version: 66.08
glider: 503
mission: 7
dive: 30
start: 12 1 110 4 52 35
data:
$ID,503
$MISSION,7
$DIVE,30
$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,42
$R_STBD_OVSHOOT,21
$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,82.55
$_SM_ANGLEo,2.2
$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,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,-9.45,0.000,2,0.000,0.000,2813,2502,2309,0,0,0,0,0,0
$GC,29,-0.84,-219.0,82.6,-0.0,1,44,0.75,0.00,-11.57,0.000,6,0.082,0.000,2550,2501,3863,0,0,0,0,0,0
$GC,178,-0.84,-219.0,99.4,-14.9,27,184,0.00,2.03,0.00,0.000,4,0.000,0.052,2547,3717,3867,0,0,0,0,0,0
$GC,257,-0.84,-219.0,111.7,-14.6,35,262,0.00,2.28,0.00,0.000,6,0.000,0.031,2547,2290,3866,0,0,0,0,0,0
$GC,392,-0.84,-219.0,131.0,-14.3,47,396,0.00,2.35,0.00,0.000,4,0.000,0.050,2537,3715,3867,0,0,0,0,0,0
$GC,456,-0.81,-219.0,141.8,-17.4,52,465,0.00,2.28,0.00,0.000,6,0.000,0.030,2537,2303,3867,0,0,0,0,0,0
$GC,592,-0.78,-219.0,162.8,-15.3,65,597,0.12,2.33,0.00,0.000,4,0.164,0.050,2563,3717,3867,0,0,0,0,0,0
$GC,665,-0.81,-219.0,173.3,-13.4,71,669,0.00,2.25,0.00,0.000,6,0.000,0.031,2563,2295,3867,0,0,0,0,0,0
$GC,803,-0.83,-219.0,191.1,-13.2,83,807,0.00,2.33,0.00,0.000,4,0.000,0.051,2562,3717,3867,0,0,0,0,0,0
$GC,887,-0.86,-219.0,202.8,-13.0,90,891,0.00,2.22,0.00,0.000,6,0.000,0.031,2564,2301,3867,0,0,0,0,0,0
$GC,1023,-0.89,-219.0,220.5,-12.9,102,1027,0.00,2.33,0.00,0.000,4,0.000,0.052,2563,3719,3867,0,0,0,0,0,0
$GC,1106,-0.92,-219.0,231.5,-12.8,109,1111,0.12,2.22,0.00,0.000,6,0.106,0.031,2513,2299,3867,0,0,0,0,0,0
$GC,1240,-0.85,-219.0,254.4,-17.7,121,1245,0.12,2.30,0.00,0.000,4,0.171,0.051,2536,3717,3867,0,0,1,0,0,0
$GC,1306,-0.82,-219.0,265.8,-16.7,126,1314,0.00,2.25,0.00,0.000,6,0.000,0.031,2536,2305,3867,0,0,0,0,0,0
$GC,1505,-0.80,-219.0,296.7,-15.4,145,1509,0.00,2.30,0.00,0.000,4,0.000,0.051,2525,3720,3867,0,0,0,0,0,0
$GC,1604,-0.75,-219.0,313.4,-16.3,153,1612,0.10,2.25,0.00,0.000,6,0.142,0.031,2574,2302,3867,0,0,0,0,0,0
$GC,1804,-0.81,-219.0,336.5,-11.0,172,1808,0.00,2.30,0.00,0.000,4,0.000,0.051,2569,3721,3867,0,0,0,0,0,0
$GC,1926,-0.86,-219.0,351.1,-11.9,182,1933,0.00,2.22,0.00,0.000,6,0.000,0.030,2569,2294,3867,0,0,0,0,0,0
$GC,2126,-0.90,-219.0,373.0,-11.1,201,2131,0.12,2.33,0.00,0.000,4,0.101,0.051,2508,3721,3867,0,0,0,0,0,0
$GC,2250,-0.84,-219.0,392.8,-16.4,211,2257,0.15,2.20,0.00,0.000,6,0.163,0.030,2550,2298,3867,0,0,0,0,0,0
$STATE,2308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2308,begin apogee
$GC,2313,-0.16,0.0,400.8,13.1,217,2499,0.65,0.00,176.10,0.921,6,0.131,0.000,2763,2512,2958,0,0,0,0,0,0
$STATE,2499,end apogee,CONTROL_FINISHED_OK
$STATE,2500,begin climb
$GC,2501,0.84,219.0,409.5,0.0,234,2699,0.95,2.53,183.75,0.871,4,0.072,0.036,3099,1110,2064,0,0,1,0,0,0
$GC,2738,0.73,219.0,384.9,16.6,255,2746,0.17,2.40,0.00,0.000,6,0.166,0.041,3057,2490,2059,0,0,1,0,0,0
$GC,2936,0.65,219.0,354.0,15.1,274,2940,0.00,2.15,0.00,0.000,4,0.000,0.050,3056,3771,2051,0,0,0,0,0,0
$GC,3059,0.50,219.0,332.1,18.0,284,3067,0.22,2.08,0.00,0.000,6,0.142,0.031,2986,2510,2049,0,0,0,0,0,0
$GC,3260,0.66,310.1,311.8,9.6,303,3348,0.12,2.25,76.80,0.835,4,0.090,0.050,3038,3767,1693,0,0,1,0,0,0
$GC,3455,0.62,310.1,284.4,16.4,320,3462,0.00,2.12,0.00,0.000,6,0.000,0.031,3047,2497,1688,0,0,0,0,0,0
$GC,3653,0.62,310.1,255.4,15.1,339,3657,0.00,2.15,0.00,0.000,4,0.000,0.051,3047,3771,1685,0,0,0,0,0,0
$GC,3753,0.57,310.1,238.0,18.0,348,3758,0.17,2.05,0.00,0.000,6,0.155,0.031,3006,2487,1684,0,0,0,0,0,0
$GC,3889,0.66,334.6,220.7,12.3,360,3915,0.00,2.20,20.27,0.799,4,0.000,0.052,3006,3764,1594,0,0,1,0,0,0
$GC,3975,0.71,339.5,209.5,13.1,367,3987,0.00,2.08,5.78,0.685,6,0.000,0.033,3014,2505,1574,0,0,0,0,0,0
$GC,4123,0.82,379.7,191.9,11.7,381,4165,0.20,2.20,34.72,0.780,4,0.075,0.052,3099,3763,1412,0,0,1,0,0,0
$GC,4252,0.69,379.7,163.7,23.7,392,4262,0.20,2.10,0.00,0.000,6,0.140,0.031,3047,2498,1407,0,0,0,0,0,0
$GC,4389,0.71,379.7,142.6,14.3,405,4393,0.00,2.10,0.00,0.000,4,0.000,0.051,3047,3764,1406,0,0,0,0,0,0
$GC,4453,0.71,379.7,131.3,16.4,410,4463,0.00,2.08,0.00,0.000,6,0.000,0.031,3054,2492,1404,0,0,0,0,0,0
$GC,4591,0.71,379.7,110.9,15.4,423,4595,0.00,2.10,0.00,0.000,4,0.000,0.051,3054,3766,1404,0,0,0,0,0,0
$GC,4668,0.69,379.7,97.1,17.5,430,4677,0.00,2.05,0.00,0.000,6,0.000,0.031,3063,2498,1403,0,0,0,0,0,0
$GC,4809,1.34,689.7,78.0,0.6,455,4928,0.50,0.00,115.20,0.712,2,0.070,0.000,3252,2497,824,0,0,0,0,0,0
$STATE,4930,end climb,NO_VERTICAL_VELOCITY
$STATE,4930,begin subsurface finish
$SM_CCo,4932,77.62,0.675,0,0,444,616.92
$FINISH1,78.1,1.027821,-16
$GC,5172,-0.02,-15.7,78.1,0.0,473,5180,1.33,0.00,-4.40,0.000,2,0.088,0.000,2808,2497,964,0,0,0,0,0,0
$FINISH2,78.0
$STATE,5181,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5181,begin surface
$IRIDIUM_FIX,-7639.69,17014.40,301110,222204
$TT8_MAMPS,0.026964
$HUMID,50.07
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,14.10
$XPDR_PINGS,1
$24V_AH,23.0,41.324
$10V_AH,10.1,60.150
$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,6.025,75.725,612.625,77.625,0.000,0.000,0.000,0.000,1.500,0.000,0.000,1143.526,2088.815,622.144,1285.259,93.727,0.000,1275.853,0.000,965.274,0.000,10.668,0.000
$DEVICE_MAMPS,170.595,55.080,921.060,674.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.220,551.266,598.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30388,474
$CAP_FILE_SIZE,80967,0
$CFSIZE,260165632,249081856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,301110,224308,-7727.986,17011.598,13,1.9,13,136.2