version: 66.08
glider: 503
mission: 7
dive: 21
start: 11 30 110 14 39 23
data:
$ID,503
$MISSION,7
$DIVE,21
$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,35
$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,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,88.84
$_SM_ANGLEo,6.1
$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,-9.05,0.000,2,0.000,0.000,2932,1968,2204,0,0,0,0,0,0
$GC,28,-0.84,-219.0,88.8,-0.0,1,48,0.75,0.00,-11.98,0.000,6,0.090,0.000,2674,1969,3863,0,0,0,0,0,0
$GC,182,-1.26,-219.0,99.9,-9.1,28,191,0.40,2.40,0.00,0.000,4,0.096,0.048,2534,3379,3864,0,0,0,0,0,0
$GC,275,-1.24,-219.0,111.6,-16.3,37,279,0.00,2.25,0.00,0.000,6,0.000,0.031,2534,1973,3865,0,0,0,0,0,0
$GC,410,-1.24,-219.0,131.8,-14.3,49,414,0.00,2.33,0.00,0.000,4,0.000,0.050,2534,3382,3865,0,0,0,0,0,0
$GC,547,-1.24,-219.0,152.7,-15.8,61,552,0.00,2.25,0.00,0.000,6,0.000,0.031,2533,1970,3864,0,0,0,0,0,0
$GC,682,-1.24,-219.0,173.1,-14.8,73,686,0.00,2.33,0.00,0.000,4,0.000,0.050,2534,3384,3864,0,0,0,0,0,0
$GC,810,-1.24,-219.0,193.1,-15.8,84,819,0.00,2.28,0.00,0.000,6,0.000,0.031,2533,1977,3864,0,0,0,0,0,0
$GC,946,-1.24,-219.0,212.3,-14.4,97,950,0.00,2.30,0.00,0.000,4,0.000,0.049,2533,3385,3865,0,0,0,0,0,0
$GC,1095,-1.24,-219.0,234.6,-15.6,110,1100,0.00,2.22,0.00,0.000,6,0.000,0.031,2534,1969,3864,0,0,0,0,0,0
$GC,1230,-1.24,-219.0,253.7,-14.1,122,1234,0.00,2.30,0.00,0.000,4,0.000,0.050,2533,3383,3865,0,0,0,0,0,0
$GC,1363,-1.24,-219.0,273.7,-14.5,133,1371,0.00,2.25,0.00,0.000,6,0.000,0.031,2533,1978,3865,0,0,0,0,0,0
$GC,1562,-1.24,-219.0,301.0,-13.9,152,1567,0.00,2.28,0.00,0.000,4,0.000,0.049,2533,3385,3864,0,0,0,0,0,0
$GC,1774,-1.24,-219.0,333.2,-15.1,170,1782,0.00,2.25,0.00,0.000,6,0.000,0.031,2534,1973,3864,0,0,0,0,0,0
$GC,1973,-1.24,-219.0,360.4,-13.6,189,1977,0.00,2.28,0.00,0.000,4,0.000,0.049,2533,3385,3864,0,0,0,0,0,0
$GC,2171,-1.24,-219.0,389.2,-14.1,206,2175,0.00,2.20,0.00,0.000,6,0.000,0.031,2534,1969,3864,0,0,0,0,0,0
$STATE,2251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2251,begin apogee
$GC,2255,-0.16,0.0,400.5,13.6,213,2440,1.05,0.00,175.32,0.923,6,0.119,0.000,2884,1967,2962,0,0,0,0,0,0
$STATE,2441,end apogee,CONTROL_FINISHED_OK
$STATE,2441,begin climb
$GC,2442,0.84,219.0,409.6,0.0,230,2640,0.93,2.47,184.73,0.874,4,0.054,0.041,3229,580,2065,0,0,0,0,0,0
$GC,2791,0.56,219.0,352.8,24.4,261,2799,0.40,2.38,0.00,0.000,6,0.172,0.039,3125,1995,2054,0,0,0,0,0,0
$GC,2990,0.38,219.0,314.3,18.9,280,2995,0.22,2.35,0.00,0.000,4,0.159,0.045,3063,3392,2051,0,0,0,0,0,0
$GC,3247,0.26,219.0,270.0,16.7,302,3255,0.17,2.28,0.00,0.000,6,0.166,0.032,3025,1985,2047,0,0,0,0,0,0
$GC,3446,0.29,245.4,245.4,12.3,321,3473,0.00,2.42,20.85,0.818,4,0.000,0.048,3025,3385,1959,0,0,0,0,0,0
$GC,3718,0.26,245.4,207.2,13.9,345,3727,0.00,2.33,0.00,0.000,6,0.000,0.034,3033,1972,1952,0,0,0,0,0,0
$GC,3855,0.28,262.9,190.1,12.6,358,3881,0.00,2.40,15.50,0.794,4,0.000,0.049,3033,3377,1887,0,0,0,0,0,0
$GC,4059,0.24,262.9,161.9,14.0,376,4063,0.00,2.25,0.00,0.000,6,0.000,0.034,3043,1975,1884,0,0,0,0,0,0
$GC,4194,0.26,281.0,144.4,12.6,388,4220,0.00,2.40,16.67,0.773,4,0.000,0.049,3043,3380,1814,0,0,0,0,0,0
$GC,4387,0.22,281.0,115.6,16.4,405,4392,0.15,2.25,0.00,0.000,6,0.162,0.034,3010,1977,1810,0,0,0,0,0,0
$GC,4524,0.36,347.3,99.4,10.6,417,4591,0.15,2.45,57.05,0.737,4,0.090,0.046,3071,3389,1542,0,0,0,0,0,0
$STATE,4748,end climb,NO_VERTICAL_VELOCITY
$STATE,4748,begin subsurface finish
$SM_CCo,4750,217.43,0.697,0,0,444,616.92
$FINISH1,88.2,1.027836,-16
$GC,5133,-0.02,-16.5,88.2,0.0,456,5143,0.40,0.00,-6.65,0.000,2,0.096,0.000,2936,1976,1287,0,0,0,0,0,0
$FINISH2,88.1
$STATE,5143,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5144,begin surface
$IRIDIUM_FIX,-7639.69,16935.54,291110,080851
$TT8_MAMPS,0.026964
$HUMID,50.39
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.1,39.915
$10V_AH,10.1,59.539
$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,4.625,60.275,470.125,217.425,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1121.556,2007.203,649.408,1342.270,72.725,0.000,1265.162,0.000,999.031,0.000,7.847,0.000
$DEVICE_MAMPS,172.125,50.490,922.590,696.915,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.434,545.669,628.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30409,457
$CAP_FILE_SIZE,69160,0
$CFSIZE,260165632,249499648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,085438,-7726.121,16929.959,181,99.0,181,137.2