version: 66.08
glider: 503
mission: 7
dive: 67
start: 12 3 110 21 54 16
data:
$ID,503
$MISSION,7
$DIVE,67
$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,45
$R_STBD_OVSHOOT,24
$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,5.99
$_SM_ANGLEo,2.4
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
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$GC,29,-0.84,-219.0,8.9,-0.0,1,45,0.75,0.00,-9.00,0.000,6,0.083,0.000,2530,3756,3856,0,0,0,0,0,0
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$GC,1227,-0.74,-219.0,184.8,-13.4,148,1230,0.00,1.90,0.00,0.000,4,0.000,0.053,2563,3770,3858,0,0,0,0,0,0
$GC,1314,-0.77,-219.0,196.7,-13.8,155,1318,0.00,1.80,0.00,0.000,6,0.000,0.030,2563,2595,3858,0,0,0,0,0,0
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$GC,1523,-0.82,-219.0,224.9,-13.1,173,1532,0.00,1.83,0.00,0.000,6,0.000,0.031,2563,2603,3858,0,0,0,0,0,0
$GC,1660,-0.82,-219.0,242.2,-13.2,186,1663,0.00,1.88,0.00,0.000,4,0.000,0.053,2563,3770,3858,0,0,0,0,0,0
$GC,1711,-0.86,-219.0,249.0,-12.5,190,1717,0.08,1.83,0.00,0.000,6,0.073,0.030,2520,2609,3858,0,0,0,0,0,0
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$GC,2358,-0.76,-219.0,349.2,-14.0,250,2365,0.00,1.77,0.00,0.000,6,0.000,0.030,2547,2598,3858,0,0,0,0,0,0
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$GC,3138,-0.76,-219.0,455.3,-12.9,322,3142,0.00,1.90,0.00,0.000,4,0.000,0.051,2547,3753,3858,0,0,0,0,0,0
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$GC,3728,-0.76,-219.0,533.3,-12.8,361,3732,0.00,1.83,0.00,0.000,4,0.000,0.051,2547,3764,3857,0,0,0,0,0,0
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$GC,4012,-0.78,-219.0,569.3,-12.7,370,4016,0.00,1.85,0.00,0.000,4,0.000,0.052,2547,3770,3857,0,0,0,0,0,0
$GC,4091,-0.80,-219.0,579.6,-12.9,372,4094,0.00,1.77,0.00,0.000,6,0.000,0.029,2547,2595,3857,0,0,0,0,0,0
$GC,4297,-0.80,-219.0,606.1,-13.0,379,4301,0.00,1.85,0.00,0.000,4,0.000,0.053,2547,3763,3857,0,0,0,0,0,0
$GC,4381,-0.83,-219.0,617.5,-14.0,381,4385,0.00,1.77,0.00,0.000,6,0.000,0.030,2547,2613,3857,0,0,0,0,0,0
$GC,4582,-0.83,-219.0,643.8,-13.2,388,4586,0.00,1.88,0.00,0.000,4,0.000,0.053,2547,3766,3857,0,0,0,0,0,0
$STATE,4629,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4629,begin apogee
$GC,4635,-0.16,0.0,650.1,13.7,389,4820,0.57,0.00,179.40,1.082,6,0.126,0.000,2740,2642,2961,0,0,0,0,0,0
$STATE,4821,end apogee,CONTROL_FINISHED_OK
$STATE,4821,begin climb
$GC,4823,0.84,219.0,660.3,0.0,395,5025,0.98,0.00,193.50,1.029,6,0.076,0.000,3067,2642,2066,0,0,0,0,0,0
$GC,5209,0.72,219.0,614.0,16.1,408,5214,0.15,1.92,0.00,0.000,4,0.164,0.050,3029,3765,2055,0,0,0,0,0,0
$GC,5281,0.63,219.0,602.3,15.1,410,5285,0.10,1.85,0.00,0.000,6,0.143,0.031,3006,2668,2053,0,0,0,0,0,0
$GC,5488,0.70,275.9,579.0,11.0,417,5543,0.00,1.92,50.05,0.991,4,0.000,0.052,3005,3769,1835,0,0,1,0,0,0
$GC,5588,0.71,283.4,566.8,13.0,420,5602,0.00,1.90,8.23,0.866,6,0.000,0.031,3013,2655,1804,0,0,0,0,0,0
$GC,5799,0.76,304.8,540.6,12.5,427,5824,0.00,1.90,20.33,0.958,4,0.000,0.050,3013,3760,1716,0,0,0,0,0,0
$GC,5859,0.76,304.8,532.5,14.0,428,5863,0.00,1.83,0.00,0.000,6,0.000,0.032,3021,2648,1716,0,0,0,0,0,0
$GC,6078,0.80,321.1,504.4,12.7,435,6098,0.10,1.90,15.57,0.940,4,0.104,0.048,3073,3765,1648,0,0,0,0,0,0
$GC,6139,0.70,321.1,493.8,18.9,437,6143,0.20,1.80,0.00,0.000,6,0.143,0.031,3025,2647,1648,0,0,0,0,0,0
$GC,6343,0.74,332.2,467.1,12.9,456,6358,0.00,1.85,10.70,0.904,4,0.000,0.052,3025,3760,1605,0,0,1,0,0,0
$GC,6387,0.74,332.2,461.1,14.0,460,6390,0.00,1.80,0.00,0.000,6,0.000,0.032,3031,2644,1605,0,0,0,0,0,0
$GC,6590,0.77,336.8,434.7,13.1,479,6600,0.00,0.00,5.72,0.800,6,0.000,0.000,3031,2644,1586,0,0,0,0,0,0
$GC,6793,0.82,354.7,409.2,12.6,498,6817,0.10,1.92,17.12,0.913,4,0.103,0.050,3088,3761,1513,0,0,1,0,0,0
$GC,6879,0.73,354.7,392.8,20.6,505,6886,0.20,1.77,0.00,0.000,6,0.142,0.031,3038,2650,1513,0,0,0,0,0,0
$GC,7077,0.76,354.7,365.1,13.8,524,7081,0.00,1.88,0.00,0.000,4,0.000,0.051,3038,3761,1513,0,0,0,0,0,0
$GC,7103,0.76,354.7,360.8,15.3,526,7111,0.00,1.80,0.00,0.000,6,0.000,0.031,3045,2651,1513,0,0,0,0,0,0
$GC,7304,0.78,354.7,332.0,14.7,545,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2650,1512,0,0,0,0,0,0
$GC,7493,0.81,354.7,304.4,14.8,563,7496,0.00,1.80,0.00,0.000,4,0.000,0.050,3045,3761,1511,0,0,0,0,0,0
$GC,7553,0.81,354.7,294.8,16.1,568,7561,0.00,1.77,0.00,0.000,6,0.000,0.031,3052,2651,1511,0,0,0,0,0,0
$GC,7753,0.81,354.7,266.9,13.7,587,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2650,1511,0,0,0,0,0,0
$GC,7945,0.81,354.7,240.6,14.2,605,7949,0.00,1.80,0.00,0.000,4,0.000,0.050,3052,3767,1511,0,0,0,0,0,0
$GC,7998,0.81,354.7,231.8,16.0,609,8008,0.00,1.77,0.00,0.000,6,0.000,0.031,3060,2648,1511,0,0,0,0,0,0
$GC,8135,0.81,354.7,211.4,15.2,622,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2648,1511,0,0,0,0,0,0
$GC,8271,0.81,354.7,189.0,17.0,635,8275,0.00,1.77,0.00,0.000,4,0.000,0.050,3060,3763,1511,0,0,0,0,0,0
$GC,8300,0.78,354.7,182.8,18.6,637,8310,0.00,1.77,0.00,0.000,6,0.000,0.031,3067,2641,1511,0,0,0,0,0,0
$GC,8438,0.76,354.7,158.6,18.1,650,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2640,1510,0,0,0,0,0,0
$GC,8575,0.74,354.7,135.4,16.6,663,8579,0.00,1.80,0.00,0.000,4,0.000,0.050,3067,3767,1510,0,0,0,0,0,0
$GC,8639,0.70,354.7,123.2,17.1,668,8650,0.12,1.75,0.00,0.000,6,0.127,0.031,3030,2658,1510,0,0,0,0,0,0
$GC,8778,0.77,371.6,105.7,12.6,681,8798,0.00,0.00,14.68,0.777,6,0.000,0.000,3030,2658,1444,0,0,0,0,0,0
$GC,8937,0.84,371.6,84.2,13.6,704,8946,0.12,0.00,0.00,0.000,6,0.090,0.000,3092,2657,1444,0,0,0,0,0,0
$GC,9095,0.78,371.6,52.1,23.4,729,9102,0.15,1.83,0.00,0.000,4,0.151,0.050,3048,3754,1443,0,0,0,0,0,0
$GC,9164,0.78,371.6,39.6,19.1,740,9173,0.00,1.75,0.00,0.000,6,0.000,0.031,3056,2645,1444,0,0,0,0,0,0
$GC,9321,0.78,371.6,11.7,18.5,765,9327,0.00,1.80,0.00,0.000,4,0.000,0.050,3055,3763,1443,0,0,0,0,0,0
$FREEZE,8.81,-1.897,-1.904,2,6,0
$STATE,9336,end climb,FINISH_DEPTH_REACHED
$STATE,9336,begin subsurface finish
$FINISH1,8.8,1.027829,-16
$GC,9344,-0.02,-16.1,8.8,-18.4,767,9403,0.80,0.00,-54.50,0.000,6,0.116,0.000,2792,2651,3027,0,0,0,0,0,0
$FINISH2,4.6
$STATE,9404,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9404,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,101013
$TT8_MAMPS,0.027713
$HUMID,50.74
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,18.4
$ALTIM_BOTTOM_PING,650.1,6.8
$24V_AH,22.3,46.220
$10V_AH,10.1,63.205
$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,4.725,112.650,515.300,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,1987.798,4416.908,596.807,2297.138,156.270,0.000,1527.715,0.000,1481.655,0.000,26.954,0.000
$DEVICE_MAMPS,169.830,52.785,1082.475,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.033,933.280,1139.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50363,775
$CAP_FILE_SIZE,136846,0
$CFSIZE,260165632,247033856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,031210,100027,-7702.673,17053.551,39,3.0,58,133.5