version: 66.08
glider: 503
mission: 7
dive: 84
start: 12 5 110 10 25 11
data:
$ID,503
$MISSION,7
$DIVE,84
$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,43
$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
$GPS1,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.60
$_SM_ANGLEo,-0.7
$GPS2,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3
$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,56.4,33613,-18.2,-13.333
$D_GRID,618
$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,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-7.53,0.000,2,0.000,0.000,2798,2728,3291,0,0,0,0,0,0
$GC,27,-0.84,-219.0,6.2,-0.0,1,52,0.73,2.17,-15.50,0.000,4,0.073,0.049,2532,1377,3857,0,0,0,0,0,0
$GC,65,-0.84,-219.0,10.8,-16.3,7,72,0.00,2.30,0.00,0.000,6,0.000,0.046,2522,2783,3858,0,0,0,0,0,0
$GC,208,-0.84,-219.0,36.0,-21.4,32,214,0.00,2.25,0.00,0.000,4,0.000,0.036,2521,1371,3859,0,0,0,0,0,0
$GC,457,-0.84,-219.0,85.3,-21.1,76,463,0.00,2.30,0.00,0.000,6,0.000,0.045,2511,2781,3859,0,0,0,0,0,0
$GC,601,-0.84,-219.0,112.1,-18.2,96,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2781,3860,0,0,0,0,0,0
$GC,729,-0.84,-219.0,136.8,-19.4,108,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2781,3860,0,0,0,0,0,0
$GC,856,-0.84,-219.0,161.4,-20.8,120,860,0.00,2.20,0.00,0.000,4,0.000,0.034,2512,1369,3860,0,0,0,0,0,0
$GC,918,-0.84,-219.0,173.6,-18.0,125,922,0.00,2.28,0.00,0.000,6,0.000,0.046,2501,2777,3860,0,0,0,0,0,0
$GC,1052,-0.84,-219.0,200.5,-19.9,137,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2777,3860,0,0,0,0,0,0
$GC,1180,-0.84,-219.0,225.7,-20.2,149,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2777,3860,0,0,0,0,0,0
$GC,1309,-0.84,-219.0,250.7,-19.7,161,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2777,3860,0,0,0,0,0,0
$GC,1497,-0.84,-219.0,288.1,-18.3,179,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2776,3860,0,0,0,0,0,0
$GC,1689,-0.84,-219.0,324.1,-18.9,197,1693,0.00,2.20,0.00,0.000,4,0.000,0.034,2501,1361,3860,0,0,0,0,0,0
$GC,1720,-0.84,-219.0,330.2,-17.4,199,1729,0.08,2.33,0.00,0.000,6,0.142,0.047,2522,2776,3860,0,0,0,0,0,0
$GC,1919,-0.84,-219.0,361.7,-15.7,218,1923,0.00,1.58,0.00,0.000,4,0.000,0.052,2516,3760,3860,0,0,0,0,0,0
$GC,1957,-0.84,-219.0,368.5,-16.2,221,1965,0.00,1.52,0.00,0.000,6,0.000,0.031,2516,2773,3860,0,0,0,0,0,0
$GC,2155,-0.84,-219.0,399.5,-15.4,240,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2773,3860,0,0,0,0,0,0
$GC,2347,-0.84,-219.0,428.9,-15.4,258,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$GC,2538,-0.84,-219.0,459.1,-16.0,276,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2772,3859,0,0,0,0,0,0
$GC,2729,-0.84,-219.0,490.7,-16.5,294,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2773,3860,0,0,0,0,0,0
$STATE,2793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2793,begin apogee
$GC,2799,-0.16,0.0,501.9,18.2,300,2985,0.70,0.00,176.23,0.993,4,0.128,0.000,2746,2686,2959,0,0,0,0,0,0
$STATE,2986,end apogee,CONTROL_FINISHED_OK
$STATE,2986,begin climb
$GC,2988,0.84,219.0,513.8,0.0,306,3183,0.93,0.00,188.93,0.943,6,0.075,0.000,3065,2687,2068,0,0,0,0,0,0
$GC,3377,0.84,219.0,473.8,15.4,329,3381,0.00,1.85,0.00,0.000,4,0.000,0.048,3065,3770,2057,0,0,0,0,0,0
$GC,3459,0.84,219.0,459.5,17.0,336,3468,0.00,1.70,0.00,0.000,6,0.000,0.029,3073,2730,2054,0,0,1,0,0,0
$GC,3658,0.84,219.0,428.2,16.5,355,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2730,2053,0,0,0,0,0,0
$GC,3850,0.84,219.0,398.4,14.8,373,3854,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3764,2052,0,0,0,0,0,0
$GC,3899,0.84,219.0,390.0,16.6,377,3907,0.00,1.70,0.00,0.000,6,0.000,0.030,3082,2717,2051,0,0,0,0,0,0
$GC,4098,0.84,219.0,360.0,15.8,396,4101,0.00,1.70,0.00,0.000,4,0.000,0.050,3082,3764,2051,0,0,0,0,0,0
$GC,4143,0.84,219.0,352.1,18.1,400,4147,0.00,1.67,0.00,0.000,6,0.000,0.031,3090,2725,2050,0,0,0,0,0,0
$GC,4347,0.84,219.0,317.5,17.0,419,4350,0.00,1.70,0.00,0.000,4,0.000,0.050,3090,3765,2050,0,0,0,0,0,0
$GC,4380,0.84,219.0,311.1,19.5,422,4384,0.00,1.65,0.00,0.000,6,0.000,0.031,3099,2708,2050,0,0,0,0,0,0
$GC,4583,0.84,219.0,274.6,17.7,441,4587,0.00,1.75,0.00,0.000,4,0.000,0.052,3099,3759,2050,0,0,0,0,0,0
$GC,4610,0.84,219.0,269.4,19.3,443,4618,0.10,1.65,0.00,0.000,6,0.151,0.031,3074,2729,2050,0,0,0,0,0,0
$GC,4808,0.84,219.0,238.6,15.5,462,4812,0.00,1.67,0.00,0.000,4,0.000,0.051,3074,3770,2050,0,0,0,0,0,0
$GC,4846,0.84,219.0,232.0,17.5,465,4854,0.00,1.62,0.00,0.000,6,0.000,0.030,3081,2745,2049,0,0,0,0,0,0
$GC,4981,0.84,219.0,211.4,15.1,478,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2745,2049,0,0,0,0,0,0
$GC,5108,0.84,219.0,192.6,15.0,490,5111,0.00,1.62,0.00,0.000,4,0.000,0.051,3081,3764,2049,0,0,0,0,0,0
$GC,5145,0.84,219.0,186.1,17.5,493,5153,0.00,1.58,0.00,0.000,6,0.000,0.031,3089,2770,2049,0,0,0,0,0,0
$GC,5280,0.84,219.0,166.2,14.8,506,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2770,2049,0,0,0,0,0,0
$GC,5408,0.84,219.0,146.6,15.9,518,5411,0.00,1.62,0.00,0.000,4,0.000,0.051,3089,3787,2049,0,0,0,0,0,0
$GC,5445,0.84,219.0,139.1,19.1,521,5453,0.00,1.60,0.00,0.000,6,0.000,0.031,3097,2771,2049,0,0,0,0,0,0
$GC,5580,0.84,219.0,116.3,16.6,534,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2771,2049,0,0,0,0,0,0
$GC,5708,0.84,219.0,95.2,19.5,548,5715,0.00,1.62,0.00,0.000,4,0.000,0.051,3097,3764,2048,0,0,0,0,0,0
$GC,5744,0.84,219.0,88.0,21.0,554,5751,0.10,1.55,0.00,0.000,6,0.154,0.032,3072,2781,2049,0,0,0,0,0,0
$GC,5888,0.84,219.0,66.4,15.0,579,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2781,2048,0,0,0,0,0,0
$GC,6030,0.84,219.0,44.3,14.7,604,6036,0.00,1.60,0.00,0.000,4,0.000,0.051,3072,3763,2048,0,0,0,0,0,0
$GC,6082,0.84,219.0,35.9,14.9,613,6089,0.00,1.52,0.00,0.000,6,0.000,0.031,3079,2792,2048,0,0,0,0,0,0
$GC,6225,0.84,219.0,16.3,13.4,638,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2792,2048,0,0,0,0,0,0
$FREEZE,8.76,-1.908,-1.904,2,2,0
$STATE,6270,end climb,FINISH_DEPTH_REACHED
$STATE,6271,begin subsurface finish
$FINISH1,8.8,1.027830,-16
$GC,6276,-0.02,-16.2,8.8,-16.2,646,6312,0.85,0.00,-28.33,0.000,6,0.133,0.000,2800,2697,3027,0,0,0,0,0,0
$FINISH2,7.4
$STATE,6313,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6313,begin surface
$IRIDIUM_FIX,-7612.11,17113.05,051210,080809
$TT8_MAMPS,0.026964
$HUMID,51.65
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.9
$24V_AH,22.4,2.004
$10V_AH,10.1,0.842
$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,3.475,54.400,365.150,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1586.851,3107.486,401.173,1167.623,101.238,0.000,1061.630,0.000,1105.254,0.000,12.905,0.000
$DEVICE_MAMPS,153.765,102.510,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.379,779.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40430,652
$CAP_FILE_SIZE,81892,0
$CFSIZE,260165632,246157312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,051210,081809,-7612.108,17113.053,0,10000.0,0,133.3