version: 66.08
glider: 503
mission: 7
dive: 2
start: 11 29 110 10 42 1
data:
$ID,503
$MISSION,7
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,7
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,10
$T_DIVE,100
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$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,606.91943
$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,-16575.584
$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,2940
$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,1975
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,29
$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,49
$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
$GPS1,291110,085438,-7726.121,16929.959,10,1.5,10,137.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,43.69
$_SM_ANGLEo,3.6
$GPS2,291110,085438,-7726.121,16929.959,10,1.5,10,137.2
$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,260.6,61216,-18.2,-13.333
$D_GRID,491
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-9.07,0.000,2,0.000,0.000,2934,1974,1665,0,0,0,0,0,0
$GC,28,-0.84,-219.0,43.8,-0.0,1,62,0.73,2.38,-22.58,0.000,4,0.074,0.064,2660,3391,3860,0,0,0,0,0,0
$GC,309,-1.26,-219.0,67.9,-9.1,51,317,0.35,2.20,0.00,0.000,6,0.085,0.032,2533,1969,3869,0,0,0,0,0,0
$GC,450,-1.26,-219.0,85.4,-14.3,76,458,0.00,2.30,0.00,0.000,4,0.000,0.049,2522,3384,3873,0,0,0,0,0,0
$GC,705,-1.26,-219.0,127.5,-16.6,107,709,0.00,2.15,0.00,0.000,6,0.000,0.032,2522,1976,3875,0,0,0,0,0,0
$GC,840,-1.26,-219.0,148.8,-15.4,119,844,0.00,2.25,0.00,0.000,4,0.000,0.050,2512,3392,3875,0,0,0,0,0,0
$GC,1033,-1.26,-219.0,182.6,-16.6,136,1043,0.00,2.20,0.00,0.000,6,0.000,0.032,2512,1982,3875,0,0,0,0,0,0
$GC,1169,-1.26,-219.0,204.6,-16.4,149,1173,0.00,2.22,0.00,0.000,4,0.000,0.049,2502,3392,3875,0,0,0,0,0,0
$GC,1319,-1.23,-219.0,232.4,-19.0,162,1324,0.15,2.17,0.00,0.000,6,0.142,0.032,2546,1967,3875,0,0,0,0,0,0
$GC,1454,-1.28,-219.0,253.2,-14.9,174,1458,0.00,2.25,0.00,0.000,4,0.000,0.049,2535,3394,3875,0,0,0,0,0,0
$GC,1589,-1.32,-219.0,275.1,-16.4,185,1595,0.00,2.17,0.00,0.000,6,0.000,0.031,2536,1965,3874,0,0,0,0,0,0
$GC,1786,-1.36,-219.0,306.6,-16.1,204,1790,0.00,2.25,0.00,0.000,4,0.000,0.050,2535,3390,3874,0,0,0,0,0,0
$GC,1999,-1.38,-219.0,343.4,-16.8,222,2007,0.08,2.20,0.00,0.000,6,0.068,0.031,2486,1976,3874,0,0,0,0,0,0
$GC,2198,-1.34,-219.0,380.9,-19.1,241,2202,0.00,2.22,0.00,0.000,4,0.000,0.050,2482,3389,3874,0,0,0,0,0,0
$STATE,2293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2293,begin apogee
$GC,2299,-0.16,0.0,400.6,20.3,249,2484,1.20,0.00,176.40,0.933,6,0.122,0.000,2887,1968,2960,0,0,0,0,0,0
$STATE,2485,end apogee,CONTROL_FINISHED_OK
$STATE,2485,begin climb
$GC,2486,0.84,219.0,415.0,0.0,266,2676,0.88,2.35,181.40,0.887,4,0.050,0.042,3226,566,2066,0,0,0,0,0,0
$GC,2771,0.55,219.0,382.7,22.0,291,2778,0.40,2.28,0.00,0.000,6,0.168,0.039,3118,1974,2055,0,0,0,0,0,0
$GC,2969,0.39,219.0,349.2,16.6,310,2974,0.17,2.28,0.00,0.000,4,0.164,0.047,3069,3388,2052,0,0,0,0,0,0
$GC,3226,0.25,219.0,309.8,14.6,332,3235,0.17,2.28,0.00,0.000,6,0.146,0.034,3022,1972,2049,0,0,0,0,0,0
$GC,3426,0.35,300.4,289.6,10.0,351,3502,0.00,2.40,66.10,0.849,4,0.000,0.044,3032,564,1733,0,0,0,0,0,0
$GC,3604,0.50,363.5,270.4,10.7,367,3663,0.20,2.28,52.53,0.819,6,0.075,0.040,3116,1975,1478,0,0,0,0,0,0
$GC,3863,0.45,363.5,226.4,18.1,391,3867,0.00,2.28,0.00,0.000,4,0.000,0.044,3126,561,1469,0,0,0,0,0,0
$GC,3979,0.43,363.5,206.1,17.7,401,3984,0.17,2.28,0.00,0.000,6,0.142,0.041,3076,1981,1466,0,0,0,0,0,0
$GC,4116,0.45,363.5,186.4,14.5,413,4120,0.00,2.25,0.00,0.000,4,0.000,0.047,3075,3386,1466,0,0,0,0,0,0
$GC,4319,0.43,363.5,152.9,15.7,431,4324,0.00,2.20,0.00,0.000,6,0.000,0.034,3085,1971,1463,0,0,0,0,0,0
$GC,4456,0.43,363.5,131.3,16.0,443,4460,0.00,2.28,0.00,0.000,4,0.000,0.048,3085,3392,1463,0,0,0,0,0,0
$GC,4636,0.37,363.5,97.2,20.0,460,4645,0.10,2.25,0.00,0.000,6,0.144,0.034,3062,1980,1463,0,0,0,0,0,0
$GC,4777,0.37,368.3,75.9,13.1,485,4784,0.00,2.25,0.00,0.000,4,0.000,0.047,3061,3388,1463,0,0,0,0,0,0
$GC,5029,1.01,679.5,54.7,0.6,531,5046,0.55,2.20,10.10,0.748,2,0.063,0.034,3280,1972,1422,0,0,0,0,0,0
$STATE,5046,end climb,NO_VERTICAL_VELOCITY
$STATE,5047,begin subsurface finish
$SM_CCo,5048,193.52,0.698,0,0,445,616.92
$FINISH1,55.1,1.027839,-17
$GC,5404,-0.02,-16.6,55.1,0.2,533,5413,0.98,0.00,-4.75,0.000,2,0.077,0.000,2936,1969,894,0,0,0,0,0,0
$FINISH2,54.9
$STATE,5413,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5413,begin surface
$IRIDIUM_FIX,-7639.69,16925.85,291110,080855
$TT8_MAMPS,0.026964
$HUMID,59.68
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,14.20
$XPDR_PINGS,1
$24V_AH,23.7,36.907
$10V_AH,10.1,58.360
$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,6.125,63.025,486.525,193.525,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1294.542,1967.017,647.509,1477.412,78.790,0.000,1300.890,0.000,1099.392,0.000,7.849,0.000
$DEVICE_MAMPS,168.300,64.260,932.535,697.680,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.171,656.283,679.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,277352
$DATA_FILE_SIZE,36960,534
$CAP_FILE_SIZE,74870,0
$CFSIZE,260165632,250273792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,085438,-7726.121,16929.959,10,1.5,10,137.2