version: 66.08
glider: 503
mission: 7
dive: 69
start: 12 4 110 2 49 33
data:
$ID,503
$MISSION,7
$DIVE,69
$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,44
$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,3.09
$_SM_ANGLEo,-0.6
$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,16,-0.84,-219.0,0.0,0.0,0,27,0.00,0.00,-9.82,0.000,2,0.000,0.000,2796,1247,3302,0,0,0,0,0,0
$GC,30,-0.84,-219.0,3.4,-0.0,1,60,0.75,4.20,-18.50,0.000,4,0.084,0.057,2509,3754,3856,0,0,0,0,0,0
$GC,258,-0.75,-219.0,40.1,-17.1,37,265,0.17,1.80,0.00,0.000,6,0.165,0.029,2556,2585,3857,0,0,0,0,0,0
$GC,412,-0.75,-219.0,61.7,-13.8,62,422,0.00,1.92,0.00,0.000,4,0.000,0.050,2548,3756,3858,0,0,0,0,0,0
$GC,473,-0.70,-219.0,70.7,-18.0,71,480,0.00,1.77,0.00,0.000,6,0.000,0.031,2548,2600,3857,0,0,0,0,0,0
$GC,627,-0.68,-219.0,93.0,-11.6,96,638,0.12,1.92,0.00,0.000,4,0.163,0.054,2573,3766,3857,0,0,1,0,0,0
$GC,701,-0.71,-219.0,100.4,-9.8,107,711,0.00,1.83,0.00,0.000,6,0.000,0.031,2574,2598,3857,0,0,0,0,0,0
$GC,838,-0.74,-219.0,115.6,-11.3,120,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2597,3857,0,0,0,0,0,0
$GC,975,-0.77,-219.0,134.6,-14.6,133,979,0.00,1.88,0.00,0.000,4,0.000,0.052,2567,3769,3858,0,0,0,0,0,0
$GC,1063,-0.80,-219.0,148.9,-14.7,140,1066,0.00,1.83,0.00,0.000,6,0.000,0.031,2566,2599,3858,0,0,0,0,0,0
$GC,1205,-0.83,-219.0,170.2,-13.9,153,1209,0.00,1.88,0.00,0.000,4,0.000,0.052,2563,3769,3858,0,0,0,0,0,0
$GC,1245,-0.85,-219.0,175.9,-14.6,156,1249,0.08,1.83,0.00,0.000,6,0.072,0.030,2521,2602,3857,0,0,0,0,0,0
$GC,1387,-0.79,-219.0,200.5,-18.5,169,1391,0.00,1.90,0.00,0.000,4,0.000,0.052,2512,3764,3857,0,0,0,0,0,0
$GC,1450,-0.72,-219.0,212.8,-18.7,174,1454,0.17,1.77,0.00,0.000,6,0.155,0.031,2562,2597,3857,0,0,0,0,0,0
$GC,1592,-0.75,-219.0,232.4,-13.0,187,1596,0.00,1.90,0.00,0.000,4,0.000,0.054,2562,3754,3858,0,0,0,0,0,0
$GC,1657,-0.78,-219.0,241.5,-13.0,192,1667,0.00,1.80,0.00,0.000,6,0.000,0.030,2562,2600,3858,0,0,0,0,0,0
$GC,1792,-0.78,-219.0,257.8,-12.1,205,1796,0.00,1.88,0.00,0.000,4,0.000,0.054,2562,3772,3858,0,0,1,0,0,0
$GC,1849,-0.80,-219.0,265.0,-11.9,210,1853,0.00,1.77,0.00,0.000,6,0.000,0.030,2562,2597,3858,0,0,0,0,0,0
$GC,2055,-0.83,-219.0,290.1,-13.3,229,2059,0.00,1.88,0.00,0.000,4,0.000,0.054,2562,3773,3857,0,0,0,0,0,0
$GC,2158,-0.86,-219.0,304.7,-13.5,238,2162,0.12,1.77,0.00,0.000,6,0.103,0.030,2509,2600,3858,0,0,0,0,0,0
$GC,2362,-0.79,-219.0,340.8,-18.9,257,2366,0.12,1.85,0.00,0.000,4,0.172,0.052,2534,3766,3857,0,0,1,0,0,0
$GC,2417,-0.79,-219.0,351.2,-16.8,262,2421,0.00,1.80,0.00,0.000,6,0.000,0.030,2534,2608,3857,0,0,0,0,0,0
$GC,2620,-0.79,-219.0,383.4,-15.1,281,2624,0.00,1.83,0.00,0.000,4,0.000,0.052,2526,3766,3857,0,0,0,0,0,0
$GC,2700,-0.76,-219.0,396.0,-15.4,288,2703,0.00,1.77,0.00,0.000,6,0.000,0.031,2526,2590,3857,0,0,0,0,0,0
$GC,2906,-0.73,-219.0,427.3,-15.5,307,2910,0.12,1.90,0.00,0.000,4,0.164,0.053,2552,3771,3857,0,0,1,0,0,0
$GC,2989,-0.75,-219.0,439.6,-12.8,314,2995,0.00,1.83,0.00,0.000,6,0.000,0.030,2552,2594,3857,0,0,0,0,0,0
$GC,3187,-0.75,-219.0,464.7,-12.6,333,3191,0.00,1.90,0.00,0.000,4,0.000,0.053,2547,3761,3858,0,0,0,0,0,0
$GC,3281,-0.75,-219.0,477.2,-12.1,341,3288,0.00,1.77,0.00,0.000,6,0.000,0.031,2547,2611,3857,0,0,0,0,0,0
$GC,3488,-0.75,-219.0,504.8,-13.4,359,3492,0.00,1.83,0.00,0.000,4,0.000,0.054,2547,3765,3857,0,0,0,0,0,0
$GC,3583,-0.75,-219.0,517.6,-13.0,361,3590,0.00,1.80,0.00,0.000,6,0.000,0.030,2547,2596,3857,0,0,0,0,0,0
$GC,3774,-0.75,-219.0,541.2,-12.5,368,3777,0.00,1.85,0.00,0.000,4,0.000,0.054,2547,3766,3857,0,0,0,0,0,0
$GC,3858,-0.77,-219.0,552.7,-13.6,370,3862,0.00,1.80,0.00,0.000,6,0.000,0.031,2547,2604,3857,0,0,0,0,0,0
$GC,4059,-0.77,-219.0,579.9,-13.7,377,4062,0.00,1.85,0.00,0.000,4,0.000,0.052,2547,3771,3857,0,0,0,0,0,0
$GC,4153,-0.77,-219.0,593.3,-13.9,379,4161,0.00,1.80,0.00,0.000,6,0.000,0.029,2547,2598,3858,0,0,0,0,0,0
$STATE,4222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4222,begin apogee
$GC,4227,-0.16,0.0,602.2,13.4,382,4415,0.57,0.00,178.00,1.051,6,0.124,0.000,2742,2668,2959,0,0,0,0,0,0
$STATE,4416,end apogee,CONTROL_FINISHED_OK
$STATE,4416,begin climb
$GC,4418,0.84,219.0,612.6,0.0,388,4613,0.98,0.00,192.07,1.001,6,0.073,0.000,3067,2668,2067,0,0,0,0,0,0
$GC,4778,0.72,219.0,570.1,16.5,400,4782,0.15,1.83,0.00,0.000,4,0.164,0.048,3029,3748,2056,0,0,0,0,0,0
$GC,4815,0.63,219.0,563.7,16.2,401,4820,0.10,1.80,0.00,0.000,6,0.143,0.031,3005,2670,2055,0,0,1,0,0,0
$GC,5028,0.66,245.1,537.4,12.3,408,5057,0.00,0.00,22.67,0.954,6,0.000,0.000,3006,2669,1960,0,0,0,0,0,0
$GC,5241,0.68,258.4,510.4,12.8,415,5260,0.00,1.88,13.12,0.919,4,0.000,0.050,3005,3751,1906,0,0,1,0,0,0
$GC,5307,0.66,258.4,501.3,14.9,417,5311,0.00,1.85,0.00,0.000,6,0.000,0.032,3014,2645,1905,0,0,0,0,0,0
$GC,5511,0.66,259.7,474.0,13.3,434,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2645,1902,0,0,0,0,0,0
$GC,5702,0.67,272.6,449.8,12.8,452,5725,0.00,1.90,13.40,0.918,4,0.000,0.051,3013,3748,1848,0,0,1,0,0,0
$GC,5752,0.67,272.6,442.9,14.1,456,5760,0.00,1.80,0.00,0.000,6,0.000,0.031,3021,2657,1848,0,0,0,0,0,0
$GC,5952,0.70,291.1,418.2,12.6,475,5972,0.00,0.00,17.73,0.916,6,0.000,0.000,3021,2656,1773,0,0,0,0,0,0
$GC,6163,0.72,308.2,391.4,12.6,495,6183,0.00,0.00,16.85,0.897,6,0.000,0.000,3021,2656,1703,0,0,0,0,0,0
$GC,6375,0.76,318.4,364.2,12.9,515,6387,0.00,0.00,10.05,0.854,6,0.000,0.000,3021,2656,1662,0,0,0,0,0,0
$GC,6576,0.83,345.0,339.1,12.2,534,6606,0.12,0.00,24.58,0.877,6,0.093,0.000,3090,2657,1553,0,0,0,0,0,0
$GC,6798,0.75,345.0,300.1,18.1,555,6805,0.17,0.00,0.00,0.000,6,0.146,0.000,3040,2657,1553,0,0,0,0,0,0
$GC,6996,0.75,345.0,271.1,15.0,574,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2657,1552,0,0,0,0,0,0
$GC,7190,0.77,345.0,242.4,15.2,592,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2657,1551,0,0,0,0,0,0
$GC,7327,0.79,345.0,222.8,14.0,605,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2656,1551,0,0,0,0,0,0
$GC,7464,0.82,345.0,204.2,13.9,618,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2656,1550,0,0,0,0,0,0
$GC,7602,0.84,345.0,184.8,14.4,631,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2657,1550,0,0,0,0,0,0
$GC,7738,0.87,345.0,164.3,14.6,644,7748,0.12,0.00,0.00,0.000,6,0.086,0.000,3109,2656,1550,0,0,0,0,0,0
$GC,7876,0.77,345.0,138.2,19.9,657,7886,0.20,0.00,0.00,0.000,6,0.142,0.000,3050,2657,1550,0,0,0,0,0,0
$GC,8013,0.77,345.0,117.3,13.8,670,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2656,1549,0,0,0,0,0,0
$GC,8140,0.77,345.0,100.2,14.5,682,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2656,1550,0,0,0,0,0,0
$GC,8286,0.77,345.0,78.5,16.3,705,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2656,1549,0,0,0,0,0,0
$GC,8438,0.77,345.0,52.6,17.8,730,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2656,1549,0,0,0,0,0,0
$GC,8597,0.77,345.0,25.9,17.6,755,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2656,1548,0,0,0,0,0,0
$FREEZE,8.82,-1.898,-1.905,2,8,2
$FREEZE,7.72,-1.899,-1.905,2,8,2
$FREEZE,6.85,-1.897,-1.904,2,8,2
$FREEZE,5.55,-1.897,-1.903,2,8,2
$FREEZE,4.67,-1.896,-1.902,2,8,2
$FREEZE,3.39,-1.896,-1.901,2,8,2
$GC,8754,0.77,345.0,3.4,17.7,780,8764,0.00,1.77,0.00,0.000,4,0.000,0.047,3050,3751,1548,0,0,0,0,0,0
$FREEZE,0.60,-1.898,-1.899,2,8,2
$STATE,8769,end climb,SURFACE_DEPTH_REACHED
$STATE,8769,begin surface coast
$FREEZE,0.03,-1.899,-1.899,2,8,2
$FREEZE,-0.04,-1.900,-1.897,2,8,2
$FINISH,-0.0,1.027831
$STATE,8783,end surface coast,CONTROL_FINISHED_OK
$STATE,8783,begin surface
$SM_CCo,8801,137.68,0.099,0,0,444,616.92
$SM_GC,0.39,0.00,0.00,137.68,0.000,0.000,0.099,151,2577,444,-8.16,-0.65,616.92
$IRIDIUM_FIX,-7630.39,17051.50,021210,101013
$TT8_MAMPS,0.027713
$HUMID,48.77
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.4
$ALTIM_BOTTOM_PING,602.2,6.7
$24V_AH,22.4,46.498
$10V_AH,10.1,63.407
$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,11.725,75.875,488.475,137.675,0.000,0.000,0.000,0.000,2.500,0.000,0.000,1973.589,3946.824,713.707,2217.062,143.051,0.000,1544.598,0.000,1375.070,0.000,19.056,0.000
$DEVICE_MAMPS,172.125,98.685,1051.110,99.450,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.636,942.585,1196.581,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50449,784
$CAP_FILE_SIZE,125964,0
$CFSIZE,260165632,246923264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,031210,100027,-7702.673,17053.551,181,99.0,181,133.5