version: 66.08
glider: 503
mission: 7
dive: 77
start: 12 4 110 20 29 39
data:
$ID,503
$MISSION,7
$DIVE,77
$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,36
$R_STBD_OVSHOOT,24
$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,10.54
$_SM_ANGLEo,-1.1
$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
$GC,16,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-7.22,0.000,2,0.000,0.000,2795,2652,3398,0,0,0,0,0,0
$GC,27,-0.84,-219.0,12.8,-0.0,1,40,0.73,0.00,-8.75,0.000,6,0.079,0.000,2530,2652,3857,0,0,0,0,0,0
$GC,177,-0.79,-219.0,34.7,-16.8,27,183,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2652,3860,0,0,0,0,0,0
$GC,319,-0.74,-219.0,61.0,-17.7,52,326,0.12,0.00,0.00,0.000,6,0.170,0.000,2564,2652,3861,0,0,0,0,0,0
$GC,462,-0.74,-219.0,82.9,-14.5,77,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2652,3861,0,0,0,0,0,0
$GC,608,-0.74,-219.0,103.3,-13.7,101,612,0.00,1.77,0.00,0.000,4,0.000,0.050,2555,3766,3861,0,0,0,0,0,0
$GC,676,-0.74,-219.0,113.9,-15.5,107,679,0.00,1.80,0.00,0.000,6,0.000,0.030,2556,2586,3861,0,0,0,0,0,0
$GC,815,-0.74,-219.0,136.3,-16.4,120,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2583,3861,0,0,0,0,0,0
$GC,942,-0.74,-219.0,157.0,-14.6,132,946,0.00,1.88,0.00,0.000,4,0.000,0.050,2548,3766,3861,0,0,0,0,0,0
$GC,1002,-0.74,-219.0,167.1,-15.9,137,1010,0.00,1.80,0.00,0.000,6,0.000,0.029,2547,2611,3861,0,0,0,0,0,0
$GC,1137,-0.74,-219.0,186.2,-16.5,150,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2611,3861,0,0,0,0,0,0
$GC,1265,-0.74,-219.0,204.9,-13.2,162,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2611,3861,0,0,0,0,0,0
$GC,1392,-0.74,-219.0,222.8,-13.9,174,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2611,3861,0,0,0,0,0,0
$GC,1520,-0.74,-219.0,241.3,-14.9,186,1523,0.00,1.85,0.00,0.000,4,0.000,0.052,2547,3773,3861,0,0,0,0,0,0
$GC,1599,-0.74,-219.0,252.9,-14.2,193,1603,0.00,1.80,0.00,0.000,6,0.000,0.030,2547,2614,3860,0,0,0,0,0,0
$GC,1802,-0.74,-219.0,281.3,-13.4,212,1806,0.00,1.83,0.00,0.000,4,0.000,0.051,2547,3766,3861,0,0,0,0,0,0
$GC,1864,-0.74,-219.0,290.1,-13.6,217,1870,0.00,1.73,0.00,0.000,6,0.000,0.031,2547,2625,3860,0,0,0,0,0,0
$GC,2061,-0.74,-219.0,316.4,-13.5,236,2065,0.00,1.80,0.00,0.000,4,0.000,0.051,2547,3766,3861,0,0,0,0,0,0
$GC,2121,-0.74,-219.0,325.1,-14.1,241,2129,0.00,1.75,0.00,0.000,6,0.000,0.030,2547,2637,3861,0,0,0,0,0,0
$GC,2320,-0.74,-219.0,352.2,-13.8,260,2324,0.00,1.83,0.00,0.000,4,0.000,0.052,2547,3759,3860,0,0,0,0,0,0
$GC,2387,-0.74,-219.0,362.0,-14.3,266,2391,0.00,1.67,0.00,0.000,6,0.000,0.031,2547,2650,3860,0,0,0,0,0,0
$GC,2590,-0.74,-219.0,391.2,-14.8,285,2594,0.00,1.77,0.00,0.000,4,0.000,0.050,2546,3773,3861,0,0,0,0,0,0
$GC,2651,-0.74,-219.0,400.3,-14.3,290,2658,0.00,1.73,0.00,0.000,6,0.000,0.030,2547,2661,3860,0,0,0,0,0,0
$GC,2849,-0.74,-219.0,427.6,-13.5,309,2853,0.00,1.75,0.00,0.000,4,0.000,0.052,2547,3769,3861,0,0,0,0,0,0
$GC,2895,-0.74,-219.0,434.0,-13.9,313,2898,0.00,1.65,0.00,0.000,6,0.000,0.031,2547,2679,3861,0,0,0,0,0,0
$GC,3097,-0.74,-219.0,461.2,-13.4,332,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2677,3861,0,0,0,0,0,0
$GC,3289,-0.74,-219.0,487.1,-13.0,350,3293,0.00,1.73,0.00,0.000,4,0.000,0.052,2547,3772,3860,0,0,0,0,0,0
$GC,3372,-0.74,-219.0,498.4,-13.1,357,3380,0.00,1.67,0.00,0.000,6,0.000,0.030,2547,2686,3861,0,0,0,0,0,0
$STATE,3391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3391,begin apogee
$GC,3395,-0.16,0.0,500.4,12.5,359,3581,0.60,0.00,176.18,0.992,4,0.126,0.000,2747,2686,2958,0,0,0,0,0,0
$STATE,3582,end apogee,CONTROL_FINISHED_OK
$STATE,3582,begin climb
$GC,3583,0.84,219.0,509.5,0.0,365,3777,0.93,0.00,187.55,0.939,6,0.071,0.000,3070,2686,2067,0,0,0,0,0,0
$GC,3969,0.72,219.0,463.1,15.9,391,3973,0.15,1.85,0.00,0.000,4,0.157,0.051,3031,3762,2056,0,0,0,0,0,0
$GC,4059,0.64,219.0,449.2,14.9,399,4063,0.12,1.75,0.00,0.000,6,0.160,0.031,3007,2674,2053,0,0,1,0,0,0
$GC,4264,0.70,268.3,425.9,11.3,418,4312,0.00,1.90,42.88,0.907,4,0.000,0.050,3006,3770,1866,0,0,0,0,0,0
$GC,4351,0.72,281.7,415.2,12.8,425,4369,0.00,1.80,13.35,0.850,6,0.000,0.031,3014,2663,1811,0,0,1,0,0,0
$GC,4562,0.81,331.6,390.7,11.3,445,4617,0.12,1.98,44.72,0.886,4,0.089,0.049,3079,3769,1608,0,0,1,0,0,0
$GC,4654,0.70,331.6,374.8,20.2,453,4658,0.20,1.77,0.00,0.000,6,0.138,0.030,3031,2682,1608,0,0,1,0,0,0
$GC,4858,0.73,332.8,346.4,13.3,472,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2682,1604,0,0,0,0,0,0
$GC,5047,0.73,332.8,320.6,13.6,490,5050,0.00,1.80,0.00,0.000,4,0.000,0.051,3031,3764,1603,0,0,0,0,0,0
$GC,5092,0.73,332.8,313.9,15.3,494,5095,0.00,1.73,0.00,0.000,6,0.000,0.031,3039,2685,1602,0,0,0,0,0,0
$GC,5297,0.73,332.8,284.4,15.0,513,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2683,1602,0,0,0,0,0,0
$GC,5486,0.73,332.8,255.0,15.0,531,5489,0.00,1.77,0.00,0.000,4,0.000,0.050,3039,3768,1602,0,0,0,0,0,0
$GC,5524,0.73,332.8,248.6,16.1,534,5531,0.00,1.73,0.00,0.000,6,0.000,0.031,3046,2694,1602,0,0,0,0,0,0
$GC,5658,0.73,332.8,228.1,15.1,547,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2694,1601,0,0,0,0,0,0
$GC,5785,0.73,332.8,209.1,14.3,559,5789,0.00,1.73,0.00,0.000,4,0.000,0.049,3045,3765,1601,0,0,0,0,0,0
$GC,5812,0.73,332.8,204.8,15.9,561,5819,0.00,1.70,0.00,0.000,6,0.000,0.031,3053,2704,1601,0,0,0,0,0,0
$GC,5946,0.73,332.8,184.9,14.7,574,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2704,1601,0,0,0,0,0,0
$GC,6073,0.73,332.8,165.8,15.6,586,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2704,1601,0,0,0,0,0,0
$GC,6201,0.73,332.8,146.1,15.5,598,6204,0.00,1.73,0.00,0.000,4,0.000,0.051,3053,3773,1601,0,0,0,0,0,0
$GC,6250,0.69,332.8,137.6,17.2,602,6258,0.10,1.70,0.00,0.000,6,0.129,0.031,3025,2707,1601,0,0,0,0,0,0
$GC,6385,0.78,375.1,121.3,11.6,615,6425,0.00,0.00,35.72,0.773,6,0.000,0.000,3025,2706,1430,0,0,0,0,0,0
$GC,6553,0.90,417.5,101.8,11.6,631,6596,0.17,0.00,35.88,0.741,6,0.074,0.000,3107,2706,1256,0,0,0,0,0,0
$GC,6731,0.82,417.5,62.7,23.2,661,6738,0.15,0.00,0.00,0.000,6,0.148,0.000,3066,2706,1256,0,0,0,0,0,0
$GC,6875,0.79,417.5,37.6,15.6,686,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2706,1256,0,0,0,0,0,0
$GC,7017,0.82,417.5,13.4,16.2,711,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2706,1255,0,0,0,0,0,0
$FREEZE,7.99,-1.897,-1.905,2,4,2
$FREEZE,7.07,-1.898,-1.904,2,4,2
$FREEZE,6.17,-1.899,-1.903,2,4,2
$FREEZE,5.59,-1.901,-1.903,2,4,2
$FREEZE,4.90,-1.899,-1.902,2,4,2
$FREEZE,4.07,-1.899,-1.902,2,4,2
$FREEZE,3.33,-1.898,-1.901,2,4,2
$FREEZE,2.55,-1.897,-1.900,2,4,2
$STATE,7086,end climb,SURFACE_DEPTH_REACHED
$STATE,7086,begin surface coast
$FREEZE,1.69,-1.899,-1.900,2,4,2
$FREEZE,0.57,-1.898,-1.899,2,4,2
$FREEZE,0.10,-1.901,-1.898,2,4,2
$FINISH,0.1,1.027838
$STATE,7106,end surface coast,CONTROL_FINISHED_OK
$STATE,7106,begin surface
$SM_CCo,7122,103.80,0.102,0,0,445,616.92
$SM_GC,0.56,0.00,0.00,103.80,0.000,0.000,0.102,185,2577,445,-8.17,-0.65,616.92
$IRIDIUM_FIX,-7612.11,17105.10,041210,141459
$TT8_MAMPS,0.026964
$HUMID,50.31
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.3
$24V_AH,22.5,1.106
$10V_AH,10.1,0.460
$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,11.150,56.875,536.275,103.800,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1777.357,3426.065,612.377,1347.833,118.618,0.000,1377.744,0.000,1275.975,0.000,15.721,0.000
$DEVICE_MAMPS,169.830,65.025,992.205,101.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.394,858.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47030,727
$CAP_FILE_SIZE,98362,0
$CFSIZE,260165632,246452224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,041210,142307,-7654.883,17108.434,181,99.0,181,132.7