version: 66.08
glider: 503
mission: 7
dive: 71
start: 12 4 110 7 50 31
data:
$ID,503
$MISSION,7
$DIVE,71
$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,-18058.709
$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,23
$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
$GPS1,041210,052504,-7612.108,17115.953,0,10000.0,0,133.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.54
$_SM_ANGLEo,-5.3
$GPS2,041210,052504,-7612.108,17115.953,0,10000.0,0,133.5
$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,50.8,88945,-18.2,-13.333
$D_GRID,617
$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,27,-0.84,-219.0,4.5,-0.0,1,53,0.73,2.40,-19.20,0.000,4,0.070,0.049,2530,1190,3855,0,0,0,0,0,0
$GC,244,-0.75,-219.0,40.6,-20.6,39,251,0.12,2.33,0.00,0.000,6,0.171,0.044,2552,2609,3857,0,0,0,0,0,0
$GC,388,-0.68,-219.0,65.3,-16.9,64,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2608,3858,0,0,0,0,0,0
$GC,531,-0.61,-219.0,91.9,-19.6,89,537,0.17,0.00,0.00,0.000,6,0.161,0.000,2603,2608,3858,0,0,0,0,0,0
$GC,668,-0.61,-219.0,113.0,-14.5,106,672,0.00,1.83,0.00,0.000,4,0.000,0.053,2594,3762,3858,0,0,0,0,0,0
$GC,735,-0.61,-219.0,122.9,-15.1,112,739,0.00,1.80,0.00,0.000,6,0.000,0.031,2595,2593,3858,0,0,0,0,0,0
$GC,874,-0.61,-219.0,143.4,-15.4,125,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2592,3858,0,0,0,0,0,0
$GC,1002,-0.61,-219.0,161.7,-14.4,137,1005,0.00,1.92,0.00,0.000,4,0.000,0.054,2589,3758,3857,0,0,0,0,0,0
$GC,1073,-0.61,-219.0,173.0,-15.3,143,1081,0.00,1.83,0.00,0.000,6,0.000,0.031,2590,2593,3858,0,0,0,0,0,0
$GC,1208,-0.61,-219.0,193.0,-14.7,156,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2593,3857,0,0,0,0,0,0
$GC,1335,-0.61,-219.0,211.8,-14.8,168,1339,0.00,1.88,0.00,0.000,4,0.000,0.053,2590,3761,3858,0,0,0,0,0,0
$GC,1418,-0.61,-219.0,224.5,-14.6,175,1425,0.00,1.83,0.00,0.000,6,0.000,0.031,2590,2593,3858,0,0,0,0,0,0
$GC,1552,-0.61,-219.0,243.8,-14.5,188,1556,0.00,1.88,0.00,0.000,4,0.000,0.054,2590,3763,3858,0,0,0,0,0,0
$GC,1611,-0.61,-219.0,252.5,-14.4,193,1614,0.00,1.77,0.00,0.000,6,0.000,0.031,2590,2602,3858,0,0,0,0,0,0
$GC,1813,-0.61,-219.0,280.9,-13.6,212,1817,0.00,1.88,0.00,0.000,4,0.000,0.054,2590,3769,3858,0,0,1,0,0,0
$GC,1885,-0.61,-219.0,291.3,-14.1,218,1893,0.00,1.83,0.00,0.000,6,0.000,0.031,2590,2599,3858,0,0,0,0,0,0
$GC,2084,-0.61,-219.0,316.9,-12.7,237,2087,0.00,1.85,0.00,0.000,4,0.000,0.053,2590,3760,3857,0,0,0,0,0,0
$GC,2167,-0.61,-219.0,327.8,-12.7,244,2174,0.00,1.83,0.00,0.000,6,0.000,0.031,2590,2593,3857,0,0,0,0,0,0
$GC,2365,-0.61,-219.0,352.2,-12.8,263,2369,0.00,1.88,0.00,0.000,4,0.000,0.054,2590,3767,3858,0,0,0,0,0,0
$GC,2445,-0.61,-219.0,362.5,-13.1,270,2448,0.00,1.77,0.00,0.000,6,0.000,0.031,2590,2598,3857,0,0,0,0,0,0
$GC,2648,-0.61,-219.0,388.4,-12.7,289,2651,0.00,1.85,0.00,0.000,4,0.000,0.053,2590,3760,3857,0,0,0,0,0,0
$GC,2731,-0.61,-219.0,399.8,-13.6,296,2739,0.00,1.80,0.00,0.000,6,0.000,0.031,2589,2605,3857,0,0,0,0,0,0
$GC,2929,-0.61,-219.0,425.1,-12.8,315,2933,0.00,1.88,0.00,0.000,4,0.000,0.054,2589,3754,3858,0,0,0,0,0,0
$GC,3009,-0.64,-219.0,435.4,-12.5,322,3013,0.00,1.80,0.00,0.000,6,0.000,0.031,2590,2593,3857,0,0,0,0,0,0
$GC,3212,-0.64,-219.0,460.8,-12.3,341,3215,0.00,1.85,0.00,0.000,4,0.000,0.053,2589,3759,3857,0,0,0,0,0,0
$GC,3291,-0.66,-219.0,471.0,-12.8,348,3295,0.00,1.75,0.00,0.000,6,0.000,0.031,2589,2602,3857,0,0,0,0,0,0
$GC,3496,-0.66,-219.0,496.4,-12.2,367,3500,0.00,1.85,0.00,0.000,4,0.000,0.053,2589,3768,3857,0,0,0,0,0,0
$STATE,3523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3523,begin apogee
$GC,3529,-0.16,0.0,500.4,12.7,369,3710,0.45,0.00,176.10,0.989,6,0.125,0.000,2742,2650,2960,0,0,0,0,0,0
$STATE,3711,end apogee,CONTROL_FINISHED_OK
$STATE,3711,begin climb
$GC,3713,0.84,219.0,509.4,0.0,375,3911,0.98,2.53,187.80,0.933,4,0.092,0.035,3072,1265,2066,0,0,0,0,0,0
$GC,4000,0.88,250.0,482.7,12.1,392,4033,0.00,2.40,27.88,0.894,6,0.000,0.043,3071,2645,1940,0,0,1,0,0,0
$GC,4226,0.85,250.0,452.2,13.8,413,4229,0.00,1.90,0.00,0.000,4,0.000,0.050,3072,3766,1931,0,0,0,0,0,0
$GC,4328,0.79,250.0,436.5,15.9,422,4332,0.00,1.77,0.00,0.000,6,0.000,0.031,3080,2657,1930,0,0,1,0,0,0
$GC,4531,0.75,250.0,406.4,14.7,441,4535,0.15,1.85,0.00,0.000,4,0.155,0.050,3037,3764,1929,0,0,0,0,0,0
$GC,4610,0.76,253.9,395.5,13.2,448,4613,0.00,1.77,0.00,0.000,6,0.000,0.031,3045,2649,1929,0,0,0,0,0,0
$GC,4814,0.81,281.4,370.8,12.2,467,4847,0.00,1.90,27.23,0.891,4,0.000,0.049,3044,3772,1812,0,0,0,0,0,0
$GC,4904,0.81,281.4,358.4,14.1,475,4908,0.00,1.80,0.00,0.000,6,0.000,0.031,3050,2649,1809,0,0,0,0,0,0
$GC,5108,0.85,289.9,332.2,13.0,494,5121,0.00,1.92,8.02,0.815,4,0.000,0.050,3050,3771,1778,0,0,1,0,0,0
$GC,5178,0.85,289.9,321.8,15.5,500,5181,0.00,1.77,0.00,0.000,6,0.000,0.031,3056,2649,1778,0,0,0,0,0,0
$GC,5381,0.88,294.0,294.4,13.2,519,5394,0.00,1.85,5.45,0.741,4,0.000,0.048,3057,3766,1761,0,0,0,0,0,0
$GC,5454,0.88,294.0,283.0,15.4,525,5462,0.00,1.80,0.00,0.000,6,0.000,0.031,3063,2652,1760,0,0,0,0,0,0
$GC,5653,0.88,294.0,255.9,13.8,544,5656,0.00,1.83,0.00,0.000,4,0.000,0.050,3064,3766,1760,0,0,0,0,0,0
$GC,5702,0.86,294.0,248.0,15.6,548,5709,0.00,1.80,0.00,0.000,6,0.000,0.031,3071,2644,1759,0,0,0,0,0,0
$GC,5836,0.86,294.0,228.9,14.4,561,5840,0.00,1.88,0.00,0.000,4,0.000,0.051,3071,3767,1759,0,0,0,0,0,0
$GC,5863,0.83,294.0,224.6,15.6,563,5871,0.00,1.80,0.00,0.000,6,0.000,0.031,3079,2645,1759,0,0,0,0,0,0
$GC,5997,0.83,294.0,205.3,14.7,576,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2645,1758,0,0,0,0,0,0
$GC,6125,0.83,294.0,186.8,14.4,588,6128,0.00,1.85,0.00,0.000,4,0.000,0.051,3079,3763,1758,0,0,0,0,0,0
$GC,6193,0.80,294.0,176.3,16.0,594,6197,0.00,1.73,0.00,0.000,6,0.000,0.031,3086,2651,1758,0,0,0,0,0,0
$GC,6332,0.80,294.0,156.1,14.4,607,6336,0.00,1.80,0.00,0.000,4,0.000,0.051,3086,3767,1758,0,0,1,0,0,0
$GC,6366,0.75,294.0,150.6,17.3,610,6371,0.17,1.73,0.00,0.000,6,0.150,0.031,3042,2650,1758,0,0,0,0,0,0
$GC,6507,0.84,324.5,133.2,12.1,623,6537,0.00,0.00,27.38,0.783,6,0.000,0.000,3043,2650,1637,0,0,0,0,0,0
$GC,6664,0.92,330.1,112.9,13.1,638,6677,0.15,1.85,6.07,0.689,4,0.080,0.049,3109,3766,1614,0,0,0,0,0,0
$GC,6735,0.83,330.1,99.6,21.1,644,6743,0.17,1.77,0.00,0.000,6,0.148,0.031,3068,2639,1614,0,0,0,0,0,0
$GC,6879,0.83,330.1,78.0,14.1,669,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2640,1613,0,0,0,0,0,0
$GC,7021,0.87,339.2,57.8,13.0,694,7035,0.00,1.90,9.40,0.724,4,0.000,0.052,3067,3768,1576,0,0,1,0,0,0
$GC,7059,0.91,364.0,53.3,12.3,700,7089,0.00,1.77,21.80,0.718,6,0.000,0.031,3074,2641,1477,0,0,0,0,0,0
$GC,7225,0.93,364.0,29.2,16.7,729,7231,0.00,1.85,0.00,0.000,4,0.000,0.051,3074,3766,1476,0,0,0,0,0,0
$GC,7271,0.93,364.0,21.0,18.0,737,7278,0.00,1.77,0.00,0.000,6,0.000,0.031,3081,2643,1476,0,0,0,0,0,0
$FREEZE,8.26,-1.904,-1.904,2,2,0
$STATE,7340,end climb,FINISH_DEPTH_REACHED
$STATE,7340,begin subsurface finish
$FINISH1,8.3,1.027837,-17
$GC,7346,-0.02,-16.5,8.3,-17.5,749,7401,0.85,2.33,-47.65,0.000,4,0.112,0.053,2796,1246,3029,0,0,0,0,0,0
$FINISH2,5.9
$STATE,7402,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7402,begin surface
$IRIDIUM_FIX,-7612.11,17115.95,041210,050504
$TT8_MAMPS,0.027713
$HUMID,50.74
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,19.0
$24V_AH,22.5,0.287
$10V_AH,10.0,0.121
$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,3.950,95.925,497.125,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1850.388,3483.972,531.974,1468.097,117.747,0.000,1368.440,0.000,1390.804,0.000,15.715,0.000
$DEVICE_MAMPS,171.360,53.550,989.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.169,892.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258964
$DATA_FILE_SIZE,50388,758
$CAP_FILE_SIZE,106564,0
$CFSIZE,260165632,246804480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,041210,052504,-7612.108,17115.953,0,10000.0,0,133.5