version: 66.08
glider: 503
mission: 7
dive: 80
start: 12 5 110 3 3 49
data:
$ID,503
$MISSION,7
$DIVE,80
$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,47
$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,6.45
$_SM_ANGLEo,3.8
$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,-134.4,0.0,0.0,0,24,0.00,0.00,-6.93,0.000,2,0.000,0.000,2795,3757,3347,0,0,0,0,0,0
$GC,26,-1.00,-219.0,10.4,-0.0,1,46,0.90,3.83,-10.50,0.000,4,0.099,0.043,2481,1373,3857,0,0,0,0,0,0
$GC,69,-1.00,-219.0,16.7,-15.4,8,76,0.00,2.28,0.00,0.000,6,0.000,0.055,2472,2781,3858,0,0,0,0,0,0
$GC,213,-0.94,-219.0,46.6,-25.5,33,219,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2781,3860,0,0,0,0,0,0
$GC,355,-0.89,-219.0,78.3,-22.1,58,362,0.15,0.00,0.00,0.000,6,0.174,0.000,2513,2781,3859,0,0,0,0,0,0
$GC,502,-0.91,-219.0,104.4,-17.0,82,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2781,3860,0,0,0,0,0,0
$GC,630,-0.95,-219.0,127.0,-18.3,94,633,0.00,2.22,0.00,0.000,4,0.000,0.034,2513,1366,3860,0,0,0,0,0,0
$GC,687,-1.02,-219.0,137.0,-17.1,99,691,0.00,2.28,0.00,0.000,6,0.000,0.047,2503,2774,3860,0,0,0,0,0,0
$GC,820,-1.02,-219.0,161.8,-18.7,111,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2774,3859,0,0,0,0,0,0
$GC,948,-1.02,-219.0,184.5,-17.8,123,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2774,3860,0,0,0,0,0,0
$GC,1076,-1.04,-219.0,208.0,-19.1,135,1078,0.12,0.00,0.00,0.000,6,0.098,0.000,2444,2774,3860,0,0,0,0,0,0
$GC,1203,-0.97,-219.0,238.2,-24.5,147,1205,0.15,0.00,0.00,0.000,6,0.168,0.000,2485,2774,3860,0,0,0,0,0,0
$GC,1330,-0.97,-219.0,264.6,-19.6,159,1334,0.00,2.17,0.00,0.000,4,0.000,0.035,2485,1376,3860,0,0,0,0,0,0
$GC,1358,-0.97,-219.0,269.9,-19.0,161,1362,0.00,2.22,0.00,0.000,6,0.000,0.047,2481,2767,3860,0,0,0,0,0,0
$GC,1555,-0.97,-219.0,307.6,-19.6,179,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2767,3860,0,0,0,0,0,0
$GC,1747,-0.97,-219.0,344.1,-19.1,197,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2767,3860,0,0,0,0,0,0
$GC,1938,-0.97,-219.0,380.8,-19.6,215,1942,0.00,2.17,0.00,0.000,4,0.000,0.035,2481,1367,3860,0,0,0,0,0,0
$GC,1967,-0.97,-219.0,386.4,-19.9,217,1971,0.00,2.25,0.00,0.000,6,0.000,0.047,2472,2769,3859,0,0,0,0,0,0
$GC,2165,-0.97,-219.0,427.6,-21.0,235,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2769,3859,0,0,0,0,0,0
$GC,2357,-0.95,-219.0,466.2,-20.1,253,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2769,3860,0,0,0,0,0,0
$STATE,2537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2537,begin apogee
$GC,2542,-0.16,0.0,501.1,19.4,270,2728,0.82,0.00,175.95,0.992,4,0.138,0.000,2741,2684,2959,0,0,0,0,0,0
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2729,begin climb
$GC,2731,1.00,219.0,509.8,0.0,276,2930,1.10,0.00,188.35,0.939,6,0.076,0.000,3116,2684,2065,0,0,0,0,0,0
$GC,3120,0.92,219.0,451.2,20.3,303,3124,0.00,1.83,0.00,0.000,4,0.000,0.048,3116,3759,2055,0,0,0,0,0,0
$GC,3222,0.79,219.0,427.9,23.4,312,3227,0.25,1.67,0.00,0.000,6,0.153,0.031,3056,2713,2053,0,0,1,0,0,0
$GC,3426,0.82,219.0,394.7,15.6,331,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2712,2051,0,0,0,0,0,0
$GC,3616,0.86,219.0,366.3,14.4,349,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2713,2050,0,0,0,0,0,0
$GC,3807,0.89,219.0,339.5,13.7,367,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2713,2049,0,0,0,0,0,0
$GC,3998,0.93,219.0,313.8,13.5,385,4000,0.12,0.00,0.00,0.000,6,0.080,0.000,3117,2713,2049,0,0,0,0,0,0
$GC,4190,0.86,219.0,278.6,19.1,403,4194,0.15,1.75,0.00,0.000,4,0.159,0.049,3076,3764,2049,0,0,0,0,0,0
$GC,4235,0.81,219.0,270.0,18.6,407,4239,0.00,1.65,0.00,0.000,6,0.000,0.031,3084,2703,2048,0,0,0,0,0,0
$GC,4438,0.81,219.0,236.7,16.2,426,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2702,2047,0,0,0,0,0,0
$GC,4566,0.81,219.0,214.5,17.6,438,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2702,2048,0,0,0,0,0,0
$GC,4693,0.81,219.0,192.4,16.6,450,4697,0.00,1.73,0.00,0.000,4,0.000,0.048,3083,3753,2047,0,0,0,0,0,0
$GC,4754,0.75,219.0,180.6,19.0,455,4762,0.15,1.62,0.00,0.000,6,0.141,0.031,3042,2721,2047,0,0,0,0,0,0
$GC,4889,0.83,232.4,162.5,12.4,468,4901,0.00,0.00,9.70,0.788,6,0.000,0.000,3042,2721,2012,0,0,0,0,0,0
$GC,5026,0.91,245.2,145.7,12.5,481,5046,0.15,0.00,12.60,0.778,6,0.074,0.000,3116,2721,1960,0,0,0,0,0,0
$GC,5173,0.86,245.2,121.0,17.5,495,5178,0.15,1.70,0.00,0.000,4,0.158,0.048,3074,3767,1957,0,0,0,0,0,0
$GC,5211,0.86,245.2,114.3,16.1,498,5219,0.00,1.67,0.00,0.000,6,0.000,0.030,3082,2719,1956,0,0,0,0,0,0
$GC,5348,0.90,264.6,95.3,12.0,514,5373,0.00,2.30,18.08,0.760,4,0.000,0.036,3092,1303,1880,0,0,0,0,0,0
$GC,5391,0.90,264.6,89.5,15.4,521,5398,0.00,2.35,0.00,0.000,6,0.000,0.046,3092,2721,1880,0,0,0,0,0,0
$GC,5534,0.90,264.6,67.1,16.4,546,5541,0.00,1.70,0.00,0.000,4,0.000,0.050,3092,3754,1877,0,0,0,0,0,0
$GC,5593,0.86,264.6,55.2,17.1,556,5600,0.00,1.65,0.00,0.000,6,0.000,0.032,3100,2726,1877,0,0,0,0,0,0
$GC,5737,0.83,264.6,31.8,17.6,581,5744,0.12,0.00,0.00,0.000,6,0.177,0.000,3068,2723,1876,0,0,0,0,0,0
$FREEZE,8.36,-1.896,-1.903,2,2,0
$STATE,5880,end climb,FINISH_DEPTH_REACHED
$STATE,5880,begin subsurface finish
$FINISH1,8.4,1.027826,-16
$GC,5885,-0.02,-16.0,8.4,-13.3,606,5928,0.82,1.70,-34.47,0.000,4,0.129,0.067,2795,3767,3027,0,0,0,0,0,0
$FINISH2,6.3
$STATE,5929,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5929,begin surface
$IRIDIUM_FIX,-7612.11,17054.21,051210,010107
$TT8_MAMPS,0.027713
$HUMID,51.29
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,19.1
$24V_AH,22.5,1.539
$10V_AH,10.1,0.637
$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,5.175,42.850,404.675,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1489.411,2911.150,409.217,1080.483,89.828,0.000,1024.553,0.000,1022.845,0.000,12.905,0.000
$DEVICE_MAMPS,177.480,84.915,992.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.398,739.641,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40429,613
$CAP_FILE_SIZE,79237,0
$CFSIZE,260165632,246345728
$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