version: 66.08
glider: 503
mission: 7
dive: 61
start: 12 3 110 8 6 12
data:
$ID,503
$MISSION,7
$DIVE,61
$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,38
$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,5.13
$_SM_ANGLEo,7.8
$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,-9.77,0.000,2,0.000,0.000,2814,2507,3292,0,0,0,0,0,0
$GC,29,-0.84,-219.0,3.3,-0.0,1,59,0.73,2.00,-20.83,0.000,4,0.091,0.064,2546,3718,3853,0,0,0,0,0,0
$GC,129,-0.80,-219.0,14.8,-19.5,16,138,0.00,2.28,0.00,0.000,6,0.000,0.031,2546,2298,3855,0,0,0,0,0,0
$GC,286,-0.80,-219.0,42.9,-19.8,41,293,0.00,2.33,0.00,0.000,4,0.000,0.052,2537,3718,3854,0,0,0,0,0,0
$GC,452,-0.77,-219.0,76.8,-16.5,68,462,0.08,2.25,0.00,0.000,6,0.138,0.030,2564,2300,3855,0,0,0,0,0,0
$GC,611,-0.80,-219.0,97.3,-12.0,93,618,0.00,2.30,0.00,0.000,4,0.000,0.053,2563,3715,3855,0,0,1,0,0,0
$GC,714,-0.83,-219.0,111.2,-13.6,103,724,0.00,2.22,0.00,0.000,6,0.000,0.031,2563,2309,3856,0,0,0,0,0,0
$GC,852,-0.86,-219.0,129.0,-13.3,116,856,0.00,2.28,0.00,0.000,4,0.000,0.052,2563,3715,3855,0,0,0,0,0,0
$GC,948,-0.89,-219.0,142.8,-13.1,123,957,0.00,2.25,0.00,0.000,6,0.000,0.031,2563,2297,3855,0,0,0,0,0,0
$GC,1086,-0.92,-219.0,160.7,-13.4,136,1091,0.12,2.33,0.00,0.000,4,0.100,0.053,2502,3721,3855,0,0,0,0,0,0
$GC,1169,-0.85,-219.0,176.4,-18.8,142,1179,0.12,2.25,0.00,0.000,6,0.142,0.031,2544,2301,3855,0,0,0,0,0,0
$GC,1306,-0.85,-219.0,197.4,-15.6,155,1310,0.00,2.28,0.00,0.000,4,0.000,0.051,2534,3716,3855,0,0,0,0,0,0
$GC,1388,-0.85,-219.0,212.3,-16.8,161,1398,0.00,2.25,0.00,0.000,6,0.000,0.031,2534,2298,3854,0,0,0,0,0,0
$GC,1525,-0.85,-219.0,234.1,-16.2,174,1529,0.00,2.28,0.00,0.000,4,0.000,0.052,2534,3715,3855,0,0,0,0,0,0
$GC,1605,-0.85,-219.0,247.5,-16.7,180,1609,0.00,2.20,0.00,0.000,6,0.000,0.031,2533,2296,3855,0,0,0,0,0,0
$GC,1738,-0.85,-219.0,268.9,-15.8,192,1742,0.00,2.30,0.00,0.000,4,0.000,0.050,2524,3724,3855,0,0,0,0,0,0
$GC,1827,-0.82,-219.0,283.8,-16.2,199,1834,0.00,2.25,0.00,0.000,6,0.000,0.030,2524,2292,3855,0,0,0,0,0,0
$GC,2025,-0.80,-219.0,315.2,-15.9,218,2030,0.12,2.30,0.00,0.000,4,0.161,0.050,2550,3715,3855,0,0,0,0,0,0
$GC,2189,-0.83,-219.0,339.2,-14.0,232,2193,0.00,2.20,0.00,0.000,6,0.000,0.030,2549,2291,3855,0,0,0,0,0,0
$GC,2389,-0.85,-219.0,364.6,-11.9,250,2393,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3720,3855,0,0,0,0,0,0
$GC,2556,-0.87,-219.0,386.9,-12.9,264,2563,0.00,2.20,0.00,0.000,6,0.000,0.029,2547,2294,3855,0,0,0,0,0,0
$STATE,2668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2668,begin apogee
$GC,2673,-0.16,0.0,400.5,11.8,275,2852,0.65,0.00,173.68,0.923,6,0.123,0.000,2766,2510,2960,0,0,0,0,0,0
$STATE,2853,end apogee,CONTROL_FINISHED_OK
$STATE,2853,begin climb
$GC,2855,0.84,219.0,409.1,0.0,291,3052,0.93,2.50,184.38,0.872,4,0.063,0.035,3101,1116,2065,0,0,1,0,0,0
$GC,3100,0.74,219.0,385.7,16.2,313,3105,0.17,2.38,0.00,0.000,6,0.156,0.041,3058,2489,2059,0,0,1,0,0,0
$GC,3298,0.67,219.0,356.9,14.0,331,3302,0.00,2.15,0.00,0.000,4,0.000,0.050,3058,3766,2054,0,0,0,0,0,0
$GC,3420,0.55,219.0,336.8,16.6,341,3428,0.25,2.03,0.00,0.000,6,0.148,0.030,2997,2511,2051,0,0,0,0,0,0
$GC,3620,0.69,299.4,315.9,10.0,360,3698,0.12,2.20,68.75,0.838,4,0.089,0.047,3052,3765,1740,0,0,0,0,0,0
$GC,3779,0.66,299.4,291.9,16.7,374,3783,0.00,2.08,0.00,0.000,6,0.000,0.030,3062,2500,1736,0,0,0,0,0,0
$GC,3978,0.64,299.4,262.4,15.2,392,3983,0.12,2.12,0.00,0.000,4,0.158,0.050,3027,3766,1733,0,0,1,0,0,0
$GC,4055,0.64,299.4,251.0,14.6,398,4062,0.00,2.08,0.00,0.000,6,0.000,0.031,3035,2501,1731,0,0,0,0,0,0
$GC,4256,0.66,321.9,225.6,12.4,417,4284,0.00,2.17,19.67,0.802,4,0.000,0.050,3035,3761,1647,0,0,0,0,0,0
$GC,4313,0.66,321.9,216.8,14.2,421,4323,0.00,2.08,0.00,0.000,6,0.000,0.031,3044,2500,1646,0,0,0,0,0,0
$GC,4451,0.69,321.9,198.9,13.5,434,4455,0.00,2.10,0.00,0.000,4,0.000,0.050,3044,3765,1645,0,0,1,0,0,0
$GC,4484,0.69,321.9,193.1,15.4,436,4494,0.00,2.08,0.00,0.000,6,0.000,0.031,3051,2499,1644,0,0,0,0,0,0
$GC,4621,0.69,321.9,174.2,14.1,449,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2498,1644,0,0,0,0,0,0
$GC,4748,0.69,321.9,156.7,13.5,461,4752,0.00,2.08,0.00,0.000,4,0.000,0.049,3050,3766,1643,0,0,0,0,0,0
$GC,4819,0.66,321.9,145.1,15.5,466,4829,0.00,2.05,0.00,0.000,6,0.000,0.031,3058,2498,1643,0,0,0,0,0,0
$GC,4956,0.66,321.9,126.3,13.7,479,4960,0.00,2.08,0.00,0.000,4,0.000,0.050,3058,3771,1643,0,0,0,0,0,0
$GC,4991,0.63,321.9,120.2,16.7,481,5001,0.12,2.05,0.00,0.000,6,0.135,0.031,3023,2500,1643,0,0,0,0,0,0
$GC,5129,0.74,366.4,104.7,11.5,494,5177,0.10,2.15,38.20,0.751,4,0.100,0.048,3077,3754,1465,0,0,0,0,0,0
$GC,5214,0.68,366.4,91.0,20.1,503,5221,0.15,2.03,0.00,0.000,6,0.148,0.031,3044,2500,1464,0,0,0,0,0,0
$GC,5368,0.73,366.4,69.2,14.0,528,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2500,1463,0,0,0,0,0,0
$GC,5526,0.83,417.0,47.5,11.3,553,5577,0.12,2.12,41.92,0.705,4,0.087,0.051,3104,3764,1259,0,0,1,0,0,0
$GC,5629,0.77,417.0,26.7,23.5,568,5639,0.12,2.08,0.00,0.000,6,0.129,0.031,3072,2508,1259,0,0,0,0,0,0
$FREEZE,8.19,-1.906,-1.903,2,14,2
$FREEZE,7.24,-1.907,-1.903,2,14,2
$FREEZE,6.13,-1.906,-1.902,2,14,2
$FREEZE,5.43,-1.906,-1.902,2,14,2
$FREEZE,4.24,-1.906,-1.901,2,14,2
$FREEZE,3.53,-1.906,-1.900,2,14,2
$FREEZE,2.97,-1.905,-1.900,2,14,2
$STATE,5781,end climb,SURFACE_DEPTH_REACHED
$STATE,5781,begin surface coast
$FREEZE,2.54,-1.905,-1.899,2,14,2
$FREEZE,1.59,-1.905,-1.899,2,14,2
$FREEZE,1.01,-1.906,-1.898,2,14,2
$FREEZE,0.02,-1.905,-1.897,2,14,2
$FINISH,0.0,1.027831
$STATE,5807,end surface coast,CONTROL_FINISHED_OK
$STATE,5807,begin surface
$SM_CCo,5823,105.55,0.099,0,0,445,616.92
$SM_GC,0.48,0.00,0.00,105.55,0.000,0.000,0.099,187,2281,445,-8.22,-0.54,616.92
$IRIDIUM_FIX,-7630.39,17051.50,021210,040449
$TT8_MAMPS,0.027713
$HUMID,49.13
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.5
$24V_AH,22.8,45.307
$10V_AH,10.1,62.602
$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,11.925,88.275,526.600,105.550,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1441.854,1895.057,624.494,1908.255,115.871,0.000,1368.252,0.000,1114.363,0.000,9.472,0.000
$DEVICE_MAMPS,160.650,64.260,923.355,99.450,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.833,739.726,1146.223,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37133,596
$CAP_FILE_SIZE,104098,0
$CFSIZE,260165632,247414784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,031210,094700,-7702.704,17053.881,57,2.3,76,133.5