version: 66.08
glider: 503
mission: 7
dive: 25
start: 11 30 110 20 50 39
data:
$ID,503
$MISSION,7
$DIVE,25
$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,-2
$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,-16946.42
$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,27
$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
$GPS1,301110,203707,-7728.218,17011.145,101,1.9,101,136.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-66.4
$GPS2,301110,204938,-7728.221,17011.086,17,1.9,17,136.2
$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,245.1,56097,-18.2,-13.333
$D_GRID,742
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,180,0.00,0.00,-161.62,0.000,2,0.000,0.000,186,1968,3602,0,0,0,0,0,0
$GC,183,-0.84,-219.0,3.7,-9.3,25,205,9.57,2.28,-4.90,0.000,4,0.223,0.050,2666,559,3855,0,0,0,0,0,0
$GC,315,-1.05,-219.0,25.9,-8.1,48,324,0.12,2.33,0.00,0.000,6,0.067,0.040,2601,1971,3857,0,0,0,0,0,0
$GC,457,-1.11,-219.0,40.2,-11.0,73,464,0.00,2.33,0.00,0.000,4,0.000,0.048,2590,3394,3857,0,0,0,0,0,0
$GC,702,-1.16,-219.0,71.7,-12.7,117,708,0.00,2.25,0.00,0.000,6,0.000,0.031,2591,1973,3858,0,0,0,0,0,0
$GC,841,-1.22,-219.0,88.5,-12.0,142,849,0.12,2.35,0.00,0.000,4,0.096,0.050,2533,3379,3858,0,0,0,0,0,0
$GC,989,-1.17,-219.0,113.6,-18.1,161,993,0.00,2.20,0.00,0.000,6,0.000,0.031,2534,1975,3858,0,0,0,0,0,0
$GC,1124,-1.14,-219.0,135.8,-15.2,173,1129,0.15,2.30,0.00,0.000,4,0.157,0.049,2566,3386,3858,0,0,0,0,0,0
$GC,1254,-1.14,-219.0,154.6,-14.1,184,1262,0.00,2.25,0.00,0.000,6,0.000,0.032,2566,1974,3858,0,0,0,0,0,0
$GC,1389,-1.16,-219.0,173.1,-14.2,197,1393,0.00,2.28,0.00,0.000,4,0.000,0.049,2563,3386,3858,0,0,0,0,0,0
$GC,1518,-1.16,-219.0,192.2,-13.7,208,1527,0.00,2.25,0.00,0.000,6,0.000,0.031,2563,1973,3857,0,0,0,0,0,0
$GC,1654,-1.16,-219.0,209.7,-13.1,221,1659,0.00,2.28,0.00,0.000,4,0.000,0.050,2563,3387,3858,0,0,0,0,0,0
$GC,1805,-1.18,-219.0,230.6,-14.0,234,1809,0.00,2.20,0.00,0.000,6,0.000,0.031,2563,1971,3857,0,0,0,0,0,0
$GC,1942,-1.20,-219.0,248.1,-13.0,246,1946,0.00,2.28,0.00,0.000,4,0.000,0.050,2563,3386,3857,0,0,0,0,0,0
$GC,2086,-1.22,-219.0,267.4,-13.4,258,2090,0.00,2.20,0.00,0.000,6,0.000,0.031,2563,1970,3857,0,0,0,0,0,0
$GC,2284,-1.25,-219.0,293.7,-13.1,276,2288,0.00,2.28,0.00,0.000,4,0.000,0.050,2563,3386,3858,0,0,0,0,0,0
$GC,2481,-1.27,-219.0,320.8,-14.4,293,2485,0.00,2.20,0.00,0.000,6,0.000,0.031,2563,1969,3857,0,0,0,0,0,0
$GC,2679,-1.30,-219.0,346.7,-13.2,311,2684,0.12,2.33,0.00,0.000,4,0.103,0.050,2499,3392,3857,0,0,0,0,0,0
$GC,2877,-1.21,-219.0,384.0,-18.8,328,2885,0.17,2.20,0.00,0.000,6,0.157,0.031,2548,1973,3857,0,0,0,0,0,0
$STATE,2989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2989,begin apogee
$GC,2993,-0.16,0.0,400.1,13.6,339,3173,1.00,0.00,174.32,0.929,6,0.119,0.000,2887,1973,2960,0,0,0,0,0,0
$STATE,3174,end apogee,CONTROL_FINISHED_OK
$STATE,3174,begin climb
$GC,3176,0.84,219.0,409.5,0.0,355,3372,0.93,2.47,183.88,0.877,4,0.060,0.041,3224,580,2065,0,0,0,0,0,0
$GC,3456,0.56,219.0,368.9,25.0,380,3464,0.35,2.40,0.00,0.000,6,0.171,0.040,3128,1971,2056,0,0,0,0,0,0
$GC,3655,0.38,219.0,330.3,19.2,399,3660,0.22,2.40,0.00,0.000,4,0.158,0.046,3066,3399,2051,0,0,0,0,0,0
$GC,3912,0.24,219.0,286.0,16.7,421,3920,0.20,2.33,0.00,0.000,6,0.161,0.032,3021,1962,2047,0,0,0,0,0,0
$GC,4110,0.31,271.2,262.7,11.2,440,4158,0.00,2.45,42.70,0.825,4,0.000,0.049,3022,3391,1853,0,0,0,0,0,0
$GC,4174,0.33,292.3,254.9,12.5,445,4204,0.00,2.38,19.73,0.786,6,0.000,0.034,3030,1980,1767,0,0,0,0,0,0
$GC,4397,0.39,325.4,228.3,12.0,466,4429,0.12,0.00,29.00,0.796,6,0.096,0.000,3090,1980,1633,0,0,0,0,0,0
$GC,4555,0.34,325.4,202.2,17.5,481,4560,0.15,2.40,0.00,0.000,4,0.151,0.048,3050,3398,1627,0,0,0,0,0,0
$GC,4782,0.30,325.4,163.4,17.9,501,4791,0.00,2.35,0.00,0.000,6,0.000,0.033,3059,1970,1624,0,0,0,0,0,0
$GC,4918,0.30,325.4,142.8,15.0,514,4922,0.00,2.35,0.00,0.000,4,0.000,0.048,3059,3393,1624,0,0,0,0,0,0
$GC,5100,0.24,325.4,111.3,17.5,530,5104,0.17,2.28,0.00,0.000,6,0.161,0.032,3020,1968,1622,0,0,0,0,0,0
$GC,5235,0.39,391.0,95.2,10.6,546,5297,0.15,2.42,53.92,0.736,4,0.089,0.047,3086,3391,1365,0,0,0,0,0,0
$GC,5540,0.30,391.0,34.2,21.6,600,5549,0.17,2.33,0.00,0.000,6,0.139,0.032,3041,1979,1359,0,0,0,0,0,0
$GC,5685,0.39,404.7,13.8,12.8,625,5706,0.00,2.40,11.43,0.695,4,0.000,0.047,3040,3386,1308,0,0,0,0,0,0
$FREEZE,8.89,-1.821,-1.905,2,1,0
$FREEZE,8.15,-1.819,-1.904,2,1,0
$FREEZE,7.33,-1.815,-1.904,2,1,0
$FREEZE,6.42,-1.816,-1.903,2,1,0
$FREEZE,5.48,-1.817,-1.902,2,1,0
$FREEZE,4.66,-1.814,-1.902,2,1,0
$FREEZE,3.68,-1.817,-1.901,2,1,0
$FREEZE,2.73,-1.814,-1.900,2,1,0
$STATE,5760,end climb,SURFACE_DEPTH_REACHED
$STATE,5760,begin surface coast
$FREEZE,1.41,-1.811,-1.899,2,1,0
$FREEZE,0.67,-1.807,-1.898,2,1,0
$FREEZE,-0.31,-1.808,-1.897,2,1,0
$FINISH,-0.3,1.027828
$STATE,5778,end surface coast,CONTROL_FINISHED_OK
$STATE,5778,begin surface
$SM_CCo,5796,106.70,0.099,0,0,445,616.92
$SM_GC,0.45,0.00,0.00,106.70,0.000,0.000,0.099,193,1971,445,-8.59,-0.11,616.92
$IRIDIUM_FIX,-7639.69,17022.49,301110,202037
$TT8_MAMPS,0.029211
$HUMID,49.72
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.0
$24V_AH,23.1,40.503
$10V_AH,10.0,59.826
$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,21.550,74.050,514.975,106.700,0.000,61.977,83.195,375.588,1.500,0.000,20.295,1504.837,2031.984,688.032,2232.812,246.091,0.000,1460.709,0.000,1230.045,0.000,12.293,0.000
$DEVICE_MAMPS,223.380,50.490,928.710,99.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.254,819.931,864.926,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258976
$DATA_FILE_SIZE,43739,640
$CAP_FILE_SIZE,98474,0
$CFSIZE,260165632,249282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301110,223031,-7727.994,17011.682,45,1.5,51,136.2