version: 66.08
glider: 503
mission: 7
dive: 47
start: 12 2 110 8 35 26
data:
$ID,503
$MISSION,7
$DIVE,47
$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,-17686.783
$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,31
$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
$GPS1,021210,035523,-7630.392,17043.447,0,10000.0,0,136.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,4.3
$GPS2,021210,035523,-7630.392,17043.447,0,10000.0,0,136.2
$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,36.6,55267,-18.2,-13.333
$D_GRID,705
$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,-219.0,0.0,0.0,0,57,0.00,0.30,-36.83,0.000,6,0.000,0.163,2819,2292,3854,0,0,0,0,0,0
$GC,59,-0.84,-219.0,2.3,-3.7,6,68,0.75,2.33,0.00,0.000,4,0.088,0.050,2550,3707,3854,0,0,0,0,0,0
$GC,145,-0.84,-219.0,12.9,-16.5,21,152,0.00,2.22,0.00,0.000,6,0.000,0.030,2550,2293,3856,0,0,0,0,0,0
$GC,283,-0.84,-219.0,33.4,-14.1,46,291,0.00,2.35,0.00,0.000,4,0.000,0.050,2547,3708,3856,0,0,0,0,0,0
$GC,384,-0.84,-219.0,47.2,-11.6,64,392,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2297,3857,0,0,0,0,0,0
$GC,526,-0.82,-219.0,66.8,-14.5,89,533,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3710,3857,0,0,0,0,0,0
$GC,594,-0.82,-219.0,78.2,-15.3,101,601,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2301,3856,0,0,0,0,0,0
$GC,732,-0.82,-219.0,100.1,-18.3,126,736,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3708,3857,0,0,1,0,0,0
$GC,826,-0.82,-219.0,115.0,-15.8,134,830,0.00,2.20,0.00,0.000,6,0.000,0.030,2547,2292,3857,0,0,0,0,0,0
$GC,961,-0.82,-219.0,133.8,-13.4,146,965,0.00,2.30,0.00,0.000,4,0.000,0.050,2547,3713,3857,0,0,0,0,0,0
$GC,1078,-0.82,-219.0,150.3,-14.5,156,1082,0.00,2.20,0.00,0.000,6,0.000,0.030,2548,2297,3858,0,0,0,0,0,0
$GC,1213,-0.82,-219.0,169.2,-13.7,168,1217,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3706,3858,0,0,0,0,0,0
$GC,1298,-0.82,-219.0,182.0,-14.6,175,1307,0.00,2.22,0.00,0.000,6,0.000,0.029,2547,2297,3857,0,0,0,0,0,0
$GC,1433,-0.82,-219.0,200.7,-13.8,188,1437,0.00,2.28,0.00,0.000,4,0.000,0.051,2547,3711,3857,0,0,0,0,0,0
$GC,1539,-0.82,-219.0,215.7,-14.3,197,1543,0.00,2.17,0.00,0.000,6,0.000,0.030,2547,2303,3858,0,0,0,0,0,0
$GC,1675,-0.82,-219.0,234.4,-14.1,209,1679,0.00,2.28,0.00,0.000,4,0.000,0.051,2538,3714,3858,0,0,0,0,0,0
$GC,1771,-0.82,-219.0,250.4,-16.4,217,1780,0.00,2.22,0.00,0.000,6,0.000,0.031,2537,2302,3858,0,0,0,0,0,0
$GC,1905,-0.82,-219.0,271.4,-15.5,230,1909,0.00,2.25,0.00,0.000,4,0.000,0.051,2533,3706,3858,0,0,0,0,0,0
$GC,2000,-0.82,-219.0,287.5,-16.3,238,2004,0.00,2.20,0.00,0.000,6,0.000,0.030,2534,2293,3857,0,0,0,0,0,0
$GC,2203,-0.82,-219.0,317.9,-14.8,257,2207,0.00,2.28,0.00,0.000,4,0.000,0.050,2533,3708,3857,0,0,0,0,0,0
$GC,2349,-0.82,-219.0,340.1,-14.9,269,2356,0.00,2.17,0.00,0.000,6,0.000,0.030,2533,2292,3857,0,0,0,0,0,0
$GC,2546,-0.82,-219.0,369.0,-14.5,288,2550,0.00,2.28,0.00,0.000,4,0.000,0.050,2534,3711,3857,0,0,0,0,0,0
$GC,2691,-0.82,-219.0,391.2,-14.7,300,2698,0.00,2.17,0.00,0.000,6,0.000,0.030,2533,2302,3857,0,0,0,0,0,0
$STATE,2749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2749,begin apogee
$GC,2754,-0.16,0.0,400.0,15.2,306,2933,0.70,0.00,173.88,0.925,6,0.127,0.000,2767,2500,2960,0,0,0,0,0,0
$STATE,2934,end apogee,CONTROL_FINISHED_OK
$STATE,2934,begin climb
$GC,2936,0.84,219.0,410.2,0.0,322,3133,0.93,2.50,184.35,0.872,4,0.062,0.036,3104,1111,2065,0,0,1,0,0,0
$GC,3150,0.71,219.0,392.4,16.8,341,3158,0.20,2.42,0.00,0.000,6,0.155,0.041,3053,2496,2061,0,0,1,0,0,0
$GC,3349,0.65,219.0,363.8,14.8,360,3353,0.00,2.15,0.00,0.000,4,0.000,0.050,3053,3764,2055,0,0,0,0,0,0
$GC,3485,0.53,219.0,341.2,16.3,372,3490,0.25,2.05,0.00,0.000,6,0.146,0.031,2991,2498,2052,0,0,0,0,0,0
$GC,3683,0.68,306.4,320.6,9.8,390,3765,0.15,2.20,75.70,0.839,4,0.083,0.047,3054,3763,1709,0,0,0,0,0,0
$GC,3858,0.62,306.4,293.6,17.3,405,3862,0.15,2.10,0.00,0.000,6,0.151,0.031,3022,2497,1704,0,0,0,0,0,0
$GC,4061,0.69,325.3,267.7,12.6,424,4084,0.00,2.15,16.45,0.805,4,0.000,0.050,3023,3764,1633,0,0,0,0,0,0
$GC,4145,0.69,325.3,255.2,15.2,431,4153,0.00,2.10,0.00,0.000,6,0.000,0.031,3030,2500,1631,0,0,0,0,0,0
$GC,4345,0.77,346.0,230.0,12.5,450,4372,0.10,2.15,18.58,0.799,4,0.103,0.049,3080,3764,1549,0,0,0,0,0,0
$GC,4432,0.70,346.0,214.4,19.3,457,4441,0.12,2.08,0.00,0.000,6,0.126,0.031,3047,2510,1547,0,0,0,0,0,0
$GC,4567,0.73,346.0,195.5,13.4,470,4570,0.00,2.10,0.00,0.000,4,0.000,0.050,3047,3771,1546,0,0,0,0,0,0
$GC,4609,0.73,346.0,189.0,15.7,473,4618,0.00,2.08,0.00,0.000,6,0.000,0.031,3054,2498,1546,0,0,0,0,0,0
$GC,4744,0.73,346.0,170.1,14.3,486,4748,0.00,2.10,0.00,0.000,4,0.000,0.050,3054,3771,1545,0,0,0,0,0,0
$GC,4796,0.70,346.0,162.0,16.1,490,4800,0.00,2.03,0.00,0.000,6,0.000,0.031,3063,2497,1545,0,0,0,0,0,0
$GC,4931,0.70,346.0,140.4,16.0,502,4935,0.00,2.08,0.00,0.000,4,0.000,0.050,3063,3765,1545,0,0,0,0,0,0
$GC,4971,0.66,346.0,133.4,18.2,505,4975,0.15,2.00,0.00,0.000,6,0.156,0.031,3029,2500,1544,0,0,0,0,0,0
$GC,5108,0.78,399.6,116.3,11.1,517,5159,0.12,2.17,44.45,0.752,4,0.090,0.048,3089,3764,1330,0,0,1,0,0,0
$GC,5196,0.71,399.6,100.2,21.3,524,5201,0.17,2.05,0.00,0.000,6,0.145,0.031,3048,2497,1331,0,0,0,0,0,0
$GC,5335,0.77,399.6,78.8,15.0,548,5343,0.00,2.15,0.00,0.000,4,0.000,0.050,3048,3765,1329,0,0,0,0,0,0
$GC,5367,0.80,399.6,73.7,15.8,553,5374,0.00,2.05,0.00,0.000,6,0.000,0.031,3056,2491,1328,0,0,0,0,0,0
$GC,5505,0.84,399.6,52.2,15.8,578,5513,0.00,2.12,0.00,0.000,4,0.000,0.050,3056,3754,1328,0,0,0,0,0,0
$GC,5548,0.84,399.6,45.4,15.9,585,5555,0.00,2.00,0.00,0.000,6,0.000,0.032,3064,2500,1328,0,0,0,0,0,0
$GC,5686,0.84,399.6,25.1,17.2,610,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2498,1327,0,0,0,0,0,0
$FREEZE,8.81,-1.908,-1.906,2,22,1
$FREEZE,8.17,-1.905,-1.905,2,22,1
$FREEZE,7.24,-1.902,-1.905,2,22,1
$FREEZE,6.49,-1.903,-1.904,2,22,1
$FREEZE,5.39,-1.902,-1.903,2,22,1
$FREEZE,4.22,-1.900,-1.902,2,22,1
$FREEZE,3.16,-1.901,-1.902,2,22,1
$FREEZE,1.90,-1.899,-1.901,2,22,1
$STATE,5828,end climb,SURFACE_DEPTH_REACHED
$STATE,5828,begin surface coast
$FREEZE,0.66,-1.901,-1.900,2,22,1
$FREEZE,-0.19,-1.957,-1.629,2,22,1
$FREEZE,-0.17,-2.631,-1.942,2,22,1
$FINISH,-0.2,1.028487
$STATE,5847,end surface coast,CONTROL_FINISHED_OK
$STATE,5847,begin surface
$SM_CCo,5862,109.65,0.100,0,0,445,616.92
$SM_GC,0.47,0.00,0.00,109.65,0.000,0.000,0.100,177,2283,445,-8.26,-0.48,616.92
$IRIDIUM_FIX,-7630.39,17043.45,021210,030323
$TT8_MAMPS,0.027713
$HUMID,49.72
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.0
$24V_AH,22.9,43.514
$10V_AH,10.1,61.436
$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,11.575,97.175,513.400,109.650,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1544.617,2092.428,627.109,1654.989,110.525,0.000,1381.676,0.000,1199.295,0.000,9.474,0.000
$DEVICE_MAMPS,156.060,162.945,924.885,100.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.205,806.036,840.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258928
$DATA_FILE_SIZE,43793,638
$CAP_FILE_SIZE,94169,0
$CFSIZE,260165632,248139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,021210,101728,-7716.245,17056.125,85,5.0,104,134.3