version: 66.08
glider: 503
mission: 7
dive: 72
start: 12 4 110 9 55 26
data:
$ID,503
$MISSION,7
$DIVE,72
$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,44
$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
$GPS1,041210,052504,-7612.108,17115.953,0,10000.0,0,133.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.94
$_SM_ANGLEo,-4.7
$GPS2,041210,052504,-7612.108,17115.953,0,10000.0,0,133.5
$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,50.8,88945,-18.2,-13.333
$D_GRID,617
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
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$GC,26,-0.84,-219.0,4.9,-0.0,1,52,0.73,4.20,-18.00,0.000,4,0.067,0.055,2506,3769,3854,0,0,0,0,0,0
$GC,238,-0.69,-219.0,45.6,-21.4,38,246,0.22,1.83,0.00,0.000,6,0.158,0.030,2570,2593,3857,0,0,0,0,0,0
$GC,383,-0.66,-219.0,67.6,-14.7,63,390,0.00,2.20,0.00,0.000,4,0.000,0.036,2570,1201,3857,0,0,0,0,0,0
$GC,425,-0.66,-219.0,73.7,-13.5,70,432,0.00,2.30,0.00,0.000,6,0.000,0.045,2563,2606,3858,0,0,0,0,0,0
$GC,569,-0.61,-219.0,96.6,-16.4,95,576,0.15,1.88,0.00,0.000,4,0.166,0.053,2596,3764,3858,0,0,0,0,0,0
$GC,617,-0.63,-219.0,104.0,-14.1,101,620,0.00,1.80,0.00,0.000,6,0.000,0.031,2597,2596,3858,0,0,0,0,0,0
$GC,756,-0.63,-219.0,122.4,-12.9,114,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2594,3858,0,0,0,0,0,0
$GC,884,-0.66,-219.0,137.8,-11.5,126,888,0.00,1.88,0.00,0.000,4,0.000,0.052,2590,3763,3858,0,0,0,0,0,0
$GC,943,-0.68,-219.0,144.9,-13.0,131,946,0.00,1.80,0.00,0.000,6,0.000,0.031,2590,2593,3858,0,0,0,0,0,0
$GC,1082,-0.68,-219.0,162.3,-12.4,144,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2592,3859,0,0,0,0,0,0
$GC,1210,-0.68,-219.0,177.8,-11.8,156,1213,0.00,1.88,0.00,0.000,4,0.000,0.053,2590,3763,3859,0,0,0,0,0,0
$GC,1282,-0.70,-219.0,186.6,-11.9,162,1289,0.00,1.80,0.00,0.000,6,0.000,0.031,2590,2593,3859,0,0,0,0,0,0
$GC,1416,-0.70,-219.0,202.6,-12.2,175,1420,0.00,1.88,0.00,0.000,4,0.000,0.054,2590,3763,3859,0,0,0,0,0,0
$GC,1454,-0.70,-219.0,207.5,-12.5,178,1461,0.00,1.83,0.00,0.000,6,0.000,0.031,2590,2600,3858,0,0,0,0,0,0
$GC,1589,-0.70,-219.0,224.1,-12.9,191,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2600,3859,0,0,0,0,0,0
$GC,1716,-0.70,-219.0,239.8,-12.2,203,1720,0.00,1.88,0.00,0.000,4,0.000,0.054,2590,3770,3859,0,0,1,0,0,0
$GC,1785,-0.73,-219.0,248.3,-12.4,209,1789,0.00,1.80,0.00,0.000,6,0.000,0.031,2590,2589,3859,0,0,0,0,0,0
$GC,1924,-0.73,-219.0,265.5,-12.0,222,1928,0.00,1.88,0.00,0.000,4,0.000,0.052,2589,3763,3858,0,0,0,0,0,0
$GC,1981,-0.76,-219.0,272.5,-12.2,227,1986,0.12,1.77,0.00,0.000,6,0.104,0.031,2535,2598,3858,0,0,0,0,0,0
$GC,2186,-0.69,-219.0,305.6,-16.7,246,2187,0.15,0.00,0.00,0.000,6,0.158,0.000,2577,2598,3858,0,0,0,0,0,0
$GC,2375,-0.69,-219.0,332.0,-13.3,264,2379,0.00,1.85,0.00,0.000,4,0.000,0.052,2568,3764,3858,0,0,0,0,0,0
$GC,2458,-0.69,-219.0,344.0,-13.9,271,2465,0.00,1.80,0.00,0.000,6,0.000,0.030,2569,2604,3858,0,0,0,0,0,0
$GC,2656,-0.69,-219.0,372.3,-14.7,290,2659,0.00,1.85,0.00,0.000,4,0.000,0.051,2563,3769,3858,0,0,0,0,0,0
$GC,2712,-0.69,-219.0,380.9,-15.0,295,2716,0.00,1.77,0.00,0.000,6,0.000,0.030,2563,2592,3858,0,0,0,0,0,0
$GC,2915,-0.69,-219.0,411.2,-14.9,314,2919,0.00,1.88,0.00,0.000,4,0.000,0.053,2563,3770,3859,0,0,0,0,0,0
$GC,2953,-0.69,-219.0,417.3,-15.7,317,2960,0.00,1.80,0.00,0.000,6,0.000,0.029,2563,2607,3858,0,0,0,0,0,0
$GC,3151,-0.69,-219.0,446.0,-14.9,336,3155,0.00,1.83,0.00,0.000,4,0.000,0.052,2563,3764,3858,0,0,0,0,0,0
$GC,3196,-0.69,-219.0,452.9,-14.8,340,3200,0.00,1.75,0.00,0.000,6,0.000,0.031,2563,2602,3858,0,0,0,0,0,0
$GC,3399,-0.69,-219.0,482.4,-14.6,359,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2602,3858,0,0,0,0,0,0
$STATE,3527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3527,begin apogee
$GC,3532,-0.16,0.0,500.9,14.4,371,3719,0.55,0.00,176.23,0.989,6,0.125,0.000,2746,2674,2959,0,0,0,0,0,0
$STATE,3719,end apogee,CONTROL_FINISHED_OK
$STATE,3719,begin climb
$GC,3721,0.84,219.0,510.6,0.0,377,3921,0.95,2.53,187.65,0.937,4,0.084,0.036,3073,1262,2066,0,0,1,0,0,0
$GC,4034,0.81,219.0,480.5,13.7,394,4038,0.00,2.38,0.00,0.000,6,0.000,0.042,3073,2636,2056,0,0,1,0,0,0
$GC,4231,0.73,219.0,451.9,14.4,412,4235,0.12,1.88,0.00,0.000,4,0.166,0.050,3039,3763,2053,0,0,0,0,0,0
$GC,4303,0.68,219.0,441.3,14.0,418,4311,0.00,1.83,0.00,0.000,6,0.000,0.031,3047,2659,2051,0,0,0,0,0,0
$GC,4503,0.67,228.8,415.9,12.9,437,4516,0.12,1.90,7.12,0.819,4,0.149,0.052,3011,3762,2027,0,0,1,0,0,0
$GC,4562,0.67,232.0,408.2,13.2,442,4575,0.00,1.83,4.68,0.702,6,0.000,0.032,3018,2655,2014,0,0,0,0,0,0
$GC,4767,0.74,263.3,384.1,12.0,461,4802,0.00,1.95,29.62,0.897,4,0.000,0.054,3019,3767,1886,0,0,1,0,0,0
$GC,4859,0.74,263.3,372.0,13.5,469,4863,0.00,1.83,0.00,0.000,6,0.000,0.032,3027,2639,1884,0,0,0,0,0,0
$GC,5062,0.79,279.1,345.2,12.7,488,5085,0.00,1.92,14.65,0.864,4,0.000,0.052,3026,3762,1822,0,0,1,0,0,0
$GC,5131,0.79,279.1,335.3,15.1,494,5135,0.00,1.83,0.00,0.000,6,0.000,0.031,3034,2652,1821,0,0,0,0,0,0
$GC,5334,0.81,279.1,307.4,14.0,513,5337,0.00,1.83,0.00,0.000,4,0.000,0.050,3034,3763,1820,0,0,0,0,0,0
$GC,5390,0.81,279.1,298.7,16.3,518,5394,0.00,1.80,0.00,0.000,6,0.000,0.032,3041,2655,1819,0,0,0,0,0,0
$GC,5593,0.81,279.1,269.3,14.9,537,5597,0.00,1.83,0.00,0.000,4,0.000,0.052,3041,3769,1817,0,0,0,0,0,0
$GC,5627,0.81,279.1,264.0,16.5,540,5631,0.00,1.77,0.00,0.000,6,0.000,0.032,3048,2639,1817,0,0,0,0,0,0
$GC,5830,0.81,279.1,234.5,14.2,559,5834,0.00,1.88,0.00,0.000,4,0.000,0.051,3048,3762,1817,0,0,0,0,0,0
$GC,5879,0.78,279.1,226.8,16.1,563,5886,0.00,1.77,0.00,0.000,6,0.000,0.031,3055,2653,1817,0,0,0,0,0,0
$GC,6013,0.78,279.1,208.4,13.4,576,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2653,1817,0,0,0,0,0,0
$GC,6141,0.80,290.0,191.8,12.9,588,6156,0.00,1.85,10.02,0.800,4,0.000,0.050,3055,3763,1777,0,0,1,0,0,0
$GC,6201,0.76,290.0,183.2,14.5,593,6208,0.00,1.77,0.00,0.000,6,0.000,0.031,3063,2651,1777,0,0,0,0,0,0
$GC,6335,0.76,292.1,165.4,13.2,606,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2651,1777,0,0,0,0,0,0
$GC,6462,0.78,304.5,148.9,12.8,618,6486,0.00,1.85,14.40,0.789,4,0.000,0.050,3063,3758,1718,0,0,1,0,0,0
$GC,6524,0.75,304.5,140.0,14.7,623,6532,0.08,1.77,0.00,0.000,6,0.139,0.031,3044,2654,1718,0,0,0,0,0,0
$GC,6659,0.83,349.6,124.2,11.5,636,6701,0.00,0.00,39.78,0.764,6,0.000,0.000,3044,2655,1534,0,0,0,0,0,0
$GC,6827,0.92,379.8,104.6,12.1,652,6861,0.15,1.88,25.58,0.737,4,0.078,0.050,3111,3754,1411,0,0,1,0,0,0
$GC,6908,0.83,379.8,90.1,20.7,663,6916,0.17,1.77,0.00,0.000,6,0.148,0.031,3069,2650,1411,0,0,0,0,0,0
$GC,7052,0.83,379.8,65.4,16.5,688,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2649,1411,0,0,0,0,0,0
$GC,7193,0.83,379.8,41.4,16.5,713,7200,0.00,1.83,0.00,0.000,4,0.000,0.050,3069,3764,1410,0,0,0,0,0,0
$GC,7229,0.83,379.8,35.9,16.0,719,7236,0.00,1.77,0.00,0.000,6,0.000,0.031,3075,2641,1409,0,0,0,0,0,0
$GC,7373,0.83,379.8,13.7,13.5,744,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2641,1409,0,0,0,0,0,0
$FREEZE,8.80,-1.911,-1.905,2,3,0
$STATE,7402,end climb,FINISH_DEPTH_REACHED
$STATE,7402,begin subsurface finish
$FINISH1,8.8,1.027841,-17
$GC,7407,-0.02,-16.7,8.8,-16.1,749,7462,0.85,0.00,-50.58,0.000,6,0.114,0.000,2790,2641,3031,0,0,0,0,0,0
$FINISH2,5.5
$STATE,7463,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7463,begin surface
$IRIDIUM_FIX,-7612.11,17115.95,041210,050504
$TT8_MAMPS,0.027713
$HUMID,50.63
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,19.6
$24V_AH,22.5,0.418
$10V_AH,10.1,0.177
$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,4.375,92.425,509.725,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1852.706,3558.524,553.129,1427.546,121.760,0.000,1376.705,0.000,1353.556,0.000,12.905,0.000
$DEVICE_MAMPS,166.005,98.685,989.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.451,907.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258964
$DATA_FILE_SIZE,50407,758
$CAP_FILE_SIZE,108381,0
$CFSIZE,260165632,246743040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,041210,052504,-7612.108,17115.953,0,10000.0,0,133.5