version: 66.08
glider: 503
mission: 7
dive: 64
start: 12 3 110 15 52 35
data:
$ID,503
$MISSION,7
$DIVE,64
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$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,4
$SURFACE_URGENCY_TRY,3
$SURFACE_URGENCY_FORCE,6
$T_DIVE,200
$T_MISSION,300
$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,0.02
$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,10
$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,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17689.391
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,150
$AH0_10V,100
$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
$GPS1,031210,100027,-7702.673,17053.551,39,3.0,58,133.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.22
$_SM_ANGLEo,1.7
$GPS2,031210,100027,-7702.673,17053.551,39,3.0,58,133.5
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,POLYNYA
$TGT_LATLONG,-7700.000,17100.000
$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,255.0,5633,-18.2,-13.333
$D_GRID,773
$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
$STATE,13,begin dive
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$GC,30,-0.84,-219.0,19.9,-0.0,1,47,0.80,4.25,-2.55,0.000,4,0.112,0.041,2536,1186,3857,0,0,0,0,0,0
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$GC,329,-0.72,-219.0,69.9,-16.8,48,339,0.08,1.88,0.00,0.000,6,0.149,0.031,2559,2586,3860,0,0,0,0,0,0
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$GC,626,-0.70,-219.0,115.9,-14.6,88,630,0.00,1.90,0.00,0.000,4,0.000,0.051,2551,3765,3860,0,0,0,0,0,0
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$GC,1127,-0.75,-219.0,178.4,-12.7,133,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2598,3862,0,0,0,0,0,0
$GC,1264,-0.75,-219.0,196.5,-13.5,146,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2597,3863,0,0,0,0,0,0
$GC,1391,-0.75,-219.0,212.9,-12.9,158,1395,0.00,1.88,0.00,0.000,4,0.000,0.053,2576,3763,3863,0,0,0,0,0,0
$GC,1467,-0.77,-219.0,222.8,-12.5,164,1471,0.00,1.83,0.00,0.000,6,0.000,0.031,2576,2601,3864,0,0,0,0,0,0
$GC,1610,-0.77,-219.0,240.2,-12.4,177,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2600,3864,0,0,0,0,0,0
$GC,1744,-0.80,-219.0,256.9,-11.6,190,1748,0.10,1.85,0.00,0.000,4,0.114,0.054,2526,3765,3865,0,0,1,0,0,0
$GC,1782,-0.73,-219.0,262.8,-16.9,193,1789,0.10,1.83,0.00,0.000,6,0.142,0.031,2558,2599,3865,0,0,0,0,0,0
$GC,1979,-0.73,-219.0,290.0,-13.8,212,1983,0.00,1.88,0.00,0.000,4,0.000,0.053,2550,3771,3865,0,0,1,0,0,0
$GC,2030,-0.73,-219.0,297.5,-15.0,216,2037,0.00,1.80,0.00,0.000,6,0.000,0.031,2550,2597,3864,0,0,0,0,0,0
$GC,2227,-0.73,-219.0,327.0,-14.9,235,2231,0.00,1.90,0.00,0.000,4,0.000,0.054,2550,3755,3865,0,0,0,0,0,0
$GC,2275,-0.73,-219.0,334.7,-14.7,239,2283,0.00,1.80,0.00,0.000,6,0.000,0.030,2550,2604,3864,0,0,0,0,0,0
$GC,2474,-0.73,-219.0,363.3,-14.3,258,2477,0.00,1.85,0.00,0.000,4,0.000,0.052,2550,3766,3864,0,0,0,0,0,0
$GC,2530,-0.73,-219.0,371.8,-14.4,263,2534,0.00,1.77,0.00,0.000,6,0.000,0.031,2550,2595,3864,0,0,0,0,0,0
$GC,2734,-0.73,-219.0,401.1,-14.7,282,2738,0.00,1.88,0.00,0.000,4,0.000,0.053,2550,3770,3864,0,0,0,0,0,0
$GC,2791,-0.73,-219.0,409.4,-14.2,287,2794,0.00,1.80,0.00,0.000,6,0.000,0.031,2550,2596,3864,0,0,0,0,0,0
$GC,2993,-0.73,-219.0,438.1,-14.0,306,2997,0.00,1.88,0.00,0.000,4,0.000,0.053,2550,3773,3864,0,0,0,0,0,0
$GC,3053,-0.73,-219.0,446.9,-14.6,311,3060,0.00,1.80,0.00,0.000,6,0.000,0.030,2550,2607,3864,0,0,0,0,0,0
$GC,3252,-0.73,-219.0,473.8,-13.5,330,3256,0.00,1.85,0.00,0.000,4,0.000,0.053,2550,3770,3864,0,0,0,0,0,0
$GC,3313,-0.73,-219.0,482.6,-13.1,335,3320,0.00,1.83,0.00,0.000,6,0.000,0.030,2550,2593,3864,0,0,0,0,0,0
$GC,3519,-0.73,-219.0,509.2,-13.0,351,3523,0.00,1.88,0.00,0.000,4,0.000,0.053,2547,3770,3864,0,0,0,0,0,0
$GC,3574,-0.73,-219.0,516.6,-13.1,352,3579,0.00,1.80,0.00,0.000,6,0.000,0.030,2547,2611,3865,0,0,0,0,0,0
$GC,3770,-0.73,-219.0,542.0,-13.1,359,3774,0.00,1.83,0.00,0.000,4,0.000,0.053,2547,3764,3864,0,0,0,0,0,0
$GC,3814,-0.73,-219.0,548.3,-13.2,360,3818,0.00,1.80,0.00,0.000,6,0.000,0.031,2546,2601,3864,0,0,0,0,0,0
$GC,4020,-0.73,-219.0,575.9,-13.5,367,4024,0.00,1.85,0.00,0.000,4,0.000,0.052,2547,3767,3864,0,0,0,0,0,0
$GC,4081,-0.73,-219.0,584.6,-13.7,368,4089,0.00,1.80,0.00,0.000,6,0.000,0.030,2547,2605,3864,0,0,0,0,0,0
$GC,4271,-0.73,-219.0,610.7,-13.8,375,4275,0.00,1.85,0.00,0.000,4,0.000,0.052,2547,3772,3864,0,0,0,0,0,0
$GC,4326,-0.73,-219.0,618.8,-14.3,376,4331,0.00,1.83,0.00,0.000,6,0.000,0.029,2547,2593,3864,0,0,0,0,0,0
$GC,4523,-0.73,-219.0,646.1,-14.0,383,4526,0.00,1.85,0.00,0.000,4,0.000,0.053,2547,3765,3864,0,0,0,0,0,0
$STATE,4550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4550,begin apogee
$GC,4557,-0.16,0.0,650.2,14.5,383,4743,0.57,0.00,180.77,1.079,6,0.127,0.000,2740,2643,2960,0,0,0,0,0,0
$STATE,4744,end apogee,CONTROL_FINISHED_OK
$STATE,4744,begin climb
$GC,4745,0.84,219.0,661.5,0.0,389,4942,1.00,0.00,193.23,1.028,6,0.079,0.000,3068,2642,2067,0,0,0,0,0,0
$GC,5108,0.72,219.0,621.2,15.4,401,5112,0.12,1.95,0.00,0.000,4,0.168,0.050,3037,3762,2056,0,0,0,0,0,0
$GC,5180,0.62,219.0,609.8,15.5,403,5184,0.10,1.85,0.00,0.000,6,0.140,0.031,2999,2666,2053,0,0,0,0,0,0
$GC,5392,0.71,291.1,587.1,10.4,410,5463,0.00,2.00,63.62,0.994,4,0.000,0.052,2998,3767,1773,0,0,1,0,0,0
$GC,5490,0.77,323.4,576.1,12.0,413,5526,0.10,1.92,30.62,0.963,6,0.061,0.031,3061,2649,1641,0,0,0,0,0,0
$GC,5734,0.72,323.4,536.9,16.6,421,5738,0.00,1.92,0.00,0.000,4,0.000,0.048,3062,3754,1636,0,0,0,0,0,0
$GC,5761,0.65,323.4,531.6,17.7,421,5769,0.17,1.85,0.00,0.000,6,0.128,0.031,3014,2655,1635,0,0,0,0,0,0
$GC,5952,0.73,351.8,507.7,12.2,428,5985,0.00,2.42,24.88,0.950,4,0.000,0.037,3024,1236,1524,0,0,0,0,0,0
$GC,6002,0.85,394.8,501.5,11.6,429,6052,0.15,2.42,38.97,0.936,6,0.085,0.044,3091,2650,1350,0,0,0,0,0,0
$GC,6243,0.76,394.8,452.9,21.4,451,6247,0.15,1.88,0.00,0.000,4,0.151,0.049,3049,3766,1349,0,0,0,0,0,0
$GC,6280,0.76,394.8,444.9,19.0,454,6288,0.00,1.85,0.00,0.000,6,0.000,0.031,3057,2650,1348,0,0,0,0,0,0
$GC,6478,0.76,394.8,413.3,16.3,473,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2650,1347,0,0,0,0,0,0
$GC,6670,0.76,394.8,382.8,16.2,491,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2649,1347,0,0,0,0,0,0
$GC,6862,0.76,394.8,351.5,16.6,509,6866,0.00,1.83,0.00,0.000,4,0.000,0.050,3057,3766,1346,0,0,1,0,0,0
$GC,6898,0.76,394.8,345.3,18.2,512,6901,0.00,1.77,0.00,0.000,6,0.000,0.031,3064,2641,1346,0,0,0,0,0,0
$GC,7101,0.76,394.8,311.1,15.9,531,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2638,1345,0,0,0,0,0,0
$GC,7291,0.76,394.8,278.8,17.0,549,7295,0.00,1.83,0.00,0.000,4,0.000,0.050,3064,3766,1345,0,0,0,0,0,0
$GC,7314,0.76,394.8,274.6,18.2,551,7318,0.00,1.75,0.00,0.000,6,0.000,0.031,3070,2647,1345,0,0,0,0,0,0
$GC,7520,0.76,394.8,237.8,18.2,570,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2646,1345,0,0,0,0,0,0
$GC,7647,0.74,394.8,213.9,19.2,582,7657,0.12,0.00,0.00,0.000,6,0.165,0.000,3034,2646,1344,0,0,0,0,0,0
$GC,7785,0.80,394.8,193.1,14.4,595,7789,0.00,1.80,0.00,0.000,4,0.000,0.050,3034,3766,1344,0,0,0,0,0,0
$GC,7826,0.83,394.8,185.9,16.5,598,7836,0.00,1.77,0.00,0.000,6,0.000,0.031,3041,2652,1344,0,0,0,0,0,0
$GC,7964,0.87,394.8,166.4,14.8,611,7973,0.12,0.00,0.00,0.000,6,0.090,0.000,3105,2652,1344,0,0,0,0,0,0
$GC,8101,0.77,394.8,138.0,23.0,624,8110,0.20,0.00,0.00,0.000,6,0.147,0.000,3045,2652,1344,0,0,0,0,0,0
$GC,8238,0.81,394.8,116.2,14.7,637,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2652,1344,0,0,0,0,0,0
$GC,8377,0.85,394.8,95.0,15.6,652,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2652,1344,0,0,0,0,0,0
$GC,8535,0.90,397.8,73.0,13.2,677,8542,0.12,0.00,0.00,0.000,6,0.090,0.000,3107,2653,1344,0,0,0,0,0,0
$GC,8688,0.81,397.8,42.6,23.5,702,8698,0.15,1.83,0.00,0.000,4,0.153,0.050,3063,3756,1344,0,0,0,0,0,0
$GC,8761,0.78,397.8,29.2,18.6,713,8768,0.00,1.75,0.00,0.000,6,0.000,0.031,3071,2643,1344,0,0,0,0,0,0
$FREEZE,8.12,-1.907,-1.904,2,3,0
$STATE,8879,end climb,FINISH_DEPTH_REACHED
$STATE,8879,begin subsurface finish
$FINISH1,8.1,1.027834,-16
$GC,8884,-0.02,-16.4,8.1,-17.0,732,8944,0.80,1.85,-53.08,0.000,4,0.116,0.072,2798,3766,3030,0,0,1,0,0,0
$FINISH2,6.1
$STATE,8944,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8944,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,101013
$TT8_MAMPS,0.027713
$HUMID,50.55
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,650.2,6.7
$24V_AH,22.3,45.810
$10V_AH,10.0,62.928
$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,5.100,101.650,532.100,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,1869.631,4210.940,617.837,2156.907,140.672,0.000,1482.736,0.000,1348.946,0.000,26.171,0.000
$DEVICE_MAMPS,168.300,71.910,1078.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.783,899.809,1131.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258928
$DATA_FILE_SIZE,47104,740
$CAP_FILE_SIZE,129965,0
$CFSIZE,260165632,247205888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,031210,100027,-7702.673,17053.551,39,3.0,58,133.5