version: 66.08
glider: 503
mission: 7
dive: 63
start: 12 3 110 13 9 17
data:
$ID,503
$MISSION,7
$DIVE,63
$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,49
$R_STBD_OVSHOOT,39
$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,11.22
$_SM_ANGLEo,1.3
$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
$STATE,13,begin dive
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$GC,1254,-0.61,-219.0,197.9,-15.1,147,1257,0.00,1.77,0.00,0.000,6,0.000,0.031,2576,2597,3859,0,0,0,0,0,0
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$GC,1587,-0.61,-219.0,240.5,-12.1,177,1591,0.00,1.88,0.00,0.000,4,0.000,0.053,2576,3770,3858,0,0,0,0,0,0
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$GC,1965,-0.61,-219.0,290.3,-13.8,212,1968,0.00,1.88,0.00,0.000,4,0.000,0.054,2576,3769,3858,0,0,0,0,0,0
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$GC,2340,-0.61,-219.0,343.8,-13.3,246,2347,0.00,1.80,0.00,0.000,6,0.000,0.031,2576,2601,3858,0,0,0,0,0,0
$GC,2538,-0.61,-219.0,368.4,-12.4,265,2542,0.00,1.85,0.00,0.000,4,0.000,0.053,2576,3766,3858,0,0,0,0,0,0
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$GC,3083,-0.64,-219.0,436.2,-11.8,315,3087,0.00,1.85,0.00,0.000,4,0.000,0.054,2576,3766,3858,0,0,1,0,0,0
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$GC,4015,-0.80,-219.0,549.1,-11.8,377,4020,0.08,1.80,0.00,0.000,6,0.072,0.031,2532,2607,3858,0,0,0,0,0,0
$GC,4227,-0.76,-219.0,580.9,-15.5,384,4231,0.00,1.83,0.00,0.000,4,0.000,0.051,2523,3769,3858,0,0,0,0,0,0
$GC,4296,-0.70,-219.0,592.2,-16.5,386,4300,0.15,1.80,0.00,0.000,6,0.136,0.030,2573,2603,3858,0,0,0,0,0,0
$GC,4514,-0.73,-219.0,619.5,-12.0,393,4517,0.00,1.83,0.00,0.000,4,0.000,0.052,2566,3765,3858,0,0,0,0,0,0
$GC,4582,-0.75,-219.0,628.1,-12.2,395,4586,0.00,1.75,0.00,0.000,6,0.000,0.031,2566,2598,3858,0,0,0,0,0,0
$STATE,4772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4772,begin apogee
$GC,4777,-0.16,0.0,651.4,12.4,401,4965,0.52,0.00,178.93,1.081,6,0.125,0.000,2744,2669,2959,0,0,0,0,0,0
$STATE,4966,end apogee,CONTROL_FINISHED_OK
$STATE,4966,begin climb
$GC,4968,0.84,219.0,661.1,0.0,407,5164,0.98,0.00,192.95,1.030,6,0.080,0.000,3069,2669,2067,0,0,0,0,0,0
$GC,5334,0.75,219.0,618.9,15.3,419,5337,0.00,1.83,0.00,0.000,4,0.000,0.049,3069,3744,2056,0,0,0,0,0,0
$GC,5406,0.62,219.0,606.5,16.7,421,5411,0.22,1.80,0.00,0.000,6,0.131,0.031,3000,2665,2053,0,0,1,0,0,0
$GC,5619,0.75,298.5,584.4,10.1,428,5695,0.12,1.90,70.57,0.993,4,0.086,0.050,3054,3745,1743,0,0,1,0,0,0
$GC,5740,0.69,298.5,566.2,16.7,431,5749,0.12,1.88,0.00,0.000,6,0.130,0.030,3024,2654,1739,0,0,0,0,0,0
$GC,5932,0.74,316.1,542.0,12.6,438,5950,0.00,0.00,16.02,0.940,6,0.000,0.000,3024,2654,1671,0,0,0,0,0,0
$GC,6116,0.78,327.4,518.5,12.9,444,6131,0.00,1.88,11.40,0.914,4,0.000,0.049,3023,3744,1624,0,0,0,0,0,0
$GC,6169,0.78,327.4,510.7,15.1,445,6177,0.00,1.83,0.00,0.000,6,0.000,0.031,3030,2653,1624,0,0,0,0,0,0
$GC,6364,0.81,327.4,484.0,14.1,458,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2653,1623,0,0,0,0,0,0
$GC,6556,0.84,327.4,457.3,13.8,476,6560,0.12,1.80,0.00,0.000,4,0.089,0.050,3097,3747,1622,0,0,1,0,0,0
$GC,6601,0.73,327.4,448.5,21.8,480,6605,0.25,1.75,0.00,0.000,6,0.138,0.031,3032,2646,1621,0,0,0,0,0,0
$GC,6805,0.75,327.4,418.7,14.2,499,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2645,1621,0,0,0,0,0,0
$GC,6995,0.78,327.4,392.1,13.7,517,6998,0.00,1.80,0.00,0.000,4,0.000,0.051,3031,3747,1620,0,0,0,0,0,0
$GC,7043,0.78,327.4,384.5,15.2,521,7051,0.00,1.77,0.00,0.000,6,0.000,0.031,3039,2650,1620,0,0,0,0,0,0
$GC,7244,0.78,327.4,356.9,14.0,540,7247,0.00,1.77,0.00,0.000,4,0.000,0.051,3039,3747,1620,0,0,1,0,0,0
$GC,7289,0.78,327.4,349.9,15.8,544,7292,0.00,1.73,0.00,0.000,6,0.000,0.031,3046,2641,1620,0,0,0,0,0,0
$GC,7492,0.78,327.4,321.4,14.4,563,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2640,1620,0,0,0,0,0,0
$GC,7684,0.78,327.4,294.8,13.9,581,7688,0.00,1.80,0.00,0.000,4,0.000,0.050,3045,3754,1620,0,0,0,0,0,0
$GC,7744,0.78,327.4,285.0,16.4,586,7752,0.00,1.75,0.00,0.000,6,0.000,0.031,3053,2657,1619,0,0,0,0,0,0
$GC,7945,0.78,327.4,256.3,14.2,605,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2657,1619,0,0,0,0,0,0
$GC,8137,0.78,327.4,228.1,15.7,623,8140,0.00,1.75,0.00,0.000,4,0.000,0.050,3053,3750,1619,0,0,0,0,0,0
$GC,8237,0.75,327.4,211.8,17.4,631,8240,0.00,1.70,0.00,0.000,6,0.000,0.031,3061,2645,1619,0,0,0,0,0,0
$GC,8380,0.73,327.4,189.3,15.9,644,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2642,1618,0,0,0,0,0,0
$GC,8517,0.71,327.4,168.2,15.4,657,8521,0.12,1.77,0.00,0.000,4,0.164,0.053,3025,3748,1618,0,0,1,0,0,0
$GC,8555,0.71,327.4,162.3,14.8,660,8559,0.00,1.70,0.00,0.000,6,0.000,0.032,3031,2646,1619,0,0,0,0,0,0
$GC,8699,0.78,341.3,144.8,12.8,673,8718,0.00,0.00,12.02,0.790,6,0.000,0.000,3032,2645,1568,0,0,0,0,0,0
$GC,8846,0.82,341.3,124.9,13.9,687,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2645,1568,0,0,0,0,0,0
$GC,8983,0.89,356.3,106.1,12.7,700,9007,0.15,1.83,14.35,0.766,4,0.083,0.049,3107,3739,1506,0,0,0,0,0,0
$GC,9035,0.78,356.3,96.2,21.7,705,9043,0.22,1.75,0.00,0.000,6,0.143,0.033,3049,2654,1506,0,0,0,0,0,0
$GC,9190,0.81,356.3,72.4,13.5,730,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2654,1506,0,0,0,0,0,0
$GC,9348,0.83,356.3,51.1,14.2,755,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2654,1506,0,0,0,0,0,0
$GC,9501,1.03,486.3,31.0,8.0,780,9613,0.22,1.90,105.07,0.686,4,0.067,0.050,3142,3745,976,0,0,1,0,0,0
$FREEZE,5.65,-1.910,-1.902,2,2,0
$STATE,9619,end climb,FINISH_DEPTH_REACHED
$STATE,9619,begin subsurface finish
$FINISH1,5.7,1.027833,-16
$GC,9627,-0.02,-16.3,5.7,-25.7,796,9700,1.10,1.85,-64.53,0.000,4,0.117,0.067,2800,3746,3025,0,0,0,0,0,0
$FINISH2,7.5
$STATE,9700,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,101013
$TT8_MAMPS,0.027713
$HUMID,49.40
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,651.4,6.8
$24V_AH,22.4,45.656
$10V_AH,10.0,62.830
$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,5.450,106.300,601.325,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2025.877,4576.096,644.559,2337.318,169.544,0.000,1616.439,0.000,1506.747,0.000,26.175,0.000
$DEVICE_MAMPS,177.480,97.920,1080.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.381,966.797,1172.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50401,806
$CAP_FILE_SIZE,139836,0
$CFSIZE,260165632,247255040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,031210,100027,-7702.673,17053.551,39,3.0,58,133.5