version: 66.08
glider: 503
mission: 7
dive: 22
start: 11 30 110 16 6 33
data:
$ID,503
$MISSION,7
$DIVE,22
$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,30
$R_STBD_OVSHOOT,26
$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,88.22
$_SM_ANGLEo,5.7
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-8.35,0.000,2,0.000,0.000,2936,1977,2351,0,0,0,0,0,0
$GC,27,-0.84,-219.0,88.1,-0.0,1,48,0.77,2.38,-10.90,0.000,4,0.090,0.054,2670,565,3865,0,0,0,0,0,0
$GC,213,-1.17,-219.0,104.2,-10.6,31,218,0.32,2.30,0.00,0.000,6,0.116,0.039,2567,1979,3867,0,0,0,0,0,0
$GC,350,-1.22,-219.0,118.4,-12.2,43,354,0.00,2.33,0.00,0.000,4,0.000,0.049,2563,3389,3867,0,0,0,0,0,0
$GC,588,-1.25,-219.0,149.8,-12.4,64,596,0.00,2.30,0.00,0.000,6,0.000,0.031,2563,1966,3868,0,0,0,0,0,0
$GC,725,-1.30,-219.0,165.6,-12.1,77,730,0.12,2.33,0.00,0.000,4,0.103,0.050,2508,3382,3868,0,0,0,0,0,0
$GC,855,-1.24,-219.0,187.8,-17.6,88,864,0.08,2.25,0.00,0.000,6,0.144,0.032,2534,1980,3867,0,0,0,0,0,0
$GC,991,-1.24,-219.0,206.8,-13.8,101,995,0.00,2.28,0.00,0.000,4,0.000,0.049,2524,3384,3868,0,0,0,0,0,0
$GC,1143,-1.21,-219.0,231.5,-16.1,114,1151,0.00,2.25,0.00,0.000,6,0.000,0.032,2524,1979,3867,0,0,0,0,0,0
$GC,1276,-1.21,-219.0,251.8,-15.1,127,1281,0.00,2.28,0.00,0.000,4,0.000,0.049,2520,3384,3867,0,0,0,0,0,0
$GC,1407,-1.17,-219.0,272.8,-15.9,138,1412,0.15,2.20,0.00,0.000,6,0.154,0.031,2562,1971,3868,0,0,0,0,0,0
$GC,1607,-1.22,-219.0,297.0,-11.8,156,1611,0.00,2.30,0.00,0.000,4,0.000,0.050,2562,3389,3868,0,0,0,0,0,0
$GC,1806,-1.26,-219.0,321.0,-11.5,173,1810,0.00,2.22,0.00,0.000,6,0.000,0.031,2563,1973,3867,0,0,0,0,0,0
$GC,2010,-1.32,-219.0,343.5,-11.4,192,2015,0.15,2.30,0.00,0.000,4,0.094,0.051,2495,3382,3867,0,0,0,0,0,0
$GC,2222,-1.24,-219.0,381.0,-18.4,210,2230,0.12,2.25,0.00,0.000,6,0.135,0.032,2537,1968,3867,0,0,0,0,0,0
$STATE,2366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2366,begin apogee
$GC,2370,-0.16,0.0,401.0,13.4,224,2556,1.02,0.00,176.30,0.924,6,0.117,0.000,2882,1968,2960,0,0,0,0,0,0
$STATE,2557,end apogee,CONTROL_FINISHED_OK
$STATE,2557,begin climb
$GC,2559,0.84,219.0,411.3,0.0,241,2755,0.93,2.47,184.60,0.874,4,0.060,0.041,3220,582,2065,0,0,0,0,0,0
$GC,2780,0.54,219.0,387.3,23.9,261,2786,0.40,2.40,0.00,0.000,6,0.172,0.039,3119,1975,2060,0,0,0,0,0,0
$GC,2980,0.38,219.0,350.4,17.9,279,2985,0.20,2.38,0.00,0.000,4,0.158,0.045,3064,3385,2052,0,0,0,0,0,0
$GC,3237,0.25,219.0,306.8,16.6,301,3245,0.20,2.28,0.00,0.000,6,0.163,0.032,3019,1983,2048,0,0,0,0,0,0
$GC,3435,0.30,260.1,283.7,11.6,320,3478,0.00,2.42,33.50,0.837,4,0.000,0.047,3019,3389,1898,0,0,0,0,0,0
$GC,3729,0.30,260.1,245.5,13.4,346,3738,0.00,2.35,0.00,0.000,6,0.000,0.034,3029,1971,1890,0,0,0,0,0,0
$GC,3866,0.33,286.5,229.0,12.3,359,3895,0.00,2.45,22.80,0.812,4,0.000,0.048,3029,3386,1792,0,0,0,0,0,0
$GC,4122,0.33,286.5,193.1,13.9,382,4131,0.00,2.33,0.00,0.000,6,0.000,0.034,3037,1978,1786,0,0,0,0,0,0
$GC,4258,0.34,291.0,175.8,13.1,395,4272,0.00,2.40,4.50,0.653,4,0.000,0.049,3037,3388,1773,0,0,0,0,0,0
$GC,4428,0.34,291.0,148.9,14.9,410,4438,0.00,2.30,0.00,0.000,6,0.000,0.033,3045,1973,1772,0,0,0,0,0,0
$GC,4566,0.35,305.0,130.7,12.8,423,4591,0.00,2.42,13.90,0.773,4,0.000,0.047,3044,3392,1715,0,0,0,0,0,0
$GC,4783,0.33,305.0,97.4,14.9,444,4791,0.00,2.30,0.00,0.000,6,0.000,0.034,3051,1981,1712,0,0,0,0,0,0
$GC,4924,0.98,620.0,84.7,0.4,469,5023,0.55,0.00,95.53,0.729,2,0.069,0.000,3261,1979,1244,0,0,0,0,0,0
$STATE,5024,end climb,NO_VERTICAL_VELOCITY
$STATE,5024,begin subsurface finish
$SM_CCo,5027,159.27,0.685,0,0,444,616.92
$FINISH1,84.7,1.027836,-16
$GC,5349,-0.02,-16.5,84.7,0.0,484,5359,1.00,0.00,-6.03,0.000,2,0.100,0.000,2935,1979,1194,0,0,0,0,0,0
$FINISH2,84.7
$STATE,5360,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5360,begin surface
$IRIDIUM_FIX,-7639.69,16935.54,291110,080851
$TT8_MAMPS,0.027713
$HUMID,50.27
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.1,40.072
$10V_AH,10.1,59.603
$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,6.025,60.450,531.125,159.275,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1180.827,2090.666,637.276,1418.633,82.880,0.000,1300.057,0.000,1062.993,0.000,7.848,0.000
$DEVICE_MAMPS,172.125,54.315,924.120,684.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.226,571.777,648.381,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33604,485
$CAP_FILE_SIZE,74129,0
$CFSIZE,260165632,249442304
$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