version: 66.08
glider: 503
mission: 7
dive: 68
start: 12 4 110 0 32 37
data:
$ID,503
$MISSION,7
$DIVE,68
$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,42
$R_STBD_OVSHOOT,26
$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,5.07
$_SM_ANGLEo,0.7
$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
$GC,15,-0.84,-219.0,0.0,0.0,0,26,0.00,0.00,-9.40,0.000,2,0.000,0.000,2792,2651,3423,0,0,0,0,0,0
$GC,29,-0.84,-219.0,8.7,-0.0,1,46,0.70,2.38,-9.65,0.000,4,0.080,0.050,2534,1187,3857,0,0,0,0,0,0
$GC,77,-0.86,-219.0,14.0,-10.8,8,86,0.00,2.33,0.00,0.000,6,0.000,0.045,2524,2603,3858,0,0,0,0,0,0
$GC,234,-0.77,-219.0,40.6,-16.9,33,240,0.00,1.85,0.00,0.000,4,0.000,0.053,2515,3765,3859,0,0,0,0,0,0
$GC,335,-0.69,-219.0,60.2,-19.1,49,342,0.22,1.80,0.00,0.000,6,0.155,0.031,2580,2590,3859,0,0,0,0,0,0
$GC,490,-0.72,-219.0,83.8,-14.1,74,499,0.00,1.92,0.00,0.000,4,0.000,0.053,2573,3762,3860,0,0,0,0,0,0
$GC,554,-0.77,-219.0,92.0,-11.8,84,564,0.00,1.83,0.00,0.000,6,0.000,0.031,2573,2598,3860,0,0,0,0,0,0
$GC,702,-0.79,-219.0,110.4,-13.9,102,706,0.00,1.88,0.00,0.000,4,0.000,0.053,2566,3770,3860,0,0,0,0,0,0
$GC,754,-0.79,-219.0,117.3,-13.9,106,758,0.00,1.83,0.00,0.000,6,0.000,0.031,2566,2602,3859,0,0,0,0,0,0
$GC,895,-0.79,-219.0,136.3,-14.0,119,899,0.00,1.85,0.00,0.000,4,0.000,0.053,2563,3763,3859,0,0,0,0,0,0
$GC,958,-0.79,-219.0,145.6,-15.0,124,962,0.00,1.77,0.00,0.000,6,0.000,0.031,2564,2594,3859,0,0,0,0,0,0
$GC,1101,-0.79,-219.0,167.0,-14.8,137,1105,0.00,1.88,0.00,0.000,4,0.000,0.054,2563,3767,3859,0,0,0,0,0,0
$GC,1164,-0.79,-219.0,176.5,-14.3,142,1167,0.00,1.77,0.00,0.000,6,0.000,0.031,2564,2597,3859,0,0,0,0,0,0
$GC,1307,-0.79,-219.0,195.7,-13.2,155,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2596,3859,0,0,0,0,0,0
$GC,1444,-0.81,-219.0,213.2,-12.7,168,1447,0.00,1.88,0.00,0.000,4,0.000,0.053,2563,3770,3859,0,0,0,0,0,0
$GC,1545,-0.84,-219.0,226.1,-12.2,176,1549,0.10,1.77,0.00,0.000,6,0.116,0.031,2520,2596,3859,0,0,0,0,0,0
$GC,1688,-0.79,-219.0,248.3,-15.9,189,1691,0.00,1.85,0.00,0.000,4,0.000,0.053,2512,3763,3859,0,0,0,0,0,0
$GC,1727,-0.73,-219.0,255.4,-16.9,192,1732,0.17,1.77,0.00,0.000,6,0.156,0.032,2562,2593,3859,0,0,0,0,0,0
$GC,1932,-0.75,-219.0,280.9,-12.2,211,1935,0.00,1.88,0.00,0.000,4,0.000,0.054,2562,3769,3859,0,0,0,0,0,0
$GC,2012,-0.78,-219.0,291.4,-12.4,218,2015,0.00,1.77,0.00,0.000,6,0.000,0.031,2563,2596,3859,0,0,0,0,0,0
$GC,2216,-0.81,-219.0,316.9,-12.5,237,2220,0.00,1.90,0.00,0.000,4,0.000,0.054,2563,3760,3859,0,0,0,0,0,0
$GC,2318,-0.84,-219.0,329.7,-11.9,246,2322,0.00,1.75,0.00,0.000,6,0.000,0.031,2563,2602,3859,0,0,0,0,0,0
$GC,2524,-0.87,-219.0,352.5,-11.1,265,2528,0.12,1.88,0.00,0.000,4,0.103,0.054,2502,3766,3859,0,0,1,0,0,0
$GC,2629,-0.80,-219.0,369.8,-17.1,274,2637,0.10,1.80,0.00,0.000,6,0.147,0.031,2535,2604,3859,0,0,0,0,0,0
$GC,2828,-0.80,-219.0,397.1,-13.6,293,2832,0.00,1.85,0.00,0.000,4,0.000,0.051,2527,3773,3859,0,0,0,0,0,0
$GC,2878,-0.77,-219.0,405.0,-15.2,297,2885,0.00,1.80,0.00,0.000,6,0.000,0.030,2527,2605,3859,0,0,0,0,0,0
$GC,3078,-0.75,-219.0,433.1,-14.5,316,3082,0.12,1.85,0.00,0.000,4,0.164,0.053,2563,3764,3859,0,0,1,0,0,0
$GC,3161,-0.79,-219.0,444.0,-12.1,323,3168,0.00,1.75,0.00,0.000,6,0.000,0.031,2562,2593,3859,0,0,0,0,0,0
$GC,3359,-0.82,-219.0,467.5,-12.4,342,3363,0.00,1.90,0.00,0.000,4,0.000,0.054,2563,3761,3859,0,0,0,0,0,0
$GC,3462,-0.86,-219.0,480.4,-12.9,351,3466,0.12,1.75,0.00,0.000,6,0.103,0.031,2509,2600,3859,0,0,0,0,0,0
$GC,3683,-0.81,-219.0,516.0,-16.3,366,3687,0.10,1.85,0.00,0.000,4,0.181,0.053,2526,3764,3859,0,0,0,0,0,0
$GC,3754,-0.79,-219.0,527.5,-15.2,368,3758,0.00,1.80,0.00,0.000,6,0.000,0.030,2526,2601,3859,0,0,0,0,0,0
$STATE,3938,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3938,begin apogee
$GC,3942,-0.16,0.0,553.9,14.4,374,4130,0.65,0.00,177.40,1.021,6,0.131,0.000,2741,2671,2958,0,0,0,0,0,0
$STATE,4131,end apogee,CONTROL_FINISHED_OK
$STATE,4131,begin climb
$GC,4132,0.84,219.0,562.7,0.0,380,4330,0.95,2.53,188.65,0.968,4,0.076,0.034,3075,1261,2066,0,0,0,0,0,0
$GC,4368,0.76,219.0,540.7,14.6,387,4372,0.00,2.42,0.00,0.000,6,0.000,0.042,3075,2635,2060,0,0,1,0,0,0
$GC,4564,0.63,219.0,508.8,16.6,394,4569,0.25,1.90,0.00,0.000,4,0.148,0.048,2999,3763,2053,0,0,0,0,0,0
$GC,4613,0.62,226.9,501.5,13.0,395,4626,0.00,1.85,5.85,0.777,6,0.000,0.032,3007,2664,2034,0,0,0,0,0,0
$GC,4815,0.67,269.9,478.6,11.6,412,4861,0.00,1.98,40.25,0.933,4,0.000,0.052,3007,3769,1859,0,0,1,0,0,0
$GC,4899,0.67,269.9,468.0,14.7,419,4906,0.00,1.90,0.00,0.000,6,0.000,0.031,3015,2645,1856,0,0,0,0,0,0
$GC,5097,0.70,291.0,443.1,12.5,438,5122,0.00,1.92,19.27,0.905,4,0.000,0.051,3015,3752,1773,0,0,1,0,0,0
$GC,5144,0.70,291.0,436.5,14.4,442,5151,0.00,1.85,0.00,0.000,6,0.000,0.031,3023,2649,1772,0,0,0,0,0,0
$GC,5344,0.71,301.9,411.1,12.9,461,5359,0.00,1.88,10.70,0.868,4,0.000,0.049,3023,3762,1729,0,0,0,0,0,0
$GC,5386,0.71,301.9,404.8,14.4,464,5394,0.00,1.85,0.00,0.000,6,0.000,0.031,3030,2653,1729,0,0,0,0,0,0
$GC,5586,0.73,314.4,379.3,12.8,483,5605,0.00,0.00,12.52,0.874,6,0.000,0.000,3031,2652,1678,0,0,0,0,0,0
$GC,5797,0.73,314.4,350.5,14.0,503,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2653,1677,0,0,0,0,0,0
$GC,5987,0.73,314.4,323.1,14.6,521,5990,0.00,1.83,0.00,0.000,4,0.000,0.050,3031,3766,1676,0,0,0,0,0,0
$GC,6047,0.73,314.4,313.1,16.6,526,6055,0.00,1.80,0.00,0.000,6,0.000,0.031,3039,2643,1675,0,0,0,0,0,0
$GC,6247,0.73,314.4,283.0,15.8,545,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2643,1675,0,0,0,0,0,0
$GC,6436,0.73,314.4,253.2,15.1,563,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2643,1675,0,0,0,0,0,0
$GC,6631,0.73,314.4,226.2,13.6,581,6634,0.00,1.83,0.00,0.000,4,0.000,0.050,3039,3773,1675,0,0,0,0,0,0
$GC,6669,0.73,314.4,220.4,15.7,584,6673,0.00,1.75,0.00,0.000,6,0.000,0.032,3047,2648,1675,0,0,0,0,0,0
$GC,6812,0.73,315.5,201.1,13.3,597,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2646,1675,0,0,0,0,0,0
$GC,6949,0.73,315.5,182.0,13.8,610,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2646,1674,0,0,0,0,0,0
$GC,7085,0.73,315.5,162.0,15.1,623,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2646,1674,0,0,0,0,0,0
$GC,7212,0.73,315.5,141.8,15.7,635,7216,0.00,1.80,0.00,0.000,4,0.000,0.050,3047,3771,1674,0,0,0,0,0,0
$GC,7299,0.79,388.9,129.5,10.3,642,7369,0.00,1.73,62.60,0.768,6,0.000,0.031,3054,2645,1373,0,0,0,0,0,0
$GC,7494,0.79,388.9,103.0,17.9,659,7498,0.00,2.28,0.00,0.000,4,0.000,0.037,3064,1248,1373,0,0,0,0,0,0
$GC,7525,0.85,388.9,97.0,17.7,662,7534,0.00,2.38,0.00,0.000,6,0.000,0.043,3064,2652,1372,0,0,0,0,0,0
$GC,7682,0.85,388.9,70.3,19.3,687,7689,0.00,1.83,0.00,0.000,4,0.000,0.052,3064,3770,1371,0,0,0,0,0,0
$GC,7738,0.85,388.9,61.3,15.4,696,7748,0.00,1.77,0.00,0.000,6,0.000,0.031,3070,2653,1372,0,0,1,0,0,0
$GC,7897,0.83,388.9,35.0,22.4,721,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2653,1371,0,0,0,0,0,0
$FREEZE,8.67,-1.896,-1.905,2,7,0
$STATE,8048,end climb,FINISH_DEPTH_REACHED
$STATE,8048,begin subsurface finish
$FINISH1,8.7,1.027839,-17
$GC,8053,-0.02,-16.6,8.7,-18.0,746,8120,0.82,2.28,-56.83,0.000,4,0.119,0.047,2796,1249,3029,0,0,0,0,0,0
$FINISH2,3.4
$STATE,8121,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8121,begin surface
$IRIDIUM_FIX,-7630.39,17051.50,021210,101013
$TT8_MAMPS,0.027713
$HUMID,50.70
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.7
$ALTIM_BOTTOM_PING,553.9,7.3
$24V_AH,22.5,46.358
$10V_AH,10.0,63.304
$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,4.450,97.300,517.250,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,1878.019,3395.817,536.062,2215.179,148.345,0.000,1433.417,0.000,1390.211,0.000,20.160,0.000
$DEVICE_MAMPS,180.540,97.920,1020.510,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.078,889.358,1170.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50337,755
$CAP_FILE_SIZE,126371,0
$CFSIZE,260165632,246984704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,031210,100027,-7702.673,17053.551,39,3.0,58,133.5