version: 66.08
glider: 503
mission: 7
dive: 76
start: 12 4 110 18 26 53
data:
$ID,503
$MISSION,7
$DIVE,76
$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,-18059.967
$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,42
$R_STBD_OVSHOOT,27
$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
$GPS1,041210,142307,-7654.883,17108.434,31,1.1,31,132.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.81
$_SM_ANGLEo,12.2
$GPS2,041210,142307,-7654.883,17108.434,31,1.1,31,132.7
$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,67.6,10107,-18.2,-13.333
$D_GRID,775
$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,27,-0.84,-219.0,7.0,-0.0,1,53,0.75,4.22,-14.10,0.000,4,0.079,0.041,2529,1198,3856,0,0,0,0,0,0
$GC,151,-0.84,-219.0,27.5,-24.4,22,158,0.00,2.33,0.00,0.000,6,0.000,0.047,2520,2600,3857,0,0,0,0,0,0
$GC,295,-0.77,-219.0,57.1,-21.1,47,303,0.10,1.90,0.00,0.000,4,0.194,0.051,2537,3769,3858,0,0,0,0,0,0
$GC,355,-0.75,-219.0,68.9,-16.7,57,361,0.00,1.83,0.00,0.000,6,0.000,0.030,2536,2591,3858,0,0,0,0,0,0
$GC,499,-0.72,-219.0,93.6,-15.4,82,505,0.10,0.00,0.00,0.000,6,0.177,0.000,2563,2591,3858,0,0,0,0,0,0
$GC,641,-0.72,-219.0,113.1,-13.0,99,645,0.00,1.95,0.00,0.000,4,0.000,0.053,2563,3767,3858,0,0,0,0,0,0
$GC,698,-0.72,-219.0,121.0,-15.5,104,702,0.00,1.75,0.00,0.000,6,0.000,0.031,2562,2617,3858,0,0,0,0,0,0
$GC,837,-0.72,-219.0,140.0,-13.3,117,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2617,3858,0,0,0,0,0,0
$GC,965,-0.72,-219.0,156.5,-13.0,129,969,0.00,1.88,0.00,0.000,4,0.000,0.052,2563,3754,3858,0,0,0,0,0,0
$GC,1033,-0.75,-219.0,166.2,-14.1,135,1037,0.00,1.73,0.00,0.000,6,0.000,0.030,2563,2621,3858,0,0,0,0,0,0
$GC,1173,-0.77,-219.0,185.6,-13.6,148,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2621,3858,0,0,0,0,0,0
$GC,1301,-0.79,-219.0,202.7,-13.5,160,1304,0.00,1.83,0.00,0.000,4,0.000,0.052,2563,3765,3858,0,0,0,0,0,0
$GC,1381,-0.83,-219.0,213.0,-12.3,167,1384,0.00,1.73,0.00,0.000,6,0.000,0.031,2563,2634,3859,0,0,0,0,0,0
$GC,1521,-0.86,-219.0,230.7,-12.6,180,1525,0.12,1.83,0.00,0.000,4,0.103,0.054,2501,3770,3858,0,0,1,0,0,0
$GC,1577,-0.78,-219.0,240.6,-18.4,185,1582,0.17,1.73,0.00,0.000,6,0.159,0.031,2551,2636,3858,0,0,0,0,0,0
$GC,1716,-0.78,-219.0,261.8,-14.9,198,1720,0.00,1.80,0.00,0.000,4,0.000,0.051,2543,3766,3858,0,0,0,0,0,0
$GC,1762,-0.78,-219.0,268.9,-15.8,202,1766,0.00,1.73,0.00,0.000,6,0.000,0.031,2543,2663,3858,0,0,0,0,0,0
$GC,1965,-0.78,-219.0,298.8,-14.4,221,1968,0.00,1.75,0.00,0.000,4,0.000,0.052,2535,3766,3858,0,0,0,0,0,0
$GC,2002,-0.78,-219.0,304.9,-15.2,224,2010,0.00,1.70,0.00,0.000,6,0.000,0.031,2535,2677,3858,0,0,0,0,0,0
$GC,2203,-0.78,-219.0,333.5,-14.3,243,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2677,3858,0,0,0,0,0,0
$GC,2392,-0.76,-219.0,361.4,-14.9,261,2396,0.00,1.73,0.00,0.000,4,0.000,0.051,2528,3767,3858,0,0,0,0,0,0
$GC,2483,-0.76,-219.0,375.6,-15.4,269,2486,0.00,1.65,0.00,0.000,6,0.000,0.031,2528,2679,3858,0,0,0,0,0,0
$GC,2686,-0.72,-219.0,407.0,-15.4,288,2688,0.12,0.00,0.00,0.000,6,0.168,0.000,2562,2679,3858,0,0,0,0,0,0
$GC,2878,-0.76,-219.0,430.9,-12.4,306,2882,0.00,1.73,0.00,0.000,4,0.000,0.052,2562,3767,3858,0,0,0,0,0,0
$GC,2969,-0.81,-219.0,442.2,-12.2,314,2973,0.00,1.65,0.00,0.000,6,0.000,0.030,2562,2674,3858,0,0,0,0,0,0
$GC,3174,-0.84,-219.0,467.3,-12.1,333,3177,0.00,1.73,0.00,0.000,4,0.000,0.051,2562,3766,3858,0,0,0,0,0,0
$GC,3246,-0.89,-219.0,476.5,-11.5,339,3254,0.12,1.65,0.00,0.000,6,0.066,0.031,2499,2705,3857,0,0,0,0,0,0
$STATE,3402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3402,begin apogee
$GC,3406,-0.16,0.0,501.4,16.7,354,3588,0.75,0.00,176.07,0.991,4,0.132,0.000,2744,2705,2960,0,0,0,0,0,0
$STATE,3588,end apogee,CONTROL_FINISHED_OK
$STATE,3588,begin climb
$GC,3590,0.84,219.0,509.8,0.0,359,3784,0.93,0.00,187.82,0.937,6,0.073,0.000,3063,2705,2067,0,0,0,0,0,0
$GC,3975,0.74,219.0,462.4,16.2,385,3979,0.00,1.80,0.00,0.000,4,0.000,0.049,3063,3764,2056,0,0,0,0,0,0
$GC,4055,0.59,219.0,447.9,18.6,392,4059,0.28,1.77,0.00,0.000,6,0.142,0.030,2994,2677,2053,0,0,0,0,0,0
$GC,4254,0.69,271.4,424.7,11.2,410,4309,0.00,1.95,45.38,0.903,4,0.000,0.051,2994,3769,1853,0,0,1,0,0,0
$GC,4348,0.74,292.6,413.5,12.5,418,4378,0.08,1.83,20.23,0.868,6,0.062,0.031,3046,2680,1767,0,0,1,0,0,0
$GC,4568,0.74,292.6,381.4,14.2,439,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2679,1762,0,0,0,0,0,0
$GC,4759,0.74,292.6,354.2,14.3,457,4762,0.00,1.80,0.00,0.000,4,0.000,0.049,3046,3765,1761,0,0,0,0,0,0
$GC,4827,0.70,292.6,343.2,16.3,463,4831,0.08,1.77,0.00,0.000,6,0.134,0.031,3029,2680,1760,0,0,0,0,0,0
$GC,5031,0.73,303.6,316.6,12.9,482,5046,0.00,1.83,9.77,0.833,4,0.000,0.052,3028,3754,1722,0,0,1,0,0,0
$GC,5075,0.73,303.6,310.2,14.2,486,5079,0.00,1.70,0.00,0.000,6,0.000,0.032,3035,2686,1722,0,0,0,0,0,0
$GC,5279,0.76,303.6,282.5,13.8,505,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2685,1721,0,0,0,0,0,0
$GC,5469,0.78,303.6,256.3,13.4,523,5473,0.00,1.77,0.00,0.000,4,0.000,0.052,3035,3769,1720,0,0,0,0,0,0
$GC,5519,0.78,303.6,248.6,15.0,527,5526,0.00,1.73,0.00,0.000,6,0.000,0.032,3042,2701,1720,0,0,0,0,0,0
$GC,5653,0.79,308.6,230.7,13.1,540,5664,0.00,0.00,5.85,0.744,6,0.000,0.000,3042,2701,1701,0,0,0,0,0,0
$GC,5791,0.80,315.4,212.8,13.1,553,5803,0.00,1.83,7.53,0.774,4,0.000,0.051,3042,3767,1674,0,0,0,0,0,0
$GC,5838,0.80,315.4,206.1,15.2,557,5842,0.00,1.67,0.00,0.000,6,0.000,0.032,3049,2700,1674,0,0,0,0,0,0
$GC,5977,0.80,315.4,186.4,14.1,570,5982,0.00,2.33,0.00,0.000,4,0.000,0.037,3060,1247,1674,0,0,0,0,0,0
$GC,6006,0.82,315.4,182.3,14.2,572,6010,0.00,2.40,0.00,0.000,6,0.000,0.045,3060,2710,1673,0,0,0,0,0,0
$GC,6140,0.82,315.4,162.7,14.6,584,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2710,1673,0,0,0,0,0,0
$GC,6267,0.80,315.4,143.6,16.1,596,6271,0.00,1.67,0.00,0.000,4,0.000,0.050,3060,3765,1673,0,0,0,0,0,0
$GC,6317,0.74,315.4,134.5,17.9,600,6324,0.00,1.70,0.00,0.000,6,0.000,0.031,3067,2698,1672,0,0,0,0,0,0
$GC,6452,0.71,315.4,113.5,15.8,613,6454,0.12,0.00,0.00,0.000,6,0.168,0.000,3031,2698,1672,0,0,0,0,0,0
$GC,6580,0.75,323.8,95.9,13.0,627,6594,0.00,1.80,8.93,0.752,4,0.000,0.052,3031,3764,1638,0,0,0,0,0,0
$GC,6623,0.75,323.8,89.6,15.9,634,6630,0.00,1.70,0.00,0.000,6,0.000,0.033,3038,2703,1638,0,0,0,0,0,0
$GC,6766,0.78,323.8,70.4,13.6,659,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2703,1639,0,0,0,0,0,0
$GC,6909,0.81,323.8,51.1,13.8,684,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2703,1638,0,0,0,0,0,0
$GC,7049,0.81,323.8,32.9,14.6,709,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2703,1638,0,0,0,0,0,0
$GC,7193,0.83,323.8,12.5,13.9,734,7199,0.00,1.75,0.00,0.000,4,0.000,0.053,3038,3783,1637,0,0,0,0,0,0
$FREEZE,8.49,-1.896,-1.905,2,3,0
$STATE,7217,end climb,FINISH_DEPTH_REACHED
$STATE,7217,begin subsurface finish
$FINISH1,8.5,1.027851,-17
$GC,7224,-0.02,-17.2,8.5,-15.5,738,7272,0.73,0.00,-40.75,0.000,6,0.112,0.000,2794,2652,3032,0,0,0,0,0,0
$FINISH2,7.2
$STATE,7272,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7273,begin surface
$IRIDIUM_FIX,-7612.11,17105.10,041210,141459
$TT8_MAMPS,0.027713
$HUMID,51.06
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,19.5
$24V_AH,22.5,0.964
$10V_AH,10.1,0.407
$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,4.450,78.400,461.575,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,1833.038,3496.405,483.145,1390.266,119.503,0.000,1271.617,0.000,1311.937,0.000,18.543,0.000
$DEVICE_MAMPS,193.545,54.315,990.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.927,890.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258928
$DATA_FILE_SIZE,47088,746
$CAP_FILE_SIZE,104579,0
$CFSIZE,260165632,246509568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,041210,142307,-7654.883,17108.434,31,1.1,31,132.7