version: 66.08
glider: 503
mission: 7
dive: 74
start: 12 4 110 14 23 33
data:
$ID,503
$MISSION,7
$DIVE,74
$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,-18059.967
$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,43
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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,134.3
$AH0_10V,102.9
$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
$GPS1,041210,140756,-7655.038,17108.646,58,7.8,77,132.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-32.8
$GPS2,041210,142307,-7654.883,17108.434,31,1.1,31,132.7
$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,67.6,10107,-18.2,-13.333
$D_GRID,775
$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,-219.0,0.0,0.0,0,192,0.00,0.00,-172.70,0.000,2,0.000,0.000,187,2631,3709,0,0,0,0,0,0
$GC,194,-0.84,-219.0,3.8,-11.5,30,214,9.05,2.33,-2.88,0.000,4,0.225,0.047,2520,1185,3856,0,0,0,0,0,0
$GC,249,-0.71,-219.0,23.9,-21.3,39,257,0.20,2.38,0.00,0.000,6,0.155,0.045,2566,2611,3858,0,0,0,0,0,0
$GC,394,-0.69,-219.0,48.9,-17.8,64,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2611,3859,0,0,0,0,0,0
$GC,537,-0.67,-219.0,72.0,-16.4,89,543,0.00,1.88,0.00,0.000,4,0.000,0.052,2563,3770,3859,0,0,0,0,0,0
$GC,589,-0.67,-219.0,80.9,-17.1,98,596,0.00,1.83,0.00,0.000,6,0.000,0.030,2563,2593,3859,0,0,0,0,0,0
$GC,731,-0.67,-219.0,103.6,-15.7,121,734,0.00,1.95,0.00,0.000,4,0.000,0.053,2563,3765,3859,0,0,0,0,0,0
$GC,776,-0.65,-219.0,110.9,-16.3,125,780,0.00,1.77,0.00,0.000,6,0.000,0.031,2564,2614,3859,0,0,0,0,0,0
$GC,916,-0.65,-219.0,132.3,-15.2,138,919,0.00,1.88,0.00,0.000,4,0.000,0.053,2562,3770,3859,0,0,0,0,0,0
$GC,984,-0.65,-219.0,143.1,-16.1,144,987,0.00,1.75,0.00,0.000,6,0.000,0.030,2563,2628,3859,0,0,0,0,0,0
$GC,1123,-0.65,-219.0,164.7,-15.2,157,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2628,3859,0,0,0,0,0,0
$GC,1251,-0.65,-219.0,183.9,-14.8,169,1254,0.00,1.83,0.00,0.000,4,0.000,0.051,2563,3766,3859,0,0,0,0,0,0
$GC,1329,-0.65,-219.0,195.6,-14.4,176,1333,0.00,1.73,0.00,0.000,6,0.000,0.030,2563,2637,3859,0,0,0,0,0,0
$GC,1469,-0.65,-219.0,215.4,-14.4,189,1472,0.00,1.80,0.00,0.000,4,0.000,0.053,2563,3763,3859,0,0,0,0,0,0
$GC,1514,-0.65,-219.0,222.1,-15.1,193,1518,0.00,1.70,0.00,0.000,6,0.000,0.031,2563,2651,3859,0,0,0,0,0,0
$GC,1653,-0.65,-219.0,242.7,-15.2,206,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2651,3859,0,0,0,0,0,0
$GC,1782,-0.65,-219.0,262.3,-15.4,218,1785,0.00,1.77,0.00,0.000,4,0.000,0.052,2563,3764,3858,0,0,0,0,0,0
$GC,1839,-0.65,-219.0,271.4,-15.5,223,1842,0.00,1.67,0.00,0.000,6,0.000,0.031,2563,2662,3858,0,0,0,0,0,0
$GC,2041,-0.65,-219.0,302.9,-15.2,242,2045,0.00,1.77,0.00,0.000,4,0.000,0.054,2563,3770,3858,0,0,0,0,0,0
$GC,2102,-0.65,-219.0,312.6,-15.4,247,2109,0.00,1.70,0.00,0.000,6,0.000,0.030,2563,2680,3859,0,0,0,0,0,0
$GC,2300,-0.65,-219.0,341.7,-15.0,266,2304,0.00,1.73,0.00,0.000,4,0.000,0.052,2563,3764,3859,0,0,0,0,0,0
$GC,2334,-0.65,-219.0,346.9,-15.2,269,2338,0.00,1.65,0.00,0.000,6,0.000,0.031,2563,2681,3859,0,0,0,0,0,0
$GC,2539,-0.65,-219.0,376.0,-14.4,288,2542,0.00,1.73,0.00,0.000,4,0.000,0.052,2563,3763,3859,0,0,0,0,0,0
$GC,2587,-0.65,-219.0,383.6,-14.3,292,2595,0.00,1.67,0.00,0.000,6,0.000,0.035,2563,2698,3859,0,0,0,0,0,0
$GC,2787,-0.65,-219.0,411.2,-14.1,311,2791,0.00,1.70,0.00,0.000,4,0.000,0.052,2563,3766,3859,0,0,0,0,0,0
$GC,2833,-0.65,-219.0,418.0,-14.8,315,2836,0.00,1.65,0.00,0.000,6,0.000,0.031,2563,2679,3859,0,0,0,0,0,0
$GC,3036,-0.65,-219.0,446.5,-13.7,334,3039,0.00,1.73,0.00,0.000,4,0.000,0.053,2562,3764,3859,0,0,0,0,0,0
$GC,3093,-0.67,-219.0,454.1,-13.4,339,3096,0.00,1.65,0.00,0.000,6,0.000,0.031,2563,2679,3859,0,0,0,0,0,0
$GC,3296,-0.67,-219.0,480.4,-12.4,358,3300,0.00,1.75,0.00,0.000,4,0.000,0.053,2562,3751,3859,0,0,0,0,0,0
$GC,3353,-0.70,-219.0,487.5,-12.6,363,3356,0.00,1.60,0.00,0.000,6,0.000,0.031,2562,2721,3859,0,0,0,0,0,0
$STATE,3459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3459,begin apogee
$GC,3464,-0.16,0.0,501.3,13.0,373,3651,0.52,0.00,177.10,0.990,4,0.125,0.000,2739,2650,2959,0,0,0,0,0,0
$STATE,3652,end apogee,CONTROL_FINISHED_OK
$STATE,3652,begin climb
$GC,3654,0.84,219.0,510.3,0.0,379,3853,1.02,2.38,187.95,0.939,4,0.086,0.034,3073,1257,2066,0,0,0,0,0,0
$GC,4012,0.80,219.0,474.6,13.5,400,4016,0.00,2.40,0.00,0.000,6,0.000,0.042,3073,2648,2054,0,0,0,0,0,0
$GC,4210,0.72,219.0,444.5,15.3,418,4215,0.15,2.33,0.00,0.000,4,0.158,0.037,3042,1261,2050,0,0,0,0,0,0
$GC,4362,0.76,250.9,426.0,12.0,431,4396,0.00,2.35,26.58,0.903,6,0.000,0.044,3042,2669,1937,0,0,1,0,0,0
$GC,4586,0.77,263.9,397.3,12.8,452,4602,0.00,1.83,12.12,0.861,4,0.000,0.050,3042,3763,1883,0,0,0,0,0,0
$GC,4675,0.74,263.9,383.8,14.8,459,4682,0.00,1.77,0.00,0.000,6,0.000,0.031,3049,2682,1881,0,0,0,0,0,0
$GC,4874,0.74,263.9,356.0,14.2,478,4878,0.00,1.77,0.00,0.000,4,0.000,0.050,3049,3764,1879,0,0,0,0,0,0
$GC,4919,0.69,263.9,348.6,16.0,482,4923,0.12,1.70,0.00,0.000,6,0.157,0.031,3022,2686,1878,0,0,0,0,0,0
$GC,5123,0.75,291.5,323.4,12.2,501,5152,0.00,0.00,24.95,0.870,6,0.000,0.000,3023,2686,1771,0,0,0,0,0,0
$GC,5345,0.86,334.5,297.3,11.6,522,5391,0.15,1.88,38.55,0.850,4,0.081,0.051,3099,3763,1596,0,0,1,0,0,0
$GC,5427,0.77,334.5,282.8,19.7,529,5431,0.20,1.70,0.00,0.000,6,0.143,0.031,3050,2693,1594,0,0,1,0,0,0
$GC,5631,0.83,355.4,255.4,12.5,548,5651,0.00,0.00,18.75,0.819,6,0.000,0.000,3050,2692,1511,0,0,0,0,0,0
$GC,5841,0.88,355.4,227.6,13.7,568,5843,0.10,0.00,0.00,0.000,6,0.101,0.000,3102,2692,1507,0,0,0,0,0,0
$GC,5968,0.85,355.4,204.7,18.9,580,5972,0.00,1.75,0.00,0.000,4,0.000,0.050,3102,3763,1507,0,0,0,0,0,0
$GC,6014,0.78,355.4,195.2,21.6,584,6018,0.20,1.70,0.00,0.000,6,0.140,0.032,3051,2687,1506,0,0,0,0,0,0
$GC,6153,0.83,355.4,173.9,14.1,597,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2686,1505,0,0,0,0,0,0
$GC,6280,0.89,355.4,154.7,15.2,609,6282,0.10,0.00,0.00,0.000,6,0.103,0.000,3103,2686,1504,0,0,0,0,0,0
$GC,6408,0.84,355.4,129.3,21.1,621,6412,0.12,1.75,0.00,0.000,4,0.151,0.050,3068,3766,1504,0,0,1,0,0,0
$GC,6441,0.84,355.4,122.3,20.3,624,6445,0.00,1.65,0.00,0.000,6,0.000,0.031,3075,2700,1504,0,0,0,0,0,0
$GC,6576,0.84,355.4,98.0,18.3,637,6582,0.00,2.33,0.00,0.000,4,0.000,0.037,3085,1248,1503,0,0,0,0,0,0
$GC,6618,0.88,355.4,91.7,15.2,644,6625,0.00,2.38,0.00,0.000,6,0.000,0.044,3085,2694,1503,0,0,0,0,0,0
$GC,6760,0.88,355.4,67.9,15.4,669,6767,0.00,1.75,0.00,0.000,4,0.000,0.052,3085,3786,1503,0,0,0,0,0,0
$GC,6802,0.84,355.4,60.3,19.0,676,6808,0.00,1.75,0.00,0.000,6,0.000,0.032,3094,2687,1502,0,0,0,0,0,0
$GC,6946,0.81,355.4,35.4,16.4,701,6953,0.12,2.30,0.00,0.000,4,0.165,0.038,3070,1242,1503,0,0,0,0,0,0
$GC,6971,0.84,355.4,30.9,16.7,705,6978,0.00,2.35,0.00,0.000,6,0.000,0.044,3070,2681,1503,0,0,0,0,0,0
$GC,7114,0.84,355.4,9.9,14.1,730,7121,0.00,1.75,0.00,0.000,4,0.000,0.050,3070,3778,1503,0,0,0,0,0,0
$FREEZE,7.57,-1.903,-1.904,2,1,0
$STATE,7127,end climb,FINISH_DEPTH_REACHED
$STATE,7127,begin subsurface finish
$FINISH1,7.6,1.027849,-17
$GC,7135,-0.02,-17.1,7.6,-16.2,732,7194,0.82,0.00,-50.92,0.000,6,0.111,0.000,2795,2650,3033,0,0,0,0,0,0
$FINISH2,5.1
$STATE,7194,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7194,begin surface
$IRIDIUM_FIX,-7612.11,17105.10,041210,141459
$TT8_MAMPS,0.026964
$HUMID,50.98
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,19.4
$24V_AH,22.5,0.711
$10V_AH,10.0,0.299
$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,12.900,89.975,486.000,0.000,0.000,56.508,114.497,461.432,2.000,0.000,34.225,1765.375,3388.215,634.304,2055.750,264.059,0.000,1465.572,0.000,1330.525,0.000,12.904,0.000
$DEVICE_MAMPS,224.910,133.875,989.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.578,880.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258928
$DATA_FILE_SIZE,47097,742
$CAP_FILE_SIZE,117770,0
$CFSIZE,260165632,246620160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,041210,142307,-7654.883,17108.434,31,1.1,31,132.7