version: 66.08
glider: 503
mission: 7
dive: 78
start: 12 4 110 22 52 23
data:
$ID,503
$MISSION,7
$DIVE,78
$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,-18429.348
$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,2780
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,24
$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
$GPS1,041210,142307,-7654.883,17108.434,181,99.0,181,132.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-57.0
$GPS2,041210,142307,-7654.883,17108.434,181,99.0,181,132.7
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.84,-219.0,0.0,0.0,0,170,0.00,0.00,-149.38,0.000,2,0.000,0.000,156,2577,3412,0,0,0,0,0,0
$GC,172,-0.84,-219.0,3.4,-7.2,26,198,9.05,1.90,-9.77,0.000,4,0.222,0.045,2521,1381,3856,0,0,0,0,0,0
$GC,262,-0.74,-219.0,26.8,-21.8,41,270,0.17,2.33,0.00,0.000,6,0.151,0.045,2558,2784,3858,0,0,0,0,0,0
$GC,407,-0.71,-219.0,49.5,-14.2,66,414,0.00,1.60,0.00,0.000,4,0.000,0.051,2552,3760,3858,0,0,0,0,0,0
$GC,455,-0.66,-219.0,56.0,-13.9,74,462,0.08,1.52,0.00,0.000,6,0.141,0.031,2578,2797,3858,0,0,0,0,0,0
$GC,599,-0.66,-219.0,79.1,-16.5,99,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2797,3859,0,0,0,0,0,0
$GC,739,-0.66,-219.0,98.2,-13.5,124,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2797,3859,0,0,0,0,0,0
$GC,873,-0.66,-219.0,116.5,-14.0,138,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2797,3859,0,0,0,0,0,0
$GC,1001,-0.66,-219.0,135.2,-14.5,150,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2797,3859,0,0,0,0,0,0
$GC,1128,-0.66,-219.0,153.3,-13.7,162,1132,0.00,1.58,0.00,0.000,4,0.000,0.052,2572,3754,3859,0,0,0,0,0,0
$GC,1166,-0.66,-219.0,159.1,-15.3,165,1174,0.00,1.52,0.00,0.000,6,0.000,0.030,2571,2775,3859,0,0,0,0,0,0
$GC,1301,-0.66,-219.0,177.3,-13.5,178,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2775,3859,0,0,0,0,0,0
$GC,1428,-0.66,-219.0,194.3,-13.5,190,1432,0.00,1.62,0.00,0.000,4,0.000,0.051,2564,3794,3859,0,0,0,0,0,0
$GC,1466,-0.66,-219.0,200.0,-15.1,193,1474,0.00,1.58,0.00,0.000,6,0.000,0.030,2564,2789,3859,0,0,0,0,0,0
$GC,1600,-0.66,-219.0,219.5,-14.5,206,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2789,3859,0,0,0,0,0,0
$GC,1728,-0.66,-219.0,237.9,-14.4,218,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2788,3858,0,0,0,0,0,0
$GC,1855,-0.66,-219.0,255.8,-14.2,230,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2789,3858,0,0,0,0,0,0
$GC,2048,-0.66,-219.0,282.3,-13.5,248,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2789,3858,0,0,0,0,0,0
$GC,2238,-0.66,-219.0,307.7,-13.3,266,2242,0.00,1.60,0.00,0.000,4,0.000,0.052,2563,3769,3858,0,0,0,0,0,0
$GC,2272,-0.66,-219.0,312.3,-13.6,269,2276,0.00,1.52,0.00,0.000,6,0.000,0.031,2563,2792,3858,0,0,0,0,0,0
$GC,2478,-0.68,-219.0,339.0,-12.8,288,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2792,3858,0,0,0,0,0,0
$GC,2677,-0.71,-219.0,364.8,-12.6,307,2680,0.00,1.58,0.00,0.000,4,0.000,0.052,2563,3758,3858,0,0,0,0,0,0
$GC,2723,-0.75,-219.0,370.9,-13.1,311,2726,0.00,1.50,0.00,0.000,6,0.000,0.031,2563,2795,3858,0,0,0,0,0,0
$GC,2926,-0.78,-219.0,396.9,-12.8,330,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2795,3858,0,0,0,0,0,0
$GC,3119,-0.81,-219.0,421.2,-12.5,348,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2795,3858,0,0,0,0,0,0
$GC,3308,-0.84,-219.0,445.2,-12.8,366,3312,0.00,1.58,0.00,0.000,4,0.000,0.052,2563,3763,3858,0,0,0,0,0,0
$GC,3358,-0.89,-219.0,451.8,-12.5,370,3366,0.10,1.50,0.00,0.000,6,0.072,0.031,2508,2800,3858,0,0,0,0,0,0
$GC,3557,-0.83,-219.0,483.8,-16.6,389,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2800,3858,0,0,0,0,0,0
$STATE,3652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3652,begin apogee
$GC,3657,-0.16,0.0,500.2,17.2,398,3844,0.70,0.00,176.80,0.991,4,0.132,0.000,2739,2685,2959,0,0,0,0,0,0
$STATE,3844,end apogee,CONTROL_FINISHED_OK
$STATE,3845,begin climb
$GC,3847,0.84,219.0,510.3,0.0,404,4045,0.95,0.00,187.80,0.941,6,0.080,0.000,3062,2685,2065,0,0,0,0,0,0
$GC,4235,0.76,219.0,467.7,14.5,429,4239,0.00,1.85,0.00,0.000,4,0.000,0.048,3062,3762,2054,0,0,0,0,0,0
$GC,4296,0.63,219.0,457.2,17.2,434,4304,0.20,1.73,0.00,0.000,6,0.135,0.031,3009,2724,2052,0,0,1,0,0,0
$GC,4497,0.71,279.3,434.8,10.9,453,4558,0.00,1.85,51.92,0.909,4,0.000,0.052,3009,3760,1821,0,0,1,0,0,0
$GC,4585,0.72,293.0,424.2,12.8,461,4604,0.00,1.75,13.50,0.848,6,0.000,0.031,3014,2713,1765,0,0,1,0,0,0
$GC,4797,0.83,340.5,400.5,11.4,481,4845,0.15,0.00,42.95,0.889,6,0.083,0.000,3089,2712,1571,0,0,0,0,0,0
$GC,5039,0.80,340.5,359.4,17.4,504,5043,0.12,1.77,0.00,0.000,4,0.152,0.050,3055,3764,1565,0,0,1,0,0,0
$GC,5065,0.78,340.5,354.2,16.5,506,5072,0.00,1.70,0.00,0.000,6,0.000,0.031,3062,2726,1565,0,0,1,0,0,0
$GC,5263,0.78,340.5,325.9,14.2,525,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2727,1563,0,0,0,0,0,0
$GC,5454,0.78,340.5,298.5,14.1,543,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2727,1562,0,0,0,0,0,0
$GC,5645,0.78,340.5,270.8,15.0,561,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2727,1562,0,0,0,0,0,0
$GC,5836,0.78,340.5,243.5,13.9,579,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2726,1562,0,0,0,0,0,0
$GC,5964,0.78,340.5,225.4,14.2,591,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2727,1561,0,0,0,0,0,0
$GC,6091,0.78,340.5,207.2,14.3,603,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2727,1562,0,0,0,0,0,0
$GC,6219,0.78,340.5,188.9,15.0,615,6222,0.00,1.67,0.00,0.000,4,0.000,0.050,3062,3765,1561,0,0,0,0,0,0
$GC,6253,0.78,340.5,183.5,16.5,618,6257,0.00,1.65,0.00,0.000,6,0.000,0.032,3068,2702,1561,0,0,0,0,0,0
$GC,6392,0.78,340.5,160.7,16.7,631,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2701,1561,0,0,0,0,0,0
$GC,6520,0.78,340.5,140.2,15.8,643,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2701,1560,0,0,0,0,0,0
$GC,6647,0.78,340.5,119.6,16.2,655,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2701,1560,0,0,0,0,0,0
$GC,6775,0.78,340.5,100.0,15.4,667,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2701,1560,0,0,0,0,0,0
$GC,6909,0.78,340.5,79.7,15.9,690,6916,0.00,1.75,0.00,0.000,4,0.000,0.050,3068,3787,1560,0,0,0,0,0,0
$GC,6945,0.74,340.5,73.6,17.8,696,6953,0.08,1.67,0.00,0.000,6,0.139,0.031,3037,2732,1560,0,0,0,0,0,0
$GC,7089,0.79,340.5,53.7,13.5,721,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2732,1560,0,0,0,0,0,0
$GC,7232,0.84,340.5,32.2,15.5,746,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2732,1560,0,0,0,0,0,0
$FREEZE,8.29,-1.893,-1.904,2,1,0
$FREEZE,6.40,-1.892,-1.903,2,1,0
$FREEZE,4.78,-1.891,-1.902,2,1,0
$FREEZE,2.99,-1.888,-1.900,2,1,0
$GC,7375,0.98,413.8,14.0,10.3,771,7430,0.22,0.00,52.58,0.705,2,0.064,0.000,3135,2731,1300,0,0,0,0,0,0
$STATE,7431,end climb,SURFACE_DEPTH_REACHED
$STATE,7431,begin surface coast
$FREEZE,0.27,-1.884,-1.898,2,1,0
$FREEZE,-0.03,-2.310,-0.915,2,1,0
$FINISH,-0.0,1.013465
$STATE,7444,end surface coast,FINISH_DEPTH_REACHED
$STATE,7444,begin surface
$SM_CCo,7460,111.38,0.100,0,0,445,616.92
$SM_GC,0.55,0.00,0.00,111.38,0.000,0.000,0.100,195,2808,445,-8.14,0.79,616.92
$IRIDIUM_FIX,-7612.11,17105.10,041210,222214
$TT8_MAMPS,0.027713
$HUMID,49.05
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,20.5
$24V_AH,22.5,1.283
$10V_AH,10.0,0.534
$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,19.900,40.550,525.550,111.375,0.000,56.745,76.033,540.031,1.750,0.000,183.620,1820.528,3677.365,727.394,2204.297,251.423,0.000,1503.543,0.000,1267.147,0.000,12.907,0.000
$DEVICE_MAMPS,221.850,90.270,991.440,100.215,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.759,936.120,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258996
$DATA_FILE_SIZE,50374,781
$CAP_FILE_SIZE,114135,0
$CFSIZE,260165632,246394880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,051210,010044,-7659.942,17055.521,70,7.9,89,133.3