version: 66.08
glider: 503
mission: 7
dive: 70
start: 12 4 110 5 44 52
data:
$ID,503
$MISSION,7
$DIVE,70
$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,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,-18058.709
$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,53
$R_STBD_OVSHOOT,37
$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,-7702.673,17053.551,181,99.0,181,133.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-46.0
$GPS2,031210,100027,-7702.673,17053.551,181,99.0,181,133.5
$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,-219.0,0.0,0.0,0,180,0.00,0.00,-161.23,0.000,2,0.000,0.000,138,2578,3574,0,0,0,0,0,0
$GC,183,-0.84,-219.0,3.2,-7.4,28,203,9.07,2.28,-6.25,0.000,4,0.220,0.048,2521,1197,3855,0,0,0,0,0,0
$GC,457,-0.72,-219.0,68.9,-19.0,76,465,0.20,2.28,0.00,0.000,6,0.158,0.043,2566,2590,3858,0,0,0,0,0,0
$GC,602,-0.63,-219.0,95.9,-19.1,101,608,0.10,0.00,0.00,0.000,6,0.184,0.000,2592,2590,3858,0,0,0,0,0,0
$GC,743,-0.58,-219.0,121.7,-18.4,116,747,0.00,1.88,0.00,0.000,4,0.000,0.050,2584,3770,3859,0,0,0,0,0,0
$GC,804,-0.53,-219.0,133.1,-17.2,121,811,0.12,1.83,0.00,0.000,6,0.140,0.030,2626,2601,3859,0,0,0,0,0,0
$GC,939,-0.55,-219.0,150.6,-12.7,134,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2600,3859,0,0,0,0,0,0
$GC,1066,-0.58,-219.0,166.6,-12.1,146,1070,0.00,1.88,0.00,0.000,4,0.000,0.052,2618,3766,3858,0,0,1,0,0,0
$GC,1179,-0.58,-219.0,181.4,-12.5,156,1183,0.00,1.77,0.00,0.000,6,0.000,0.031,2618,2601,3858,0,0,0,0,0,0
$GC,1319,-0.58,-219.0,198.4,-12.2,169,1322,0.00,1.88,0.00,0.000,4,0.000,0.051,2608,3770,3859,0,0,0,0,0,0
$GC,1390,-0.58,-219.0,208.1,-13.5,175,1398,0.00,1.83,0.00,0.000,6,0.000,0.030,2609,2604,3858,0,0,0,0,0,0
$GC,1525,-0.58,-219.0,225.2,-12.8,188,1529,0.00,1.85,0.00,0.000,4,0.000,0.050,2601,3763,3859,0,0,0,0,0,0
$GC,1596,-0.58,-219.0,235.6,-14.0,194,1604,0.00,1.80,0.00,0.000,6,0.000,0.031,2601,2608,3859,0,0,0,0,0,0
$GC,1731,-0.58,-219.0,253.4,-13.1,207,1735,0.00,1.85,0.00,0.000,4,0.000,0.051,2592,3766,3859,0,0,0,0,0,0
$GC,1769,-0.58,-219.0,259.1,-14.1,210,1777,0.00,1.83,0.00,0.000,6,0.000,0.030,2592,2595,3859,0,0,0,0,0,0
$GC,1967,-0.58,-219.0,286.6,-14.1,229,1971,0.00,1.90,0.00,0.000,4,0.000,0.052,2584,3756,3859,0,0,0,0,0,0
$GC,2052,-0.58,-219.0,299.4,-14.9,236,2060,0.10,1.77,0.00,0.000,6,0.174,0.030,2609,2594,3859,0,0,0,0,0,0
$GC,2250,-0.58,-219.0,323.8,-12.6,255,2254,0.00,1.90,0.00,0.000,4,0.000,0.052,2601,3754,3858,0,0,0,0,0,0
$GC,2329,-0.58,-219.0,334.1,-12.8,262,2333,0.00,1.80,0.00,0.000,6,0.000,0.030,2601,2598,3858,0,0,0,0,0,0
$GC,2532,-0.58,-219.0,359.5,-12.8,281,2536,0.00,1.85,0.00,0.000,4,0.000,0.051,2592,3763,3858,0,0,0,0,0,0
$GC,2616,-0.58,-219.0,370.5,-12.9,288,2623,0.00,1.80,0.00,0.000,6,0.000,0.031,2592,2602,3858,0,0,0,0,0,0
$GC,2815,-0.58,-219.0,395.1,-12.9,307,2818,0.00,1.85,0.00,0.000,4,0.000,0.051,2584,3768,3858,0,0,0,0,0,0
$GC,2875,-0.58,-219.0,403.6,-13.3,312,2883,0.00,1.80,0.00,0.000,6,0.000,0.030,2584,2608,3858,0,0,0,0,0,0
$GC,3075,-0.58,-219.0,430.1,-13.6,331,3079,0.10,1.83,0.00,0.000,4,0.175,0.052,2602,3763,3858,0,0,1,0,0,0
$GC,3131,-0.60,-219.0,437.5,-13.2,336,3134,0.00,1.77,0.00,0.000,6,0.000,0.031,2602,2594,3859,0,0,0,0,0,0
$GC,3335,-0.60,-219.0,461.5,-11.8,355,3339,0.00,1.85,0.00,0.000,4,0.000,0.053,2593,3763,3858,0,0,0,0,0,0
$GC,3426,-0.60,-219.0,472.9,-11.6,363,3430,0.00,1.80,0.00,0.000,6,0.000,0.031,2594,2605,3858,0,0,0,0,0,0
$GC,3629,-0.60,-219.0,496.4,-11.3,382,3633,0.00,1.83,0.00,0.000,4,0.000,0.052,2590,3762,3858,0,0,0,0,0,0
$STATE,3655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3655,begin apogee
$GC,3661,-0.16,0.0,500.0,13.1,384,3843,0.45,0.00,176.98,0.987,6,0.126,0.000,2742,2645,2960,0,0,0,0,0,0
$STATE,3844,end apogee,CONTROL_FINISHED_OK
$STATE,3844,begin climb
$GC,3846,0.84,219.0,506.7,0.0,390,4043,1.00,2.55,187.45,0.932,4,0.098,0.035,3073,1256,2066,0,0,0,0,0,0
$GC,4072,0.89,237.6,484.9,12.6,403,4094,0.00,2.47,17.45,0.868,6,0.000,0.043,3073,2650,1991,0,0,1,0,0,0
$GC,4286,0.89,237.6,455.4,13.6,423,4289,0.00,1.88,0.00,0.000,4,0.000,0.050,3073,3764,1981,0,0,0,0,0,0
$GC,4346,0.85,237.6,445.6,15.4,428,4354,0.00,1.85,0.00,0.000,6,0.000,0.031,3082,2658,1979,0,0,0,0,0,0
$GC,4546,0.85,237.6,417.0,14.1,447,4549,0.00,1.88,0.00,0.000,4,0.000,0.050,3082,3767,1977,0,0,0,0,0,0
$GC,4591,0.79,237.6,409.6,16.2,451,4596,0.12,1.80,0.00,0.000,6,0.159,0.031,3058,2645,1977,0,0,0,0,0,0
$GC,4796,0.86,266.9,384.3,12.1,470,4830,0.00,1.92,24.80,0.893,4,0.000,0.051,3057,3761,1871,0,0,1,0,0,0
$GC,4876,0.86,266.9,373.6,13.9,477,4879,0.00,1.83,0.00,0.000,6,0.000,0.031,3063,2656,1869,0,0,0,0,0,0
$GC,5079,0.92,281.1,347.6,12.8,496,5103,0.10,1.92,13.48,0.859,4,0.104,0.052,3114,3770,1814,0,0,1,0,0,0
$GC,5130,0.84,281.1,338.6,19.1,500,5138,0.12,1.85,0.00,0.000,6,0.130,0.032,3071,2649,1812,0,0,0,0,0,0
$GC,5331,0.91,307.3,313.1,12.3,519,5364,0.00,1.92,24.02,0.861,4,0.000,0.050,3070,3764,1707,0,0,1,0,0,0
$GC,5403,0.94,307.3,303.2,13.6,525,5410,0.00,1.83,0.00,0.000,6,0.000,0.031,3077,2654,1705,0,0,0,0,0,0
$GC,5601,0.99,324.3,279.1,12.6,544,5625,0.12,1.85,16.30,0.836,4,0.090,0.049,3132,3765,1636,0,0,0,0,0,0
$GC,5664,0.92,324.3,267.8,19.4,549,5672,0.10,1.83,0.00,0.000,6,0.136,0.032,3099,2654,1635,0,0,0,0,0,0
$GC,5862,0.92,324.3,237.8,15.2,568,5865,0.00,1.83,0.00,0.000,4,0.000,0.050,3098,3765,1633,0,0,0,0,0,0
$GC,5889,0.92,324.3,233.2,16.6,570,5896,0.00,1.83,0.00,0.000,6,0.000,0.031,3106,2641,1632,0,0,0,0,0,0
$GC,6023,0.92,324.3,212.8,15.1,583,6026,0.00,1.85,0.00,0.000,4,0.000,0.051,3106,3770,1632,0,0,0,0,0,0
$GC,6061,0.89,324.3,206.3,16.6,586,6068,0.00,1.80,0.00,0.000,6,0.000,0.031,3114,2657,1631,0,0,0,0,0,0
$GC,6195,0.89,324.3,186.1,15.7,599,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2657,1631,0,0,0,0,0,0
$GC,6323,0.89,324.3,166.1,15.4,611,6327,0.00,1.85,0.00,0.000,4,0.000,0.050,3114,3767,1630,0,0,0,0,0,0
$GC,6380,0.86,324.3,156.4,17.2,616,6384,0.15,1.75,0.00,0.000,6,0.149,0.032,3079,2647,1630,0,0,0,0,0,0
$GC,6519,0.91,328.0,138.3,13.2,629,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2647,1630,0,0,0,0,0,0
$GC,6646,0.95,328.0,121.5,13.4,641,6650,0.00,1.85,0.00,0.000,4,0.000,0.050,3078,3766,1630,0,0,0,0,0,0
$GC,6702,0.95,328.0,113.2,15.1,646,6706,0.00,1.75,0.00,0.000,6,0.000,0.032,3085,2638,1630,0,0,0,0,0,0
$GC,6839,0.98,328.0,93.6,14.2,662,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2636,1630,0,0,0,0,0,0
$GC,6981,1.01,328.0,73.4,13.4,687,6988,0.12,1.85,0.00,0.000,4,0.092,0.053,3141,3772,1629,0,0,1,0,0,0
$GC,7056,0.91,328.0,58.4,21.3,700,7064,0.20,1.77,0.00,0.000,6,0.154,0.032,3091,2635,1629,0,0,0,0,0,0
$GC,7201,0.99,387.4,36.1,10.9,725,7260,0.00,1.90,51.97,0.718,4,0.000,0.047,3091,3770,1379,0,0,0,0,0,0
$GC,7295,0.99,387.4,22.5,16.6,741,7302,0.00,1.80,0.00,0.000,6,0.000,0.031,3097,2643,1378,0,0,0,0,0,0
$FREEZE,8.10,-1.902,-1.904,2,1,0
$STATE,7381,end climb,FINISH_DEPTH_REACHED
$STATE,7381,begin subsurface finish
$FINISH1,8.1,1.027839,-17
$GC,7386,-0.02,-16.6,8.1,-15.5,756,7440,0.90,0.00,-48.78,0.000,6,0.110,0.000,2796,2644,3030,0,0,0,0,0,0
$FINISH2,6.4
$STATE,7441,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7441,begin surface
$IRIDIUM_FIX,-7612.11,17115.95,041210,050504
$TT8_MAMPS,0.027713
$HUMID,50.98
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,19.7
$24V_AH,22.5,0.159
$10V_AH,10.0,0.066
$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,13.100,97.625,512.450,0.000,0.000,55.774,74.432,758.029,2.000,0.000,183.562,1800.736,3507.922,665.998,2522.188,287.225,0.000,1533.633,0.000,1380.656,0.000,16.501,0.000
$DEVICE_MAMPS,219.555,52.785,986.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.164,901.490,3.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258964
$DATA_FILE_SIZE,50214,765
$CAP_FILE_SIZE,126479,0
$CFSIZE,260165632,246853632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,041210,052504,-7612.108,17115.953,0,10000.0,0,133.5