version: 66.08
glider: 503
mission: 7
dive: 65
start: 12 3 110 18 23 15
data:
$ID,503
$MISSION,7
$DIVE,65
$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,47
$R_STBD_OVSHOOT,23
$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,10.23
$_SM_ANGLEo,4.2
$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
$GC,15,-0.84,-219.0,0.0,0.0,0,27,0.00,0.00,-10.02,0.000,2,0.000,0.000,2798,3766,3547,0,0,0,0,0,0
$GC,30,-0.84,-219.0,13.3,-0.0,1,46,0.73,4.10,-5.70,0.000,4,0.085,0.040,2534,1192,3854,0,0,0,0,0,0
$GC,115,-0.84,-219.0,24.8,-14.2,14,124,0.00,2.33,0.00,0.000,6,0.000,0.046,2523,2605,3856,0,0,0,0,0,0
$GC,273,-0.76,-219.0,50.1,-15.2,39,280,0.12,1.88,0.00,0.000,4,0.177,0.053,2549,3770,3856,0,0,0,0,0,0
$GC,380,-0.73,-219.0,67.4,-14.7,56,389,0.00,1.83,0.00,0.000,6,0.000,0.030,2549,2596,3856,0,0,0,0,0,0
$GC,538,-0.69,-219.0,90.6,-14.5,81,545,0.00,1.90,0.00,0.000,4,0.000,0.054,2547,3754,3856,0,0,0,0,0,0
$GC,591,-0.66,-219.0,98.7,-15.8,89,598,0.15,1.77,0.00,0.000,6,0.156,0.031,2590,2593,3856,0,0,0,0,0,0
$GC,728,-0.70,-219.0,116.9,-13.1,102,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2592,3856,0,0,0,0,0,0
$GC,865,-0.75,-219.0,133.1,-11.6,115,869,0.00,1.88,0.00,0.000,4,0.000,0.053,2581,3768,3856,0,0,0,0,0,0
$GC,953,-0.79,-219.0,143.9,-12.1,122,957,0.12,1.77,0.00,0.000,6,0.100,0.030,2529,2599,3856,0,0,0,0,0,0
$GC,1096,-0.73,-219.0,166.4,-17.0,135,1105,0.12,0.00,0.00,0.000,6,0.171,0.000,2563,2599,3856,0,0,0,0,0,0
$GC,1231,-0.73,-219.0,185.9,-13.5,148,1235,0.00,1.85,0.00,0.000,4,0.000,0.052,2562,3765,3857,0,0,0,0,0,0
$GC,1318,-0.73,-219.0,198.5,-14.3,155,1322,0.00,1.77,0.00,0.000,6,0.000,0.030,2563,2590,3856,0,0,0,0,0,0
$GC,1461,-0.73,-219.0,219.9,-15.2,168,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2590,3857,0,0,0,0,0,0
$GC,1597,-0.73,-219.0,239.6,-13.7,181,1601,0.00,1.88,0.00,0.000,4,0.000,0.053,2563,3769,3856,0,0,0,0,0,0
$GC,1686,-0.73,-219.0,252.5,-14.1,188,1694,0.00,1.80,0.00,0.000,6,0.000,0.029,2563,2601,3857,0,0,0,0,0,0
$GC,1885,-0.73,-219.0,278.6,-13.0,207,1889,0.00,1.85,0.00,0.000,4,0.000,0.053,2563,3766,3856,0,0,1,0,0,0
$GC,1963,-0.73,-219.0,289.5,-13.7,214,1966,0.00,1.77,0.00,0.000,6,0.000,0.030,2563,2591,3856,0,0,0,0,0,0
$GC,2168,-0.73,-219.0,315.0,-12.1,233,2172,0.00,1.88,0.00,0.000,4,0.000,0.054,2563,3770,3856,0,0,0,0,0,0
$GC,2248,-0.75,-219.0,325.2,-12.6,240,2251,0.00,1.77,0.00,0.000,6,0.000,0.030,2563,2592,3857,0,0,0,0,0,0
$GC,2452,-0.75,-219.0,349.1,-11.3,259,2455,0.00,1.88,0.00,0.000,4,0.000,0.054,2563,3771,3856,0,0,0,0,0,0
$GC,2553,-0.77,-219.0,361.0,-11.1,268,2557,0.00,1.77,0.00,0.000,6,0.000,0.030,2563,2592,3856,0,0,0,0,0,0
$GC,2756,-0.77,-219.0,383.6,-11.3,287,2760,0.00,1.90,0.00,0.000,4,0.000,0.054,2563,3760,3856,0,0,0,0,0,0
$GC,2836,-0.80,-219.0,392.8,-12.3,294,2840,0.00,1.80,0.00,0.000,6,0.000,0.031,2563,2597,3856,0,0,0,0,0,0
$GC,3041,-0.82,-219.0,416.6,-11.8,313,3044,0.00,1.85,0.00,0.000,4,0.000,0.054,2562,3765,3856,0,0,0,0,0,0
$GC,3132,-0.85,-219.0,428.1,-12.8,321,3136,0.10,1.75,0.00,0.000,6,0.117,0.031,2520,2600,3856,0,0,0,0,0,0
$GC,3335,-0.79,-219.0,460.1,-16.1,340,3339,0.00,1.85,0.00,0.000,4,0.000,0.053,2511,3770,3856,0,0,1,0,0,0
$GC,3404,-0.72,-219.0,472.2,-17.4,346,3408,0.17,1.77,0.00,0.000,6,0.158,0.030,2561,2591,3856,0,0,0,0,0,0
$GC,3607,-0.72,-219.0,499.4,-13.0,365,3614,0.00,1.85,0.00,0.000,4,0.000,0.053,2553,3766,3856,0,0,0,0,0,0
$GC,3698,-0.72,-219.0,512.2,-13.9,368,3702,0.00,1.80,0.00,0.000,6,0.000,0.030,2553,2593,3856,0,0,0,0,0,0
$GC,3894,-0.72,-219.0,538.6,-13.5,375,3897,0.00,1.85,0.00,0.000,4,0.000,0.053,2547,3766,3856,0,0,0,0,0,0
$GC,3971,-0.72,-219.0,549.7,-13.4,377,3981,0.00,1.80,0.00,0.000,6,0.000,0.030,2548,2596,3856,0,0,0,0,0,0
$GC,4184,-0.72,-219.0,578.1,-13.4,384,4187,0.00,1.85,0.00,0.000,4,0.000,0.053,2547,3766,3856,0,0,0,0,0,0
$GC,4278,-0.72,-219.0,591.6,-13.7,386,4285,0.00,1.80,0.00,0.000,6,0.000,0.030,2547,2595,3856,0,0,0,0,0,0
$STATE,4349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4349,begin apogee
$GC,4354,-0.16,0.0,600.4,13.4,389,4541,0.57,0.00,177.95,1.047,6,0.129,0.000,2741,2665,2959,0,0,0,0,0,0
$STATE,4542,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$GC,4544,0.84,219.0,610.0,0.0,395,4739,0.98,0.00,189.32,0.998,6,0.076,0.000,3071,2665,2066,0,0,0,0,0,0
$GC,4915,0.70,219.0,564.8,16.7,407,4917,0.15,0.00,0.00,0.000,6,0.160,0.000,3032,2665,2055,0,0,0,0,0,0
$GC,5100,0.65,219.3,539.5,13.3,413,5104,0.00,1.80,0.00,0.000,4,0.000,0.049,3032,3748,2053,0,0,0,0,0,0
$GC,5161,0.56,219.3,530.0,15.2,414,5169,0.17,1.77,0.00,0.000,6,0.132,0.031,2984,2668,2051,0,0,1,0,0,0
$GC,5352,0.71,310.6,511.1,9.6,421,5436,0.12,0.00,80.95,0.957,6,0.088,0.000,3035,2667,1693,0,0,0,0,0,0
$GC,5601,0.71,310.6,476.9,14.2,439,5605,0.00,1.88,0.00,0.000,4,0.000,0.050,3035,3745,1687,0,0,0,0,0,0
$GC,5628,0.68,310.6,472.4,15.4,441,5635,0.00,1.83,0.00,0.000,6,0.000,0.031,3044,2651,1687,0,0,0,0,0,0
$GC,5828,0.66,310.6,442.5,15.3,460,5830,0.12,0.00,0.00,0.000,6,0.151,0.000,3010,2650,1685,0,0,0,0,0,0
$GC,6017,0.73,330.1,418.1,12.5,478,6038,0.00,0.00,16.30,0.904,6,0.000,0.000,3010,2650,1614,0,0,0,0,0,0
$GC,6231,0.81,356.6,392.1,12.2,498,6260,0.15,0.00,24.20,0.898,6,0.084,0.000,3079,2650,1505,0,0,0,0,0,0
$GC,6452,0.74,356.6,351.2,19.5,519,6459,0.15,0.00,0.00,0.000,6,0.147,0.000,3037,2650,1505,0,0,0,0,0,0
$GC,6650,0.77,356.6,321.9,14.2,538,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2650,1504,0,0,0,0,0,0
$GC,6841,0.79,356.6,295.9,13.3,556,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2650,1504,0,0,0,0,0,0
$GC,7033,0.83,368.2,271.0,12.9,574,7046,0.00,0.00,10.95,0.833,6,0.000,0.000,3037,2650,1457,0,0,0,0,0,0
$GC,7236,0.85,368.2,242.8,14.4,593,7246,0.12,0.00,0.00,0.000,6,0.086,0.000,3106,2650,1457,0,0,0,0,0,0
$GC,7374,0.73,368.2,213.6,23.3,606,7383,0.22,0.00,0.00,0.000,6,0.141,0.000,3039,2650,1457,0,0,0,0,0,0
$GC,7510,0.76,368.2,191.7,14.1,619,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2650,1457,0,0,0,0,0,0
$GC,7647,0.78,368.2,172.4,13.9,632,7651,0.00,1.77,0.00,0.000,4,0.000,0.050,3039,3750,1457,0,0,1,0,0,0
$GC,7675,0.78,368.2,167.4,15.8,634,7686,0.00,1.75,0.00,0.000,6,0.000,0.031,3046,2646,1457,0,0,0,0,0,0
$GC,7814,0.78,368.2,148.5,14.4,647,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2646,1457,0,0,0,0,0,0
$GC,7950,0.78,368.2,128.7,14.6,660,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2646,1457,0,0,0,0,0,0
$GC,8077,0.78,368.2,110.3,14.8,672,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2646,1457,0,0,0,0,0,0
$GC,8212,0.80,368.2,91.4,13.9,689,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2646,1456,0,0,0,0,0,0
$GC,8366,0.82,368.2,67.9,15.1,714,8375,0.00,1.80,0.00,0.000,4,0.000,0.050,3046,3745,1456,0,0,0,0,0,0
$GC,8406,0.85,388.9,62.5,12.5,720,8431,0.00,1.73,17.90,0.750,6,0.000,0.032,3053,2656,1374,0,0,0,0,0,0
$GC,8578,0.85,388.9,35.9,16.2,747,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2656,1374,0,0,0,0,0,0
$GC,8730,0.85,388.9,13.3,14.3,772,8740,0.00,1.80,0.00,0.000,4,0.000,0.050,3053,3747,1373,0,0,0,0,0,0
$FREEZE,8.96,-1.900,-1.904,2,4,0
$STATE,8770,end climb,FINISH_DEPTH_REACHED
$STATE,8770,begin subsurface finish
$FINISH1,9.0,1.027829,-16
$GC,8777,-0.02,-16.1,9.0,-11.0,778,8830,0.77,0.00,-48.62,0.000,6,0.118,0.000,2799,2639,3029,0,0,0,0,0,0
$FINISH2,6.5
$STATE,8831,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8831,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,101013
$TT8_MAMPS,0.027713
$HUMID,50.70
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.9
$ALTIM_BOTTOM_PING,600.4,6.7
$24V_AH,22.5,45.953
$10V_AH,10.1,63.030
$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,5.075,75.550,517.575,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,1948.782,3975.727,567.768,2234.581,154.921,0.000,1455.119,0.000,1403.003,0.000,24.680,0.000
$DEVICE_MAMPS,176.715,99.450,1047.285,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.801,935.149,1176.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50384,785
$CAP_FILE_SIZE,124141,0
$CFSIZE,260165632,247148544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,031210,100027,-7702.673,17053.551,39,3.0,58,133.5