version: 66.08
glider: 503
mission: 7
dive: 89
start: 12 5 110 19 27 28
data:
$ID,503
$MISSION,7
$DIVE,89
$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,21
$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,8.28
$_SM_ANGLEo,1.9
$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,-7.60,0.000,2,0.000,0.000,2797,2700,3372,0,0,0,0,0,0
$GC,27,-0.84,-219.0,10.3,-0.0,1,41,0.73,0.00,-10.30,0.000,6,0.081,0.000,2531,2700,3855,0,0,0,0,0,0
$GC,177,-0.84,-219.0,31.9,-18.4,27,183,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2700,3859,0,0,0,0,0,0
$GC,318,-0.84,-219.0,58.1,-15.8,52,325,0.00,1.75,0.00,0.000,4,0.000,0.051,2524,3793,3859,0,0,0,0,0,0
$GC,371,-0.84,-219.0,67.1,-17.9,61,378,0.00,1.58,0.00,0.000,6,0.000,0.030,2524,2774,3859,0,0,0,0,0,0
$GC,513,-0.84,-219.0,92.8,-18.9,86,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2774,3859,0,0,0,0,0,0
$GC,649,-0.84,-219.0,117.8,-17.6,102,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2774,3860,0,0,0,0,0,0
$GC,776,-0.84,-219.0,138.9,-16.9,114,780,0.00,2.15,0.00,0.000,4,0.000,0.033,2524,1382,3860,0,0,0,0,0,0
$GC,816,-0.84,-219.0,145.3,-15.9,117,821,0.00,2.25,0.00,0.000,6,0.000,0.046,2513,2782,3859,0,0,0,0,0,0
$GC,950,-0.84,-219.0,168.4,-17.7,129,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,1077,-0.84,-219.0,190.1,-17.0,141,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,1205,-0.84,-219.0,213.0,-18.7,153,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,1332,-0.84,-219.0,237.6,-18.8,165,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,1460,-0.84,-219.0,260.5,-17.8,177,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,1651,-0.84,-219.0,293.8,-17.6,195,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,1843,-0.84,-219.0,326.5,-16.7,213,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2781,3860,0,0,0,0,0,0
$GC,2034,-0.84,-219.0,358.3,-16.2,231,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,2224,-0.84,-219.0,390.5,-17.4,249,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2782,3860,0,0,0,0,0,0
$GC,2416,-0.84,-219.0,423.7,-17.6,267,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,2607,-0.84,-219.0,458.0,-18.5,285,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3860,0,0,0,0,0,0
$GC,2798,-0.84,-219.0,490.8,-16.7,303,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2782,3859,0,0,0,0,0,0
$STATE,2861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2861,begin apogee
$GC,2866,-0.16,0.0,501.5,16.5,309,3047,0.70,0.00,175.93,0.997,4,0.128,0.000,2745,2695,2960,0,0,0,0,0,0
$STATE,3048,end apogee,CONTROL_FINISHED_OK
$STATE,3048,begin climb
$GC,3050,0.84,219.0,511.8,0.0,314,3248,0.93,0.00,189.05,0.944,6,0.068,0.000,3069,2695,2068,0,0,0,0,0,0
$GC,3439,0.84,219.0,469.2,15.1,339,3442,0.00,1.83,0.00,0.000,4,0.000,0.048,3069,3764,2057,0,0,0,0,0,0
$GC,3556,0.84,219.0,449.0,16.9,349,3563,0.00,1.67,0.00,0.000,6,0.000,0.030,3077,2712,2055,0,0,1,0,0,0
$GC,3754,0.84,219.0,417.0,16.2,368,3757,0.00,1.75,0.00,0.000,4,0.000,0.050,3078,3764,2054,0,0,0,0,0,0
$GC,3791,0.84,219.0,409.7,19.3,371,3799,0.00,1.70,0.00,0.000,6,0.000,0.031,3085,2708,2054,0,0,1,0,0,0
$GC,3991,0.84,219.0,374.3,18.0,390,3995,0.00,1.75,0.00,0.000,4,0.000,0.051,3085,3770,2053,0,0,0,0,0,0
$GC,4040,0.84,219.0,364.2,20.4,394,4047,0.00,1.70,0.00,0.000,6,0.000,0.031,3094,2721,2053,0,0,0,0,0,0
$GC,4238,0.84,219.0,329.3,17.4,413,4242,0.00,1.75,0.00,0.000,4,0.000,0.050,3094,3765,2053,0,0,0,0,0,0
$GC,4287,0.84,219.0,319.6,19.9,417,4295,0.08,1.67,0.00,0.000,6,0.158,0.031,3077,2727,2052,0,0,0,0,0,0
$GC,4485,0.84,219.0,287.9,16.2,436,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2727,2052,0,0,0,0,0,0
$GC,4676,0.84,219.0,256.9,16.3,454,4679,0.00,1.67,0.00,0.000,4,0.000,0.051,3077,3764,2051,0,0,0,0,0,0
$GC,4714,0.84,219.0,249.5,19.9,457,4721,0.00,1.62,0.00,0.000,6,0.000,0.031,3084,2740,2051,0,0,0,0,0,0
$GC,4912,0.84,219.0,215.0,16.7,476,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2740,2051,0,0,0,0,0,0
$GC,5040,0.84,219.0,194.2,15.9,488,5043,0.00,1.65,0.00,0.000,4,0.000,0.050,3084,3767,2051,0,0,0,0,0,0
$GC,5096,0.84,219.0,184.1,18.2,493,5100,0.00,1.62,0.00,0.000,6,0.000,0.031,3092,2742,2051,0,0,0,0,0,0
$GC,5236,0.84,219.0,161.3,16.7,506,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2740,2051,0,0,0,0,0,0
$GC,5363,0.84,219.0,139.7,17.2,518,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2740,2050,0,0,0,0,0,0
$GC,5491,0.84,219.0,118.9,15.9,530,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2740,2050,0,0,0,0,0,0
$GC,5618,0.84,219.0,98.0,16.5,543,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2740,2050,0,0,0,0,0,0
$GC,5760,0.84,219.0,74.2,16.2,568,5767,0.00,1.67,0.00,0.000,4,0.000,0.052,3092,3761,2050,0,0,0,0,0,0
$GC,5830,0.84,219.0,60.9,20.2,580,5837,0.00,1.60,0.00,0.000,6,0.000,0.032,3100,2742,2050,0,0,0,0,0,0
$GC,5973,0.84,219.0,37.5,14.0,605,5981,0.12,1.62,0.00,0.000,4,0.179,0.051,3066,3765,2050,0,0,0,0,0,0
$GC,6004,0.84,219.0,32.1,17.5,610,6011,0.00,1.60,0.00,0.000,6,0.000,0.031,3075,2746,2050,0,0,0,0,0,0
$GC,6147,0.84,219.0,11.4,14.9,635,6154,0.00,1.67,0.00,0.000,4,0.000,0.052,3075,3767,2050,0,0,0,0,0,0
$FREEZE,8.56,-1.894,-1.904,2,3,0
$STATE,6165,end climb,FINISH_DEPTH_REACHED
$STATE,6166,begin subsurface finish
$FINISH1,8.6,1.027827,-16
$GC,6172,-0.02,-16.0,8.6,-14.6,638,6209,0.88,0.00,-31.10,0.000,6,0.132,0.000,2796,2692,3028,0,0,0,0,0,0
$FINISH2,5.0
$STATE,6210,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6210,begin surface
$IRIDIUM_FIX,-7621.20,17118.16,051210,151528
$TT8_MAMPS,0.027713
$HUMID,51.37
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.7
$24V_AH,22.4,2.581
$10V_AH,10.1,1.082
$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,3.425,38.100,364.975,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1560.941,3092.407,379.366,1135.137,92.245,0.000,1011.665,0.000,1070.773,0.000,15.722,0.000
$DEVICE_MAMPS,179.010,83.385,996.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.122,773.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40362,644
$CAP_FILE_SIZE,77700,0
$CFSIZE,260165632,245936128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,051210,155920,-7703.562,17104.490,13,1.9,13,133.3