,-219.0,264.2,-20.1,163,1355,0.00,2.20,0.00,0.000,4,0.000,0.034,2491,1362,3859,0,0,0,0,0,0
$GC,1391,-0.97,-219.0,271.6,-18.2,166,1395,0.00,2.30,0.00,0.000,6,0.000,0.047,2481,2791,3859,0,0,0,0,0,0
$GC,1588,-0.97,-219.0,310.8,-19.7,184,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2790,3859,0,0,0,0,0,0
$GC,1781,-0.97,-219.0,348.6,-19.7,202,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2790,3859,0,0,0,0,0,0
$GC,1970,-0.97,-219.0,386.3,-19.7,220,1974,0.00,2.20,0.00,0.000,4,0.000,0.034,2482,1365,3858,0,0,0,0,0,0
$GC,2010,-0.97,-219.0,393.6,-17.7,223,2014,0.00,2.28,0.00,0.000,6,0.000,0.049,2482,2781,3859,0,0,0,0,0,0
$GC,2209,-0.97,-219.0,430.1,-18.9,241,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2781,3859,0,0,0,0,0,0
$GC,2398,-0.97,-219.0,467.1,-20.0,259,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2781,3859,0,0,0,0,0,0
$STATE,2567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2567,begin apogee
$GC,2572,-0.16,0.0,500.7,19.8,275,2758,0.80,0.00,176.10,0.991,4,0.137,0.000,2742,2679,2958,0,0,0,0,0,0
$STATE,2759,end apogee,CONTROL_FINISHED_OK
$STATE,2759,begin climb
$GC,2761,1.00,219.0,510.8,0.0,281,2961,1.15,2.33,189.15,0.939,4,0.076,0.034,3123,1305,2067,0,0,0,0,0,0
$GC,3066,0.97,219.0,474.8,17.7,297,3073,0.00,2.42,0.00,0.000,6,0.000,0.042,3123,2705,2058,0,0,1,0,0,0
$GC,3264,0.87,219.0,435.6,19.7,316,3269,0.15,2.33,0.00,0.000,4,0.161,0.035,3094,1307,2052,0,0,0,0,0,0
$GC,3430,0.87,219.0,408.7,15.8,330,3438,0.00,2.40,0.00,0.000,6,0.000,0.043,3094,2715,2051,0,0,1,0,0,0
$GC,3631,0.83,219.0,372.7,19.0,349,3634,0.00,1.70,0.00,0.000,4,0.000,0.048,3094,3771,2050,0,0,0,0,0,0
$GC,3667,0.74,219.0,365.6,20.7,352,3671,0.22,1.65,0.00,0.000,6,0.152,0.031,3039,2721,2048,0,0,0,0,0,0
$GC,3870,0.80,219.0,335.2,14.4,371,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2719,2049,0,0,0,0,0,0
$GC,4061,0.86,224.0,309.3,13.0,389,4063,0.12,0.00,0.00,0.000,6,0.082,0.000,3106,2719,2048,0,0,0,0,0,0
$GC,4252,0.81,224.0,276.8,17.8,407,4257,0.17,1.70,0.00,0.000,4,0.157,0.050,3058,3767,2048,0,0,0,0,0,0
$GC,4287,0.78,224.0,270.3,17.7,410,4291,0.00,1.65,0.00,0.000,6,0.000,0.031,3066,2699,2048,0,0,0,0,0,0
$GC,4490,0.78,224.0,237.3,15.4,429,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2698,2048,0,0,0,0,0,0
$GC,4617,0.78,224.0,218.5,14.8,441,4621,0.00,1.73,0.00,0.000,4,0.000,0.049,3066,3777,2048,0,0,0,0,0,0
$GC,4663,0.75,224.0,211.2,17.1,445,4668,0.12,1.65,0.00,0.000,6,0.168,0.031,3040,2705,2048,0,0,0,0,0,0
$GC,4803,0.81,229.0,192.4,13.0,458,4813,0.00,0.00,6.65,0.759,6,0.000,0.000,3040,2705,2026,0,0,0,0,0,0
$GC,4941,0.89,239.7,174.7,12.6,471,4955,0.12,0.00,11.40,0.790,6,0.084,0.000,3108,2705,1982,0,0,0,0,0,0
$GC,5079,0.84,239.7,149.8,18.7,484,5083,0.15,1.73,0.00,0.000,4,0.155,0.049,3067,3767,1980,0,0,0,0,0,0
$GC,5127,0.84,239.7,141.2,15.1,488,5135,0.00,1.65,0.00,0.000,6,0.000,0.031,3075,2726,1979,0,0,0,0,0,0
$GC,5262,0.86,258.4,124.2,12.1,501,5282,0.00,0.00,17.38,0.773,6,0.000,0.000,3074,2726,1905,0,0,0,0,0,0
$GC,5409,0.86,258.4,104.3,13.8,515,5412,0.00,1.67,0.00,0.000,4,0.000,0.049,3075,3766,1902,0,0,0,0,0,0
$GC,5443,0.86,258.4,98.8,16.0,518,5450,0.00,1.62,0.00,0.000,6,0.000,0.031,3083,2739,1902,0,0,0,0,0,0
$GC,5586,0.86,258.4,75.9,17.8,543,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2739,1901,0,0,0,0,0,0
$GC,5728,0.86,258.4,51.4,17.8,568,5734,0.00,1.67,0.00,0.000,4,0.000,0.050,3083,3755,1900,0,0,0,0,0,0
$GC,5787,0.84,258.4,40.3,20.0,578,5793,0.00,1.60,0.00,0.000,6,0.000,0.031,3090,2740,1900,0,0,0,0,0,0
$GC,5929,0.84,258.4,13.5,18.0,603,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2740,1900,0,0,0,0,0,0
$FREEZE,8.86,-1.899,-1.904,2,3,0
$STATE,5952,end climb,FINISH_DEPTH_REACHED
$STATE,5953,begin subsurface finish
$FINISH1,8.9,1.027826,-16
$GC,5958,-0.02,-16.0,8.9,-19.0,607,6001,0.90,1.67,-33.47,0.000,4,0.135,0.071,2798,3785,3029,0,0,1,0,0,0
$FINISH2,6.9
$STATE,6001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6002,begin surface
$IRIDIUM_FIX,-7612.11,17054.21,051210,010107
$TT8_MAMPS,0.027713
$HUMID,51.06
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.5
$24V_AH,22.4,1.645
$10V_AH,10.1,0.681
$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,5.125,51.050,400.675,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1510.958,2918.734,419.469,1112.670,91.944,0.000,1051.789,0.000,1053.191,0.000,12.902,0.000
$DEVICE_MAMPS,180.540,71.145,990.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.251,742.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258972
$DATA_FILE_SIZE,40398,614
$CAP_FILE_SIZE,82133,0
$CFSIZE,260165632,246296576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,051210,012058,-7659.960,17055.094,16,6.1,35,133.3