version: 66.08
glider: 503
mission: 7
dive: 85
start: 12 5 110 12 11 54
data:
$ID,503
$MISSION,7
$DIVE,85
$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,4
$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,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18860.07
$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
$PITCH_ADJ_DBAND,0
$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,51
$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
$GPS1,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.58
$_SM_ANGLEo,5.2
$GPS2,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17100.000
$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,56.4,33613,-18.2,-13.333
$D_GRID,618
$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,-219.0,0.0,0.0,0,25,0.00,0.00,-7.57,0.000,2,0.000,0.000,2800,2697,3433,0,0,0,0,0,0
$GC,27,-0.84,-219.0,14.2,-0.0,1,40,0.77,0.00,-7.53,0.000,6,0.108,0.000,2533,2697,3856,0,0,0,0,0,0
$GC,177,-0.84,-219.0,33.6,-14.0,27,184,0.00,1.75,0.00,0.000,4,0.000,0.051,2524,3789,3859,0,0,0,0,0,0
$GC,257,-0.84,-219.0,47.0,-17.1,41,263,0.00,1.58,0.00,0.000,6,0.000,0.031,2524,2775,3859,0,0,0,0,0,0
$GC,399,-0.84,-219.0,71.8,-17.3,66,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2775,3859,0,0,0,0,0,0
$GC,541,-0.84,-219.0,94.2,-16.2,91,548,0.00,2.17,0.00,0.000,4,0.000,0.033,2524,1377,3859,0,0,0,0,0,0
$GC,577,-0.84,-219.0,100.0,-15.8,97,584,0.00,2.28,0.00,0.000,6,0.000,0.047,2514,2783,3859,0,0,0,0,0,0
$GC,710,-0.84,-219.0,124.2,-17.6,110,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2783,3859,0,0,0,0,0,0
$GC,838,-0.84,-219.0,147.0,-17.4,122,841,0.00,1.58,0.00,0.000,4,0.000,0.054,2506,3763,3859,0,0,0,0,0,0
$GC,887,-0.84,-219.0,156.7,-19.4,126,895,0.00,1.52,0.00,0.000,6,0.000,0.031,2506,2777,3860,0,0,0,0,0,0
$GC,1021,-0.84,-219.0,180.7,-18.0,139,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3860,0,0,0,0,0,0
$GC,1149,-0.84,-219.0,203.7,-17.8,151,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3860,0,0,0,0,0,0
$GC,1276,-0.84,-219.0,226.2,-17.3,163,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2777,3860,0,0,0,0,0,0
$GC,1404,-0.84,-219.0,248.9,-18.7,175,1411,0.00,1.60,0.00,0.000,4,0.000,0.053,2499,3761,3860,0,0,0,0,0,0
$GC,1443,-0.84,-219.0,257.1,-19.9,178,1451,0.08,1.52,0.00,0.000,6,0.154,0.031,2524,2774,3860,0,0,0,0,0,0
$GC,1643,-0.84,-219.0,290.9,-16.1,197,1647,0.00,2.15,0.00,0.000,4,0.000,0.033,2523,1373,3860,0,0,0,0,0,0
$GC,1686,-0.84,-219.0,298.0,-14.8,200,1693,0.00,2.28,0.00,0.000,6,0.000,0.045,2514,2770,3860,0,0,0,0,0,0
$GC,1886,-0.84,-219.0,331.8,-17.5,219,1889,0.00,1.60,0.00,0.000,4,0.000,0.054,2506,3767,3859,0,0,0,0,0,0
$GC,1921,-0.84,-219.0,338.2,-18.6,222,1924,0.00,1.55,0.00,0.000,6,0.000,0.031,2506,2766,3860,0,0,0,0,0,0
$GC,2124,-0.84,-219.0,374.1,-17.9,241,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2766,3860,0,0,0,0,0,0
$GC,2315,-0.84,-219.0,405.9,-16.0,259,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2766,3860,0,0,0,0,0,0
$GC,2506,-0.84,-219.0,438.1,-17.3,277,2510,0.00,1.62,0.00,0.000,4,0.000,0.053,2498,3796,3859,0,0,0,0,0,0
$GC,2544,-0.84,-219.0,445.3,-18.5,280,2552,0.08,1.58,0.00,0.000,6,0.150,0.031,2524,2773,3859,0,0,0,0,0,0
$GC,2742,-0.84,-219.0,475.8,-14.8,299,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2773,3860,0,0,0,0,0,0
$STATE,2911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2911,begin apogee
$GC,2916,-0.16,0.0,500.7,14.6,315,3097,0.65,0.00,175.50,0.989,4,0.125,0.000,2745,2688,2959,0,0,0,0,0,0
$STATE,3098,end apogee,CONTROL_FINISHED_OK
$STATE,3098,begin climb
$GC,3100,0.84,219.0,508.3,0.0,320,3299,0.93,0.00,189.30,0.936,6,0.071,0.000,3065,2688,2066,0,0,0,0,0,0
$GC,3489,0.84,219.0,461.2,15.7,347,3493,0.00,1.85,0.00,0.000,4,0.000,0.049,3066,3766,2055,0,0,0,0,0,0
$GC,3562,0.84,219.0,448.4,17.7,353,3569,0.00,1.67,0.00,0.000,6,0.000,0.030,3073,2723,2053,0,0,1,0,0,0
$GC,3759,0.84,219.0,415.4,16.7,372,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2722,2052,0,0,0,0,0,0
$GC,3950,0.84,219.0,383.2,16.5,390,3954,0.00,1.73,0.00,0.000,4,0.000,0.050,3074,3764,2051,0,0,0,0,0,0
$GC,4029,0.84,219.0,368.7,18.7,397,4033,0.00,1.65,0.00,0.000,6,0.000,0.031,3082,2719,2050,0,0,0,0,0,0
$GC,4232,0.84,219.0,334.2,16.9,416,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2717,2050,0,0,0,0,0,0
$GC,4423,0.84,219.0,302.4,16.1,434,4426,0.00,1.70,0.00,0.000,4,0.000,0.050,3082,3764,2049,0,0,0,0,0,0
$GC,4502,0.84,219.0,288.3,17.4,441,4506,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2703,2049,0,0,0,0,0,0
$GC,4705,0.84,219.0,256.1,14.8,460,4708,0.00,1.73,0.00,0.000,4,0.000,0.050,3091,3768,2048,0,0,0,0,0,0
$GC,4750,0.84,219.0,248.0,17.7,464,4754,0.00,1.62,0.00,0.000,6,0.000,0.031,3099,2749,2049,0,0,0,0,0,0
$GC,4889,0.84,219.0,223.5,18.1,477,4893,0.00,2.30,0.00,0.000,4,0.000,0.036,3110,1299,2048,0,0,0,0,0,0
$GC,4909,0.84,219.0,219.6,17.1,478,4917,0.10,2.40,0.00,0.000,6,0.141,0.044,3077,2742,2048,0,0,0,0,0,0
$GC,5044,0.84,219.0,196.0,18.5,491,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2743,2048,0,0,0,0,0,0
$GC,5171,0.84,219.0,172.8,17.7,503,5175,0.00,1.62,0.00,0.000,4,0.000,0.053,3077,3765,2048,0,0,0,0,0,0
$GC,5228,0.84,219.0,160.6,22.6,508,5231,0.00,1.60,0.00,0.000,6,0.000,0.031,3084,2752,2048,0,0,0,0,0,0
$GC,5367,0.84,219.0,134.4,19.4,521,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2751,2048,0,0,0,0,0,0
$GC,5495,0.84,219.0,110.8,18.1,533,5498,0.00,1.62,0.00,0.000,4,0.000,0.052,3085,3767,2047,0,0,0,0,0,0
$GC,5544,0.84,219.0,99.8,21.6,537,5551,0.00,1.62,0.00,0.000,6,0.000,0.031,3093,2738,2048,0,0,0,0,0,0
$GC,5686,0.84,219.0,72.5,18.4,562,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2738,2047,0,0,0,0,0,0
$GC,5829,0.84,219.0,46.7,17.1,587,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2738,2047,0,0,0,0,0,0
$GC,5971,0.84,219.0,23.4,13.6,612,5978,0.00,1.67,0.00,0.000,4,0.000,0.052,3093,3755,2047,0,0,0,0,0,0
$GC,6001,0.84,219.0,18.1,18.4,617,6008,0.00,1.58,0.00,0.000,6,0.000,0.031,3101,2752,2047,0,0,0,0,0,0
$FREEZE,8.31,-1.906,-1.906,2,3,0
$STATE,6070,end climb,FINISH_DEPTH_REACHED
$STATE,6070,begin subsurface finish
$FINISH1,8.3,1.027861,-18
$GC,6075,-0.02,-17.7,8.3,-13.7,629,6111,0.93,0.00,-30.88,0.000,6,0.135,0.000,2800,2752,3035,0,0,0,0,0,0
$FINISH2,5.3
$STATE,6112,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6112,begin surface
$IRIDIUM_FIX,-7612.11,17113.05,051210,080809
$TT8_MAMPS,0.027713
$HUMID,51.41
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,19.0
$24V_AH,22.5,2.103
$10V_AH,10.0,0.887
$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,3.525,52.875,364.800,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,1551.210,2976.448,387.819,1153.250,94.258,0.000,1041.414,0.000,1089.259,0.000,15.711,0.000
$DEVICE_MAMPS,153.765,100.215,989.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.410,759.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258384
$DATA_FILE_SIZE,40362,635
$CAP_FILE_SIZE,80014,0
$CFSIZE,260165632,246112256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3