version: 66.08
glider: 503
mission: 7
dive: 7
start: 11 29 110 18 13 21
data:
$ID,503
$MISSION,7
$DIVE,7
$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,606.91943
$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,-16575.584
$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,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,49
$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,-7726.121,16929.959,10,1.5,10,137.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,85.06
$_SM_ANGLEo,4.3
$GPS2,291110,085438,-7726.121,16929.959,10,1.5,10,137.2
$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,13,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-8.48,0.000,2,0.000,0.000,2938,1963,2320,0,0,0,0,0,0
$GC,27,-0.84,-219.0,85.1,-0.0,1,48,0.77,2.42,-11.27,0.000,4,0.092,0.064,2673,3376,3861,0,0,0,0,0,0
$GC,218,-1.29,-219.0,99.0,-9.7,35,226,0.43,2.25,0.00,0.000,6,0.092,0.034,2527,1972,3864,0,0,0,0,0,0
$GC,361,-1.29,-219.0,118.3,-15.0,49,365,0.00,2.33,0.00,0.000,4,0.000,0.050,2520,3385,3864,0,0,0,0,0,0
$GC,574,-1.29,-219.0,152.9,-15.6,68,578,0.00,2.22,0.00,0.000,6,0.000,0.031,2520,1974,3865,0,0,0,0,0,0
$GC,711,-1.29,-219.0,173.7,-15.2,80,715,0.00,2.30,0.00,0.000,4,0.000,0.050,2519,3386,3867,0,0,0,0,0,0
$GC,848,-1.29,-219.0,196.5,-16.5,92,852,0.00,2.22,0.00,0.000,6,0.000,0.032,2519,1969,3867,0,0,0,0,0,0
$GC,984,-1.29,-219.0,217.5,-15.2,104,988,0.00,2.30,0.00,0.000,4,0.000,0.050,2510,3386,3867,0,0,0,0,0,0
$GC,1114,-1.26,-219.0,239.6,-16.1,115,1122,0.00,2.25,0.00,0.000,6,0.000,0.033,2510,1978,3867,0,0,0,0,0,0
$GC,1248,-1.26,-219.0,260.0,-15.0,128,1252,0.00,2.28,0.00,0.000,4,0.000,0.050,2500,3386,3867,0,0,0,0,0,0
$GC,1371,-1.21,-219.0,280.2,-16.1,138,1379,0.17,2.22,0.00,0.000,6,0.148,0.033,2550,1968,3867,0,0,0,0,0,0
$GC,1570,-1.27,-219.0,304.9,-12.3,157,1574,0.00,2.30,0.00,0.000,4,0.000,0.050,2550,3387,3866,0,0,0,0,0,0
$GC,1765,-1.31,-219.0,330.3,-12.6,174,1772,0.00,2.20,0.00,0.000,6,0.000,0.032,2550,1971,3866,0,0,0,0,0,0
$GC,1964,-1.36,-219.0,353.7,-11.6,193,1969,0.15,2.30,0.00,0.000,4,0.094,0.052,2482,3386,3867,0,0,0,0,0,0
$GC,2161,-1.29,-219.0,387.5,-17.3,210,2166,0.15,2.20,0.00,0.000,6,0.152,0.033,2525,1972,3866,0,0,0,0,0,0
$STATE,2257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2257,begin apogee
$GC,2261,-0.16,0.0,401.2,13.2,219,2446,1.08,0.00,176.82,0.933,6,0.116,0.000,2889,1971,2960,0,0,0,0,0,0
$STATE,2447,end apogee,CONTROL_FINISHED_OK
$STATE,2447,begin climb
$GC,2449,0.84,219.0,410.5,0.0,236,2646,0.90,2.47,184.18,0.883,4,0.057,0.041,3225,577,2064,0,0,0,0,0,0
$GC,2696,0.56,219.0,379.3,24.4,258,2704,0.40,2.38,0.00,0.000,6,0.173,0.040,3122,1976,2058,0,0,0,0,0,0
$GC,2895,0.39,219.0,343.0,17.8,277,2900,0.20,2.35,0.00,0.000,4,0.161,0.045,3066,3387,2052,0,0,0,0,0,0
$GC,3152,0.26,219.0,300.6,16.4,299,3160,0.17,2.25,0.00,0.000,6,0.168,0.033,3030,1982,2048,0,0,0,0,0,0
$GC,3352,0.31,259.0,276.8,11.7,318,3389,0.00,2.38,32.47,0.840,4,0.000,0.047,3030,3386,1903,0,0,0,0,0,0
$GC,3639,0.29,259.0,237.6,14.6,343,3648,0.00,2.30,0.00,0.000,6,0.000,0.034,3037,1982,1895,0,0,0,0,0,0
$GC,3777,0.30,274.0,220.3,12.7,356,3795,0.00,2.35,13.12,0.806,4,0.000,0.047,3038,3387,1842,0,0,0,0,0,0
$GC,4007,0.28,274.0,186.2,14.7,376,4016,0.00,2.30,0.00,0.000,6,0.000,0.034,3046,1973,1839,0,0,0,0,0,0
$GC,4143,0.28,277.3,168.6,13.2,389,4147,0.00,2.33,0.00,0.000,4,0.000,0.049,3046,3393,1837,0,0,0,0,0,0
$GC,4324,0.24,277.3,141.4,15.2,405,4329,0.12,2.25,0.00,0.000,6,0.169,0.034,3021,1972,1836,0,0,0,0,0,0
$GC,4461,0.35,325.6,125.2,11.4,417,4512,0.00,2.45,44.47,0.773,4,0.000,0.050,3020,3384,1632,0,0,0,0,0,0
$GC,4731,0.35,325.6,90.0,13.7,448,4739,0.00,2.30,0.00,0.000,6,0.000,0.034,3027,1978,1625,0,0,0,0,0,0
$GC,4873,1.03,661.4,88.0,-0.4,473,4895,0.65,0.00,18.25,0.754,2,0.069,0.000,3272,1978,1544,0,0,0,0,0,0
$STATE,4895,end climb,NO_VERTICAL_VELOCITY
$STATE,4896,begin subsurface finish
$SM_CCo,4897,220.82,0.702,0,0,444,616.92
$FINISH1,87.9,1.027823,-16
$GC,5281,-0.02,-15.9,87.9,0.0,476,5291,1.00,0.00,-6.07,0.000,2,0.093,0.000,2938,1977,1200,0,0,0,0,0,0
$FINISH2,88.0
$STATE,5292,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5292,begin surface
$IRIDIUM_FIX,-7639.69,16925.85,291110,080855
$TT8_MAMPS,0.027713
$HUMID,53.78
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.2,37.704
$10V_AH,10.0,58.680
$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,6.200,59.900,469.325,220.825,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1183.628,2049.591,645.689,1383.984,79.022,0.000,1274.678,0.000,1038.893,0.000,7.848,0.000
$DEVICE_MAMPS,172.890,64.260,932.535,702.270,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.989,563.109,627.003,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33799,477
$CAP_FILE_SIZE,72401,0
$CFSIZE,260165632,250064896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,085438,-7726.121,16929.959,10,1.5,10,137.2