version: 66.08
glider: 503
mission: 7
dive: 83
start: 12 5 110 8 34 5
data:
$ID,503
$MISSION,7
$DIVE,83
$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,44
$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,-7659.960,17055.094,181,99.0,181,133.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-32.6
$GPS2,051210,012058,-7659.960,17055.094,241,99.0,241,133.3
$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,228.9,55528,-18.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,180,0.00,0.00,-160.55,0.000,2,0.000,0.000,189,2771,3577,0,0,0,0,0,0
$GC,182,-0.84,-219.0,3.8,-9.9,28,203,9.02,2.30,-5.75,0.000,4,0.227,0.047,2521,1368,3856,0,0,0,0,0,0
$GC,456,-0.84,-219.0,61.3,-17.9,76,463,0.00,2.33,0.00,0.000,6,0.000,0.045,2511,2782,3859,0,0,0,0,0,0
$GC,598,-0.84,-219.0,87.7,-18.8,101,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2782,3859,0,0,0,0,0,0
$GC,735,-0.84,-219.0,115.2,-19.6,119,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2782,3859,0,0,0,0,0,0
$GC,863,-0.84,-219.0,139.7,-16.1,131,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2782,3860,0,0,0,0,0,0
$GC,991,-0.84,-219.0,161.2,-17.4,143,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2782,3859,0,0,0,0,0,0
$GC,1118,-0.84,-219.0,184.4,-18.5,155,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2782,3859,0,0,0,0,0,0
$GC,1245,-0.84,-219.0,207.6,-18.0,167,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2782,3860,0,0,0,0,0,0
$GC,1373,-0.84,-219.0,231.0,-18.5,179,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2782,3860,0,0,0,0,0,0
$GC,1500,-0.84,-219.0,254.5,-18.2,191,1504,0.00,2.20,0.00,0.000,4,0.000,0.033,2511,1370,3859,0,0,0,0,0,0
$GC,1539,-0.84,-219.0,261.3,-17.7,194,1543,0.00,2.28,0.00,0.000,6,0.000,0.046,2500,2782,3860,0,0,0,0,0,0
$GC,1736,-0.84,-219.0,298.9,-19.5,212,1743,0.00,2.20,0.00,0.000,4,0.000,0.034,2500,1369,3859,0,0,0,0,0,0
$GC,1783,-0.84,-219.0,307.6,-17.8,216,1788,0.12,2.25,0.00,0.000,6,0.168,0.047,2529,2770,3860,0,0,0,0,0,0
$GC,1981,-0.84,-219.0,340.3,-16.7,234,1984,0.00,1.60,0.00,0.000,4,0.000,0.052,2522,3766,3860,0,0,0,0,0,0
$GC,2026,-0.84,-219.0,348.3,-17.2,238,2029,0.00,1.55,0.00,0.000,6,0.000,0.031,2522,2766,3859,0,0,0,0,0,0
$GC,2229,-0.84,-219.0,382.3,-17.2,257,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2766,3859,0,0,0,0,0,0
$GC,2420,-0.84,-219.0,414.2,-16.3,275,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2766,3859,0,0,0,0,0,0
$GC,2611,-0.84,-219.0,446.4,-17.0,293,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2766,3859,0,0,0,0,0,0
$GC,2802,-0.84,-219.0,478.2,-16.8,311,2806,0.00,1.62,0.00,0.000,4,0.000,0.051,2515,3797,3859,0,0,0,0,0,0
$GC,2840,-0.84,-219.0,485.3,-18.1,314,2848,0.00,1.58,0.00,0.000,6,0.000,0.030,2514,2776,3859,0,0,0,0,0,0
$STATE,2933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2933,begin apogee
$GC,2938,-0.16,0.0,501.4,18.0,323,3125,0.70,0.00,176.98,0.991,4,0.129,0.000,2745,2700,2959,0,0,0,0,0,0
$STATE,3125,end apogee,CONTROL_FINISHED_OK
$STATE,3126,begin climb
$GC,3127,0.84,219.0,511.8,0.0,329,3325,1.00,2.38,189.15,0.942,4,0.083,0.034,3071,1303,2067,0,0,0,0,0,0
$GC,3522,0.84,221.4,473.2,13.2,352,3527,0.00,2.40,0.00,0.000,6,0.000,0.042,3071,2699,2053,0,0,0,0,0,0
$GC,3720,0.84,221.4,445.8,13.6,370,3724,0.00,2.30,0.00,0.000,4,0.000,0.035,3082,1307,2050,0,0,0,0,0,0
$GC,3897,0.84,221.4,421.7,13.7,385,3905,0.00,2.38,0.00,0.000,6,0.000,0.043,3082,2709,2048,0,0,1,0,0,0
$GC,4096,0.84,221.4,392.0,15.6,404,4099,0.00,1.73,0.00,0.000,4,0.000,0.050,3082,3768,2048,0,0,0,0,0,0
$GC,4157,0.84,221.4,381.2,18.0,409,4164,0.00,1.65,0.00,0.000,6,0.000,0.031,3091,2713,2047,0,0,0,0,0,0
$GC,4355,0.84,221.4,349.2,16.5,428,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2714,2047,0,0,0,0,0,0
$GC,4545,0.84,221.4,318.3,15.9,446,4549,0.00,1.70,0.00,0.000,4,0.000,0.050,3091,3765,2047,0,0,0,0,0,0
$GC,4639,0.84,221.4,301.4,18.8,454,4646,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2730,2046,0,0,0,0,0,0
$GC,4837,0.84,221.4,268.4,16.8,473,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2730,2046,0,0,0,0,0,0
$GC,5028,0.84,221.4,235.6,17.1,491,5032,0.00,1.70,0.00,0.000,4,0.000,0.051,3099,3759,2046,0,0,0,0,0,0
$GC,5077,0.84,221.4,226.2,19.4,495,5086,0.10,1.62,0.00,0.000,6,0.147,0.031,3074,2733,2045,0,0,0,0,0,0
$GC,5212,0.84,221.4,206.1,14.7,508,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2733,2045,0,0,0,0,0,0
$GC,5340,0.84,221.4,187.2,14.6,520,5343,0.00,1.65,0.00,0.000,4,0.000,0.051,3074,3765,2045,0,0,0,0,0,0
$GC,5374,0.84,221.4,181.7,16.3,523,5377,0.00,1.62,0.00,0.000,6,0.000,0.032,3081,2738,2045,0,0,0,0,0,0
$GC,5513,0.84,221.4,159.9,16.2,536,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2735,2045,0,0,0,0,0,0
$GC,5641,0.84,221.4,140.4,13.5,548,5644,0.00,1.65,0.00,0.000,4,0.000,0.052,3081,3768,2045,0,0,0,0,0,0
$GC,5689,0.84,221.4,133.2,13.7,552,5697,0.00,1.60,0.00,0.000,6,0.000,0.031,3088,2748,2045,0,0,0,0,0,0
$GC,5824,0.96,318.8,120.2,9.3,565,5911,0.00,1.70,82.18,0.757,4,0.000,0.049,3087,3767,1660,0,0,1,0,0,0
$GC,5951,0.96,318.8,105.2,15.6,577,5955,0.00,1.65,0.00,0.000,6,0.000,0.031,3095,2731,1656,0,0,0,0,0,0
$GC,6091,0.96,318.8,82.8,14.9,599,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2729,1652,0,0,0,0,0,0
$GC,6233,0.96,318.8,59.4,17.3,624,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2729,1651,0,0,0,0,0,0
$GC,6375,0.96,318.8,36.3,14.1,649,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2728,1650,0,0,0,0,0,0
$FREEZE,8.73,-1.902,-1.904,2,1,0
$STATE,6517,end climb,FINISH_DEPTH_REACHED
$STATE,6517,begin subsurface finish
$FINISH1,8.7,1.027826,-16
$GC,6523,-0.02,-16.0,8.7,-21.9,674,6571,0.88,0.00,-42.88,0.000,6,0.108,0.000,2798,2728,3027,0,0,0,0,0,0
$FINISH2,5.9
$STATE,6571,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6572,begin surface
$IRIDIUM_FIX,-7612.11,17113.05,051210,080809
$TT8_MAMPS,0.027713
$HUMID,50.78
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.8
$24V_AH,22.4,1.905
$10V_AH,10.0,0.796
$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,11.825,49.350,448.300,0.000,0.000,54.345,96.563,474.506,1.750,0.000,243.649,1590.344,3163.867,562.646,2118.923,239.417,0.000,1298.350,0.000,1200.596,0.000,12.899,0.000
$DEVICE_MAMPS,227.205,98.685,991.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.338,824.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43825,682
$CAP_FILE_SIZE,95759,0
$CFSIZE,260165632,246185984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3