version: 66.08
glider: 503
mission: 7
dive: 17
start: 11 30 110 8 48 57
data:
$ID,503
$MISSION,7
$DIVE,17
$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,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,-16945.062
$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,39
$R_STBD_OVSHOOT,20
$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
$GPS1,291110,085438,-7726.121,16929.959,181,99.0,181,137.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,87.54
$_SM_ANGLEo,-2.4
$GPS2,291110,085438,-7726.121,16929.959,181,99.0,181,137.2
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,26,0.00,0.00,-9.23,0.000,2,0.000,0.000,2940,1964,2204,0,0,0,0,0,0
$GC,29,-0.84,-219.0,87.6,-0.0,1,50,0.75,2.42,-12.05,0.000,4,0.073,0.065,2669,3391,3861,0,0,0,0,0,0
$GC,295,-1.26,-219.0,110.3,-9.3,40,300,0.40,2.28,0.00,0.000,6,0.099,0.032,2535,1975,3863,0,0,0,0,0,0
$GC,430,-1.26,-219.0,127.9,-14.3,52,434,0.00,2.35,0.00,0.000,4,0.000,0.050,2533,3396,3863,0,0,0,0,0,0
$GC,645,-1.26,-219.0,160.9,-14.7,71,654,0.00,2.28,0.00,0.000,6,0.000,0.031,2533,1982,3862,0,0,0,0,0,0
$GC,781,-1.26,-219.0,180.4,-14.3,84,785,0.00,2.30,0.00,0.000,4,0.000,0.049,2534,3392,3862,0,0,0,0,0,0
$GC,930,-1.26,-219.0,203.7,-15.2,97,934,0.00,2.25,0.00,0.000,6,0.000,0.031,2533,1969,3862,0,0,0,0,0,0
$GC,1065,-1.26,-219.0,224.1,-14.5,109,1069,0.00,2.33,0.00,0.000,4,0.000,0.049,2534,3395,3863,0,0,0,0,0,0
$GC,1193,-1.26,-219.0,244.2,-15.5,120,1202,0.00,2.28,0.00,0.000,6,0.000,0.031,2533,1975,3862,0,0,0,0,0,0
$GC,1328,-1.26,-219.0,262.4,-13.6,133,1332,0.00,2.30,0.00,0.000,4,0.000,0.050,2534,3392,3862,0,0,1,0,0,0
$GC,1471,-1.26,-219.0,283.4,-14.2,145,1475,0.00,2.22,0.00,0.000,6,0.000,0.031,2533,1970,3863,0,0,0,0,0,0
$GC,1668,-1.26,-219.0,311.0,-13.4,163,1672,0.00,2.30,0.00,0.000,4,0.000,0.050,2534,3392,3863,0,0,0,0,0,0
$GC,1879,-1.26,-219.0,341.6,-14.7,181,1887,0.00,2.25,0.00,0.000,6,0.000,0.031,2533,1975,3863,0,0,0,0,0,0
$GC,2078,-1.26,-219.0,368.7,-13.2,200,2082,0.00,2.30,0.00,0.000,4,0.000,0.050,2534,3393,3862,0,0,0,0,0,0
$GC,2267,-1.26,-219.0,395.6,-13.9,216,2274,0.00,2.25,0.00,0.000,6,0.000,0.031,2533,1975,3862,0,0,0,0,0,0
$STATE,2305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2305,begin apogee
$GC,2309,-0.16,0.0,400.7,13.9,220,2495,1.05,0.00,175.62,0.925,6,0.118,0.000,2886,1974,2959,0,0,0,0,0,0
$STATE,2496,end apogee,CONTROL_FINISHED_OK
$STATE,2496,begin climb
$GC,2497,0.84,219.0,409.8,0.0,237,2695,0.93,2.50,184.18,0.876,4,0.058,0.041,3226,576,2065,0,0,0,0,0,0
$GC,2752,0.56,219.0,376.2,24.6,260,2757,0.40,2.40,0.00,0.000,6,0.174,0.040,3124,1984,2057,0,0,0,0,0,0
$GC,2950,0.38,219.0,338.4,18.7,278,2955,0.22,2.35,0.00,0.000,4,0.156,0.045,3061,3388,2052,0,0,0,0,0,0
$GC,3207,0.26,219.0,294.6,16.4,300,3215,0.17,2.30,0.00,0.000,6,0.168,0.033,3025,1971,2048,0,0,0,0,0,0
$GC,3407,0.30,255.5,270.3,11.8,319,3443,0.00,2.47,29.42,0.832,4,0.000,0.049,3024,3386,1918,0,0,0,0,0,0
$GC,3695,0.30,269.7,233.0,12.8,345,3712,0.00,2.28,12.70,0.800,6,0.000,0.034,3034,1975,1860,0,0,0,0,0,0
$GC,3844,0.33,294.3,214.8,12.3,358,3872,0.00,2.45,22.73,0.803,4,0.000,0.049,3034,3389,1760,0,0,0,0,0,0
$GC,4110,0.33,294.3,176.5,14.6,382,4120,0.00,2.33,0.00,0.000,6,0.000,0.033,3044,1973,1754,0,0,0,0,0,0
$GC,4248,0.33,294.3,158.4,13.6,395,4252,0.00,2.33,0.00,0.000,4,0.000,0.048,3044,3388,1753,0,0,0,0,0,0
$GC,4410,0.30,294.3,133.0,15.1,409,4419,0.00,2.30,0.00,0.000,6,0.000,0.033,3051,1977,1752,0,0,0,0,0,0
$GC,4546,0.30,294.3,114.7,13.5,422,4550,0.00,2.30,0.00,0.000,4,0.000,0.048,3051,3389,1752,0,0,0,0,0,0
$GC,4719,0.28,294.3,87.7,15.3,444,4727,0.00,2.28,0.00,0.000,6,0.000,0.034,3051,1982,1750,0,0,0,0,0,0
$GC,4860,1.04,624.3,87.6,-0.2,469,4868,0.60,0.00,5.07,0.679,2,0.076,0.000,3273,1981,1735,0,0,0,0,0,0
$STATE,4869,end climb,NO_VERTICAL_VELOCITY
$STATE,4869,begin subsurface finish
$SM_CCo,4870,258.98,0.707,0,0,444,616.92
$FINISH1,87.7,1.027828,-16
$GC,5294,-0.02,-16.1,87.7,0.0,470,5304,1.00,0.00,-6.05,0.000,2,0.080,0.000,2934,1981,1204,0,0,0,0,0,0
$FINISH2,87.7
$STATE,5305,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5305,begin surface
$IRIDIUM_FIX,-7639.69,16935.54,291110,080851
$TT8_MAMPS,0.026964
$HUMID,51.14
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.00
$XPDR_PINGS,1
$24V_AH,23.1,39.287
$10V_AH,10.1,59.295
$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,5.525,60.375,429.725,258.975,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1177.124,2044.593,663.810,1391.638,79.478,0.000,1287.467,0.000,1045.956,0.000,7.850,0.000
$DEVICE_MAMPS,174.420,65.025,924.885,706.860,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.300,557.837,634.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30405,471
$CAP_FILE_SIZE,70797,0
$CFSIZE,260165632,249655296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,291110,085438,-7726.121,16929.959,181,99.0,181,137.2