version: 66.08
glider: 503
mission: 7
dive: 79
start: 12 5 110 1 21 25
data:
$ID,503
$MISSION,7
$DIVE,79
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,051210,010044,-7659.942,17055.521,70,7.9,89,133.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-53.6
$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,-134.4,0.0,0.0,0,174,0.00,0.00,-154.23,0.000,6,0.000,0.000,191,2809,3509,0,0,0,0,0,0
$GC,177,-1.00,-219.0,3.4,-7.5,27,203,8.82,1.60,-7.45,0.000,4,0.224,0.069,2464,3761,3856,0,0,0,0,0,0
$GC,349,-0.92,-219.0,54.2,-24.9,57,357,0.10,1.58,0.00,0.000,6,0.161,0.031,2495,2774,3858,0,0,0,0,0,0
$GC,495,-0.87,-219.0,86.3,-20.4,82,502,0.00,2.22,0.00,0.000,4,0.000,0.033,2496,1376,3859,0,0,0,0,0,0
$GC,526,-0.85,-219.0,93.2,-20.7,87,533,0.15,2.28,0.00,0.000,6,0.162,0.046,2527,2755,3859,0,0,0,0,0,0
$GC,669,-0.87,-219.0,119.1,-17.9,103,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2756,3859,0,0,0,0,0,0
$GC,796,-0.90,-219.0,142.2,-18.0,115,800,0.00,1.62,0.00,0.000,4,0.000,0.050,2519,3777,3859,0,0,0,0,0,0
$GC,857,-0.90,-219.0,153.4,-17.1,120,864,0.00,1.58,0.00,0.000,6,0.000,0.029,2520,2774,3859,0,0,0,0,0,0
$GC,992,-0.92,-219.0,177.3,-18.2,133,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2773,3859,0,0,0,0,0,0
$GC,1119,-0.95,-219.0,200.3,-17.7,145,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2773,3859,0,0,0,0,0,0
$GC,1246,-0.98,-219.0,222.6,-17.5,157,1250,0.00,2.20,0.00,0.000,4,0.000,0.033,2519,1372,3859,0,0,0,0,0,0
$GC,1285,-1.04,-219.0,229.4,-16.7,160,1293,0.12,2.28,0.00,0.000,6,0.096,0.045,2454,2774,3859,0,0,0,0,0,0
$GC,1420,-0.96,-219.0,259.3,-24.1,173,1421,0.12,0.00,0.00,0.000,6,0.177,0.000,2486,2775,3859,0,0,0,0,0,0
$GC,1610,-0.96,-219.0,299.5,-20.5,191,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2774,3859,0,0,0,0,0,0
$GC,1801,-0.96,-219.0,337.7,-20.2,209,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2774,3859,0,0,0,0,0,0
$GC,1992,-0.96,-219.0,375.7,-19.7,227,1996,0.00,2.20,0.00,0.000,4,0.000,0.034,2486,1372,3859,0,0,0,0,0,0
$GC,2024,-0.96,-219.0,382.3,-18.7,229,2031,0.00,2.28,0.00,0.000,6,0.000,0.046,2476,2770,3859,0,0,0,0,0,0
$GC,2222,-0.96,-219.0,422.4,-20.5,248,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2770,3859,0,0,0,0,0,0
$GC,2413,-0.96,-219.0,461.9,-20.8,266,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2770,3859,0,0,0,0,0,0
$STATE,2604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2604,begin apogee
$GC,2609,-0.16,0.0,501.3,20.7,284,2796,0.80,0.00,177.38,0.991,4,0.135,0.000,2735,2700,2960,0,0,0,0,0,0
$STATE,2797,end apogee,CONTROL_FINISHED_OK
$STATE,2797,begin climb
$GC,2798,1.00,219.0,511.7,0.0,290,2998,1.17,2.40,189.05,0.939,4,0.083,0.034,3119,1297,2066,0,0,0,0,0,0
$GC,3167,1.00,219.0,466.2,16.2,312,3171,0.00,2.42,0.00,0.000,6,0.000,0.042,3119,2698,2053,0,0,0,0,0,0
$GC,3366,0.92,219.0,429.7,18.9,330,3370,0.00,2.33,0.00,0.000,4,0.000,0.037,3130,1309,2049,0,0,0,0,0,0
$GC,3531,0.88,219.0,401.0,17.5,344,3536,0.17,2.38,0.00,0.000,6,0.165,0.044,3085,2712,2047,0,0,0,0,0,0
$GC,3728,0.88,219.0,368.7,16.5,362,3732,0.00,1.73,0.00,0.000,4,0.000,0.049,3084,3770,2046,0,0,0,0,0,0
$GC,3778,0.82,219.0,359.4,18.8,366,3785,0.00,1.70,0.00,0.000,6,0.000,0.030,3092,2721,2046,0,0,0,0,0,0
$GC,3978,0.79,219.0,325.8,16.8,385,3980,0.15,0.00,0.00,0.000,6,0.168,0.000,3051,2721,2045,0,0,0,0,0,0
$GC,4167,0.84,223.0,299.9,13.1,403,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2721,2045,0,0,0,0,0,0
$GC,4359,0.90,230.9,275.6,12.8,421,4369,0.12,0.00,7.90,0.809,6,0.082,0.000,3117,2721,2018,0,0,0,0,0,0
$GC,4560,0.84,230.9,239.7,18.0,440,4564,0.17,1.70,0.00,0.000,4,0.155,0.048,3068,3767,2016,0,0,0,0,0,0
$GC,4587,0.81,230.9,234.5,17.3,442,4594,0.00,1.65,0.00,0.000,6,0.000,0.031,3075,2731,2016,0,0,0,0,0,0
$GC,4721,0.81,230.9,214.0,15.4,455,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2731,2016,0,0,0,0,0,0
$GC,4848,0.81,230.9,194.5,15.3,467,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2731,2015,0,0,0,0,0,0
$GC,4975,0.81,230.9,175.2,15.1,479,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2731,2015,0,0,0,0,0,0
$GC,5103,0.81,230.9,155.6,15.6,491,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2731,2015,0,0,0,0,0,0
$GC,5230,0.81,230.9,135.6,16.1,503,5234,0.00,1.70,0.00,0.000,4,0.000,0.049,3076,3762,2015,0,0,0,0,0,0
$GC,5280,0.78,230.9,126.9,18.1,507,5288,0.08,1.62,0.00,0.000,6,0.151,0.031,3058,2743,2015,0,0,0,0,0,0
$GC,5414,0.82,230.9,107.7,14.2,520,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2742,2015,0,0,0,0,0,0
$GC,5546,0.87,230.9,87.3,16.1,539,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2742,2015,0,0,0,0,0,0
$GC,5688,0.91,230.9,67.1,13.6,564,5695,0.10,0.00,0.00,0.000,6,0.100,0.000,3116,2742,2015,0,0,0,0,0,0
$GC,5832,0.87,230.9,37.9,20.9,589,5838,0.12,0.00,0.00,0.000,6,0.169,0.000,3083,2742,2015,0,0,0,0,0,0
$GC,5976,0.87,230.9,13.4,18.1,614,5983,0.00,1.67,0.00,0.000,4,0.000,0.048,3082,3769,2015,0,0,0,0,0,0
$FREEZE,8.87,-1.895,-1.904,2,1,0
$STATE,6001,end climb,FINISH_DEPTH_REACHED
$STATE,6001,begin subsurface finish
$FINISH1,8.9,1.027826,-16
$GC,6009,-0.02,-16.0,8.9,-16.6,618,6051,0.90,1.77,-33.15,0.000,4,0.135,0.076,2795,3757,3029,0,0,1,0,0,0
$FINISH2,4.5
$STATE,6052,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6052,begin surface
$IRIDIUM_FIX,-7612.11,17054.21,051210,010107
$TT8_MAMPS,0.027713
$HUMID,50.78
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.0
$24V_AH,22.4,1.431
$10V_AH,10.0,0.594
$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,13.125,44.700,374.325,0.000,0.000,83.498,116.317,630.001,1.750,0.000,38.816,1480.650,3020.999,503.058,2030.352,234.260,0.000,1163.219,0.000,1072.162,0.000,12.903,0.000
$DEVICE_MAMPS,224.145,101.745,990.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,437.342,760.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40424,625
$CAP_FILE_SIZE,101454,0
$CFSIZE,260165632,246374400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051210,012058,-7659.960,17055.094,16,6.1,35,133.3