version: 66.08
glider: 503
mission: 7
dive: 88
start: 12 5 110 17 40 46
data:
$ID,503
$MISSION,7
$DIVE,88
$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,49
$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
$GPS1,051210,155920,-7703.562,17104.490,13,1.9,13,133.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.36
$_SM_ANGLEo,3.2
$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,-219.0,0.0,0.0,0,25,0.00,0.00,-7.32,0.000,2,0.000,0.000,2799,3769,3331,0,0,0,0,0,0
$GC,27,-0.84,-219.0,8.2,-0.0,1,47,0.75,3.90,-12.05,0.000,4,0.080,0.040,2531,1367,3854,0,0,0,0,0,0
$GC,126,-0.84,-219.0,22.8,-13.4,18,133,0.00,2.35,0.00,0.000,6,0.000,0.046,2521,2783,3857,0,0,0,0,0,0
$GC,270,-0.84,-219.0,47.4,-17.5,43,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2783,3857,0,0,0,0,0,0
$GC,411,-0.84,-219.0,70.8,-15.7,68,418,0.00,2.25,0.00,0.000,4,0.000,0.031,2521,1365,3857,0,0,0,0,0,0
$GC,453,-0.84,-219.0,77.1,-14.7,75,460,0.00,2.33,0.00,0.000,6,0.000,0.046,2510,2777,3857,0,0,0,0,0,0
$GC,601,-0.84,-219.0,102.1,-17.7,100,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2777,3857,0,0,0,0,0,0
$GC,728,-0.84,-219.0,125.9,-16.6,112,732,0.00,2.20,0.00,0.000,4,0.000,0.033,2510,1376,3858,0,0,0,0,0,0
$GC,779,-0.84,-219.0,134.1,-15.7,116,783,0.00,2.28,0.00,0.000,6,0.000,0.045,2500,2775,3858,0,0,0,0,0,0
$GC,912,-0.84,-219.0,159.0,-20.0,128,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2775,3858,0,0,0,0,0,0
$GC,1040,-0.84,-219.0,183.9,-19.3,140,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2775,3858,0,0,0,0,0,0
$GC,1167,-0.84,-219.0,209.0,-19.8,152,1171,0.00,2.20,0.00,0.000,4,0.000,0.034,2500,1368,3857,0,0,0,0,0,0
$GC,1211,-0.84,-219.0,217.2,-16.6,155,1219,0.08,2.30,0.00,0.000,6,0.142,0.047,2523,2759,3857,0,0,0,0,0,0
$GC,1346,-0.84,-219.0,238.8,-17.6,168,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2759,3858,0,0,0,0,0,0
$GC,1473,-0.84,-219.0,260.9,-16.7,180,1476,0.00,1.62,0.00,0.000,4,0.000,0.054,2516,3791,3858,0,0,0,0,0,0
$GC,1529,-0.84,-219.0,270.8,-18.0,185,1533,0.00,1.60,0.00,0.000,6,0.000,0.031,2516,2758,3857,0,0,0,0,0,0
$GC,1732,-0.84,-219.0,305.0,-16.8,204,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2758,3858,0,0,0,0,0,0
$GC,1923,-0.84,-219.0,335.6,-15.6,222,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2758,3858,0,0,0,0,0,0
$GC,2115,-0.84,-219.0,365.5,-15.9,240,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2758,3858,0,0,0,0,0,0
$GC,2306,-0.84,-219.0,395.7,-15.4,258,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2758,3858,0,0,0,0,0,0
$GC,2496,-0.84,-219.0,424.9,-15.1,276,2500,0.00,1.62,0.00,0.000,4,0.000,0.053,2507,3785,3857,0,0,0,0,0,0
$GC,2553,-0.84,-219.0,433.9,-15.9,281,2557,0.00,1.58,0.00,0.000,6,0.000,0.032,2508,2771,3857,0,0,0,0,0,0
$GC,2756,-0.84,-219.0,466.8,-16.2,300,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2771,3857,0,0,0,0,0,0
$GC,2949,-0.84,-219.0,496.4,-15.4,318,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2771,3857,0,0,0,0,0,0
$STATE,2978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2979,begin apogee
$GC,2984,-0.16,0.0,501.2,15.0,321,3171,0.73,0.00,176.48,0.995,4,0.129,0.000,2745,2689,2958,0,0,0,0,0,0
$STATE,3171,end apogee,CONTROL_FINISHED_OK
$STATE,3172,begin climb
$GC,3173,0.84,219.0,507.3,0.0,327,3368,0.93,0.00,188.75,0.943,6,0.073,0.000,3064,2689,2067,0,0,0,0,0,0
$GC,3561,0.84,219.0,456.6,16.4,355,3564,0.00,1.85,0.00,0.000,4,0.000,0.049,3063,3769,2056,0,0,0,0,0,0
$GC,3616,0.84,219.0,446.1,18.8,360,3620,0.00,1.67,0.00,0.000,6,0.000,0.030,3071,2720,2054,0,0,1,0,0,0
$GC,3819,0.84,219.0,410.5,16.4,379,3823,0.00,1.75,0.00,0.000,4,0.000,0.050,3072,3768,2052,0,0,0,0,0,0
$GC,3876,0.84,219.0,400.5,18.4,384,3880,0.00,1.65,0.00,0.000,6,0.000,0.031,3080,2716,2051,0,0,1,0,0,0
$GC,4079,0.84,219.0,366.6,16.7,403,4082,0.00,1.75,0.00,0.000,4,0.000,0.050,3080,3772,2050,0,0,0,0,0,0
$GC,4128,0.84,219.0,357.1,19.2,407,4135,0.00,1.70,0.00,0.000,6,0.000,0.030,3087,2721,2050,0,0,0,0,0,0
$GC,4327,0.84,219.0,322.6,18.0,426,4331,0.00,1.70,0.00,0.000,4,0.000,0.050,3088,3767,2049,0,0,0,0,0,0
$GC,4365,0.84,219.0,314.6,21.0,429,4372,0.00,1.65,0.00,0.000,6,0.000,0.031,3096,2736,2049,0,0,0,0,0,0
$GC,4563,0.84,219.0,279.1,17.8,448,4567,0.00,1.67,0.00,0.000,4,0.000,0.051,3096,3768,2049,0,0,0,0,0,0
$GC,4600,0.84,219.0,271.6,19.8,451,4609,0.10,1.62,0.00,0.000,6,0.150,0.031,3071,2742,2048,0,0,1,0,0,0
$GC,4799,0.84,219.0,240.3,15.1,470,4803,0.00,1.65,0.00,0.000,4,0.000,0.051,3071,3766,2048,0,0,0,0,0,0
$GC,4833,0.84,219.0,234.6,16.4,473,4837,0.00,1.62,0.00,0.000,6,0.000,0.031,3079,2745,2048,0,0,0,0,0,0
$GC,4972,0.84,219.0,212.8,15.5,486,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2745,2048,0,0,0,0,0,0
$GC,5100,0.84,219.0,192.8,15.6,498,5103,0.00,1.65,0.00,0.000,4,0.000,0.050,3079,3770,2048,0,0,0,0,0,0
$GC,5171,0.84,219.0,180.1,17.8,504,5179,0.00,1.60,0.00,0.000,6,0.000,0.030,3086,2755,2048,0,0,0,0,0,0
$GC,5306,0.84,219.0,159.3,15.4,517,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2755,2048,0,0,0,0,0,0
$GC,5434,0.84,219.0,139.4,15.6,529,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2755,2047,0,0,0,0,0,0
$GC,5561,0.84,219.0,120.0,15.1,541,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2755,2047,0,0,0,0,0,0
$GC,5688,0.84,219.0,100.2,15.3,553,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2755,2048,0,0,0,0,0,0
$GC,5823,0.84,219.0,79.4,14.5,576,5829,0.00,1.65,0.00,0.000,4,0.000,0.052,3086,3761,2047,0,0,0,0,0,0
$GC,5881,0.84,219.0,69.5,18.5,586,5887,0.00,1.58,0.00,0.000,6,0.000,0.031,3094,2759,2047,0,0,0,0,0,0
$GC,6024,0.84,219.0,47.4,15.6,611,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2758,2047,0,0,0,0,0,0
$GC,6166,0.84,219.0,25.4,17.8,636,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2758,2047,0,0,0,0,0,0
$FREEZE,8.50,-1.903,-1.904,2,2,0
$STATE,6274,end climb,FINISH_DEPTH_REACHED
$STATE,6274,begin subsurface finish
$FINISH1,8.5,1.027830,-16
$GC,6280,-0.02,-16.2,8.5,-13.9,655,6312,0.90,0.00,-28.23,0.000,6,0.129,0.000,2798,2700,3027,0,0,0,0,0,0
$FINISH2,6.9
$STATE,6312,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6313,begin surface
$IRIDIUM_FIX,-7621.20,17118.16,051210,151528
$TT8_MAMPS,0.027713
$HUMID,51.06
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.8
$24V_AH,22.4,2.482
$10V_AH,10.1,1.037
$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,3.475,53.125,365.225,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1613.351,3095.854,379.752,1179.008,96.668,0.000,1041.261,0.000,1116.281,0.000,12.908,0.000
$DEVICE_MAMPS,149.940,138.465,994.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.317,793.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43662,660
$CAP_FILE_SIZE,82614,0
$CFSIZE,260165632,245968896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,051210,155920,-7703.562,17104.490,13,1.9,13,133.3