version: 66.08
glider: 503
mission: 7
dive: 28
start: 12 1 110 1 53 30
data:
$ID,503
$MISSION,7
$DIVE,28
$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,-16947.678
$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,2820
$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,2300
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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
$GPS1,301110,224308,-7727.986,17011.598,13,1.9,13,136.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,86.17
$_SM_ANGLEo,0.8
$GPS2,301110,224308,-7727.986,17011.598,13,1.9,13,136.2
$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,245.1,55614,-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,-219.0,0.0,0.0,0,25,0.00,0.00,-8.40,0.000,2,0.000,0.000,2818,2495,2090,0,0,0,0,0,0
$GC,27,-0.84,-219.0,86.2,-0.0,1,48,0.75,2.65,-12.98,0.000,4,0.081,0.045,2553,889,3859,0,0,0,0,0,0
$GC,72,-0.88,-219.0,89.1,-9.8,8,80,0.00,2.40,0.00,0.000,6,0.000,0.043,2550,2306,3860,0,0,0,0,0,0
$GC,211,-0.88,-219.0,108.2,-14.5,28,215,0.00,2.33,0.00,0.000,4,0.000,0.050,2550,3713,3860,0,0,0,0,0,0
$GC,350,-0.88,-219.0,129.7,-14.6,40,359,0.00,2.30,0.00,0.000,6,0.000,0.029,2550,2292,3861,0,0,0,0,0,0
$GC,486,-0.88,-219.0,148.8,-14.5,53,490,0.00,2.35,0.00,0.000,4,0.000,0.050,2547,3716,3861,0,0,0,0,0,0
$GC,569,-0.88,-219.0,161.0,-14.5,60,573,0.00,2.22,0.00,0.000,6,0.000,0.030,2547,2306,3860,0,0,0,0,0,0
$GC,705,-0.88,-219.0,180.2,-14.1,72,709,0.00,2.33,0.00,0.000,4,0.000,0.051,2547,3717,3861,0,0,0,0,0,0
$GC,790,-0.88,-219.0,193.3,-14.2,79,799,0.00,2.28,0.00,0.000,6,0.000,0.030,2547,2301,3860,0,0,0,0,0,0
$GC,928,-0.88,-219.0,211.9,-14.1,92,932,0.00,2.33,0.00,0.000,4,0.000,0.051,2547,3720,3861,0,0,0,0,0,0
$GC,1034,-0.88,-219.0,227.3,-14.2,101,1038,0.00,2.22,0.00,0.000,6,0.000,0.031,2547,2299,3861,0,0,0,0,0,0
$GC,1168,-0.88,-219.0,246.5,-14.2,113,1172,0.00,2.30,0.00,0.000,4,0.000,0.051,2547,3713,3861,0,0,0,0,0,0
$GC,1247,-0.88,-219.0,258.3,-14.2,119,1254,0.00,2.25,0.00,0.000,6,0.000,0.030,2547,2302,3861,0,0,0,0,0,0
$GC,1445,-0.88,-219.0,285.6,-13.9,138,1449,0.00,2.30,0.00,0.000,4,0.000,0.050,2537,3720,3860,0,0,0,0,0,0
$GC,1576,-0.88,-219.0,305.5,-15.4,149,1580,0.00,2.22,0.00,0.000,6,0.000,0.030,2537,2289,3860,0,0,0,0,0,0
$GC,1779,-0.88,-219.0,335.4,-14.7,168,1783,0.00,2.30,0.00,0.000,4,0.000,0.051,2534,3713,3860,0,0,0,0,0,0
$GC,1922,-0.88,-219.0,356.5,-14.8,180,1926,0.00,2.20,0.00,0.000,6,0.000,0.031,2534,2304,3860,0,0,0,0,0,0
$GC,2119,-0.86,-219.0,385.2,-14.2,198,2123,0.00,2.30,0.00,0.000,4,0.000,0.052,2534,3713,3859,0,0,0,0,0,0
$STATE,2220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2220,begin apogee
$GC,2226,-0.16,0.0,400.3,14.2,206,2406,0.70,0.00,174.93,0.920,6,0.133,0.000,2762,2493,2960,0,0,0,0,0,0
$STATE,2407,end apogee,CONTROL_FINISHED_OK
$STATE,2407,begin climb
$GC,2409,0.84,219.0,410.1,0.0,223,2601,0.95,0.00,184.60,0.869,6,0.064,0.000,3093,2492,2066,0,0,0,0,0,0
$GC,2793,0.69,219.0,361.5,17.5,259,2798,0.20,2.17,0.00,0.000,4,0.164,0.049,3042,3765,2053,0,0,0,0,0,0
$GC,2928,0.59,219.0,338.9,15.7,270,2935,0.15,2.05,0.00,0.000,6,0.163,0.031,3012,2507,2050,0,0,0,0,0,0
$GC,3126,0.64,260.8,315.7,11.6,289,3170,0.00,2.20,34.58,0.840,4,0.000,0.053,3011,3762,1895,0,0,1,0,0,0
$GC,3265,0.64,260.8,296.9,14.3,301,3272,0.00,2.10,0.00,0.000,6,0.000,0.032,3020,2500,1891,0,0,0,0,0,0
$GC,3463,0.65,268.1,271.7,13.0,320,3476,0.00,2.17,6.80,0.752,4,0.000,0.053,3020,3762,1866,0,0,1,0,0,0
$GC,3572,0.62,268.1,255.9,14.3,329,3579,0.00,2.03,0.00,0.000,6,0.000,0.032,3030,2495,1864,0,0,0,0,0,0
$GC,3771,0.63,273.7,229.5,13.1,348,3785,0.00,2.10,6.18,0.739,4,0.000,0.050,3029,3763,1844,0,0,0,0,0,0
$GC,3878,0.59,273.7,213.1,15.3,357,3886,0.00,2.05,0.00,0.000,6,0.000,0.032,3039,2500,1843,0,0,0,0,0,0
$GC,4014,0.59,273.7,194.5,13.6,370,4017,0.00,2.08,0.00,0.000,4,0.000,0.052,3039,3763,1842,0,0,1,0,0,0
$GC,4083,0.54,273.7,183.2,15.8,376,4092,0.15,2.03,0.00,0.000,6,0.133,0.032,2997,2507,1842,0,0,0,0,0,0
$GC,4219,0.69,344.2,168.3,10.4,389,4287,0.12,2.15,61.75,0.779,4,0.092,0.050,3051,3762,1555,0,0,0,0,0,0
$GC,4346,0.69,344.2,148.3,17.2,399,4355,0.00,2.08,0.00,0.000,6,0.000,0.031,3060,2502,1550,0,0,0,0,0,0
$GC,4482,0.69,344.2,127.5,15.3,412,4485,0.00,2.10,0.00,0.000,4,0.000,0.051,3060,3767,1549,0,0,0,0,0,0
$GC,4524,0.65,344.2,120.0,16.6,415,4533,0.10,2.08,0.00,0.000,6,0.138,0.032,3033,2498,1547,0,0,0,0,0,0
$GC,4660,0.69,344.2,102.1,13.3,428,4664,0.00,2.08,0.00,0.000,4,0.000,0.051,3033,3763,1547,0,0,0,0,0,0
$GC,4721,0.69,344.2,93.0,15.7,437,4727,0.00,2.03,0.00,0.000,6,0.000,0.033,3041,2493,1546,0,0,0,0,0,0
$GC,4860,1.33,666.3,85.1,0.1,462,4928,0.55,0.00,64.00,0.728,2,0.066,0.000,3250,2492,1230,0,0,0,0,0,0
$STATE,4929,end climb,NO_VERTICAL_VELOCITY
$STATE,4929,begin subsurface finish
$SM_CCo,4930,156.25,0.686,0,0,445,616.92
$FINISH1,85.2,1.027820,-16
$GC,5250,-0.02,-15.7,85.2,0.0,472,5259,1.30,0.00,-5.72,0.000,2,0.084,0.000,2812,2492,1161,0,0,0,0,0,0
$FINISH2,85.2
$STATE,5260,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5260,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.027713
$HUMID,49.88
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.0,41.005
$10V_AH,10.1,60.030
$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,4.975,74.675,532.825,156.250,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1149.139,2132.341,649.861,1285.601,94.344,0.000,1277.019,0.000,954.398,0.000,7.847,0.000
$DEVICE_MAMPS,164.475,52.785,920.295,686.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.693,553.794,618.355,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,259000
$DATA_FILE_SIZE,30525,473
$CAP_FILE_SIZE,75222,0
$CFSIZE,260165632,249171968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,301110,224308,-7727.986,17011.598,13,1.9,13,136.2