version: 66.08
glider: 503
mission: 7
dive: 87
start: 12 5 110 15 59 46
data:
$ID,503
$MISSION,7
$DIVE,87
$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,1
$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,-18861.326
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,051210,154237,-7703.725,17104.691,49,2.0,49,133.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-55.3
$GPS2,051210,155920,-7703.562,17104.490,13,1.9,13,133.3
$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,224.9,62187,-18.2,-13.333
$D_GRID,774
$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,-219.0,0.0,0.0,0,169,0.00,0.00,-150.10,0.000,2,0.000,0.000,157,2787,3511,0,0,0,0,0,0
$GC,172,-0.84,-219.0,3.8,-9.2,26,197,9.10,2.30,-7.20,0.000,4,0.222,0.045,2521,1379,3856,0,0,0,0,0,0
$GC,450,-0.84,-219.0,67.6,-22.7,75,457,0.00,2.30,0.00,0.000,6,0.000,0.044,2510,2778,3858,0,0,0,0,0,0
$GC,593,-0.84,-219.0,100.1,-24.2,100,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3859,0,0,0,0,0,0
$GC,721,-0.84,-219.0,128.8,-24.1,112,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3857,0,0,0,0,0,0
$GC,848,-0.84,-219.0,157.2,-22.2,124,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3858,0,0,0,0,0,0
$GC,975,-0.84,-219.0,183.9,-20.1,136,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3859,0,0,0,0,0,0
$GC,1103,-0.84,-219.0,208.4,-19.3,148,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3859,0,0,0,0,0,0
$GC,1230,-0.84,-219.0,233.1,-19.0,160,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2778,3859,0,0,0,0,0,0
$GC,1358,-0.84,-219.0,256.9,-18.9,172,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3859,0,0,0,0,0,0
$GC,1551,-0.84,-219.0,291.8,-18.2,190,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2778,3859,0,0,0,0,0,0
$GC,1740,-0.84,-219.0,327.0,-18.4,208,1744,0.00,2.20,0.00,0.000,4,0.000,0.033,2510,1365,3858,0,0,0,0,0,0
$GC,1772,-0.84,-219.0,333.0,-18.3,210,1779,0.00,2.33,0.00,0.000,6,0.000,0.046,2499,2777,3859,0,0,0,0,0,0
$GC,1970,-0.84,-219.0,369.5,-18.3,229,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2777,3859,0,0,0,0,0,0
$GC,2161,-0.84,-219.0,404.3,-18.4,247,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2777,3858,0,0,0,0,0,0
$GC,2353,-0.84,-219.0,438.2,-17.5,265,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2777,3858,0,0,0,0,0,0
$GC,2545,-0.84,-219.0,471.1,-16.9,283,2549,0.10,1.58,0.00,0.000,4,0.196,0.053,2518,3773,3858,0,0,0,0,0,0
$GC,2582,-0.84,-219.0,477.9,-16.9,286,2590,0.00,1.52,0.00,0.000,6,0.000,0.031,2518,2783,3859,0,0,0,0,0,0
$STATE,2726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2726,begin apogee
$GC,2732,-0.16,0.0,500.2,15.3,300,2919,0.68,0.00,176.77,0.990,4,0.128,0.000,2742,2686,2958,0,0,0,0,0,0
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin climb
$GC,2922,0.84,219.0,506.9,0.0,306,3122,1.00,2.35,189.05,0.939,4,0.080,0.034,3071,1307,2066,0,0,0,0,0,0
$GC,3280,0.84,219.0,466.9,14.7,329,3284,0.00,2.40,0.00,0.000,6,0.000,0.042,3071,2708,2055,0,0,1,0,0,0
$GC,3477,0.84,219.0,435.4,15.7,347,3481,0.00,2.35,0.00,0.000,4,0.000,0.034,3081,1307,2050,0,0,0,0,0,0
$GC,3660,0.84,219.0,407.3,15.4,363,3668,0.00,2.38,0.00,0.000,6,0.000,0.042,3081,2705,2049,0,0,1,0,0,0
$GC,3859,0.84,219.0,374.5,16.4,382,3862,0.00,1.73,0.00,0.000,4,0.000,0.050,3081,3766,2048,0,0,0,0,0,0
$GC,3919,0.84,219.0,363.0,19.2,387,3927,0.00,1.67,0.00,0.000,6,0.000,0.030,3089,2723,2047,0,0,0,0,0,0
$GC,4117,0.84,219.0,329.6,16.6,406,4121,0.00,1.70,0.00,0.000,4,0.000,0.050,3089,3767,2047,0,0,0,0,0,0
$GC,4163,0.84,219.0,321.5,18.8,410,4167,0.00,1.67,0.00,0.000,6,0.000,0.031,3098,2724,2047,0,0,0,0,0,0
$GC,4366,0.84,219.0,285.7,17.8,429,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2723,2046,0,0,0,0,0,0
$GC,4558,0.84,219.0,251.2,17.8,447,4561,0.00,1.67,0.00,0.000,4,0.000,0.050,3098,3764,2046,0,0,0,0,0,0
$GC,4618,0.84,219.0,238.4,21.1,452,4626,0.10,1.65,0.00,0.000,6,0.155,0.031,3075,2726,2046,0,0,0,0,0,0
$GC,4753,0.85,225.7,217.3,13.1,465,4757,0.00,1.70,0.00,0.000,4,0.000,0.050,3074,3754,2046,0,0,0,0,0,0
$GC,4810,0.85,225.7,208.1,16.1,470,4813,0.00,1.60,0.00,0.000,6,0.000,0.031,3081,2746,2046,0,0,0,0,0,0
$GC,4949,0.94,303.3,191.4,10.2,483,5027,0.00,1.73,69.88,0.802,4,0.000,0.051,3081,3767,1722,0,0,1,0,0,0
$GC,5065,0.94,303.3,173.6,18.2,493,5073,0.00,1.62,0.00,0.000,6,0.000,0.031,3088,2759,1719,0,0,1,0,0,0
$GC,5200,0.94,303.3,151.0,16.7,506,5204,0.00,1.65,0.00,0.000,4,0.000,0.050,3089,3765,1716,0,0,0,0,0,0
$GC,5226,0.94,303.3,147.1,13.9,508,5234,0.00,1.60,0.00,0.000,6,0.000,0.031,3096,2780,1715,0,0,0,0,0,0
$GC,5362,1.08,418.5,133.4,8.6,521,5463,0.15,0.00,95.18,0.741,6,0.077,0.000,3175,2779,1251,0,0,0,0,0,0
$GC,5593,1.08,418.5,82.8,20.1,549,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2779,1247,0,0,0,0,0,0
$GC,5734,1.08,418.5,49.0,29.0,574,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2779,1245,0,0,0,0,0,0
$GC,5876,1.08,418.5,11.8,27.8,599,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2779,1243,0,0,0,0,0,0
$FREEZE,8.55,-1.906,-1.905,2,1,0
$STATE,5887,end climb,FINISH_DEPTH_REACHED
$STATE,5888,begin subsurface finish
$FINISH1,8.5,1.027840,-17
$GC,5894,-0.02,-16.7,8.5,-28.7,601,5966,1.17,1.83,-65.57,0.000,4,0.125,0.070,2798,3768,3031,0,0,1,0,0,0
$FINISH2,3.9
$STATE,5967,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5967,begin surface
$IRIDIUM_FIX,-7621.20,17118.16,051210,151528
$TT8_MAMPS,0.026964
$HUMID,50.35
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.9
$24V_AH,22.4,2.383
$10V_AH,10.0,0.991
$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,12.300,43.725,530.875,0.000,0.000,56.474,81.182,588.483,1.750,0.000,15.955,1390.557,2819.807,644.591,1876.255,247.299,0.000,1331.018,0.000,1078.178,0.000,12.901,0.000
$DEVICE_MAMPS,221.850,84.150,989.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.484,728.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258364
$DATA_FILE_SIZE,40392,613
$CAP_FILE_SIZE,92981,0
$CFSIZE,260165632,246009856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,051210,155920,-7703.562,17104.490,13,1.9,13,133.3