version: 66.08
glider: 503
mission: 7
dive: 13
start: 11 30 110 2 56 38
data:
$ID,503
$MISSION,7
$DIVE,13
$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,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,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,93.11
$_SM_ANGLEo,6.5
$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,12,begin dive
$GC,15,-0.84,-219.0,0.0,0.0,0,25,0.00,0.00,-8.52,0.000,2,0.000,0.000,2938,1972,2423,0,0,0,0,0,0
$GC,27,-0.84,-219.0,93.1,-0.0,1,48,0.77,2.35,-10.07,0.000,4,0.091,0.054,2671,565,3864,0,0,0,0,0,0
$GC,155,-1.18,-219.0,102.8,-10.2,21,161,0.32,2.30,0.00,0.000,6,0.103,0.040,2563,1979,3865,0,0,0,0,0,0
$GC,291,-1.22,-219.0,117.7,-12.1,33,295,0.00,2.30,0.00,0.000,4,0.000,0.050,2554,3384,3865,0,0,0,0,0,0
$GC,540,-1.25,-219.0,150.8,-13.3,55,548,0.00,2.28,0.00,0.000,6,0.000,0.032,2554,1974,3866,0,0,0,0,0,0
$GC,677,-1.28,-219.0,168.3,-13.4,68,681,0.00,2.30,0.00,0.000,4,0.000,0.050,2550,3384,3866,0,0,0,0,0,0
$GC,849,-1.31,-219.0,193.6,-14.3,83,858,0.00,2.28,0.00,0.000,6,0.000,0.031,2550,1968,3866,0,0,0,0,0,0
$GC,987,-1.34,-219.0,211.3,-13.1,96,992,0.12,2.33,0.00,0.000,4,0.105,0.053,2495,3384,3866,0,0,0,0,0,0
$GC,1128,-1.27,-219.0,237.3,-17.8,108,1137,0.10,2.25,0.00,0.000,6,0.135,0.033,2529,1980,3866,0,0,0,0,0,0
$GC,1262,-1.27,-219.0,256.9,-14.6,121,1266,0.00,2.28,0.00,0.000,4,0.000,0.049,2519,3387,3866,0,0,0,0,0,0
$GC,1415,-1.25,-219.0,282.0,-16.8,134,1419,0.00,2.20,0.00,0.000,6,0.000,0.032,2519,1972,3866,0,0,0,0,0,0
$GC,1612,-1.25,-219.0,313.8,-16.0,152,1616,0.00,2.30,0.00,0.000,4,0.000,0.050,2508,3391,3866,0,0,0,0,0,0
$GC,1820,-1.20,-219.0,352.2,-18.5,170,1825,0.15,2.20,0.00,0.000,6,0.155,0.032,2550,1970,3866,0,0,0,0,0,0
$GC,2020,-1.24,-219.0,380.8,-13.4,188,2024,0.00,2.28,0.00,0.000,4,0.000,0.050,2547,3386,3866,0,0,0,0,0,0
$STATE,2160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2160,begin apogee
$GC,2167,-0.16,0.0,400.4,13.2,200,2352,0.98,0.00,176.40,0.925,6,0.116,0.000,2876,1972,2960,0,0,0,0,0,0
$STATE,2353,end apogee,CONTROL_FINISHED_OK
$STATE,2353,begin climb
$GC,2355,0.84,219.0,410.7,0.0,217,2552,0.95,2.47,184.25,0.877,4,0.063,0.041,3220,581,2065,0,0,0,0,0,0
$GC,2591,0.57,219.0,381.8,24.4,238,2599,0.38,2.38,0.00,0.000,6,0.174,0.039,3125,1973,2058,0,0,0,0,0,0
$GC,2790,0.39,219.0,343.4,18.8,257,2795,0.20,2.38,0.00,0.000,4,0.159,0.045,3071,3388,2052,0,0,0,0,0,0
$GC,3047,0.27,219.0,297.7,17.2,279,3055,0.20,2.28,0.00,0.000,6,0.165,0.032,3026,1980,2048,0,0,0,0,0,0
$GC,3247,0.31,256.1,273.3,11.8,298,3283,0.00,2.42,30.02,0.833,4,0.000,0.048,3025,3377,1915,0,0,0,0,0,0
$GC,3534,0.32,261.2,233.4,13.1,324,3548,0.00,2.28,4.78,0.679,6,0.000,0.034,3035,1967,1893,0,0,0,0,0,0
$GC,3676,0.34,274.8,215.1,12.8,337,3694,0.00,2.40,13.27,0.799,4,0.000,0.047,3035,3392,1839,0,0,0,0,0,0
$GC,3885,0.31,274.8,184.9,13.9,355,3894,0.00,2.33,0.00,0.000,6,0.000,0.034,3045,1969,1836,0,0,0,0,0,0
$GC,4021,0.31,274.8,166.5,13.3,368,4025,0.00,2.33,0.00,0.000,4,0.000,0.048,3045,3388,1834,0,0,0,0,0,0
$GC,4192,0.26,274.8,140.8,14.9,383,4196,0.00,2.25,0.00,0.000,6,0.000,0.034,3053,1972,1834,0,0,0,0,0,0
$GC,4327,0.26,274.8,122.2,13.5,395,4331,0.00,2.30,0.00,0.000,4,0.000,0.048,3053,3387,1833,0,0,0,0,0,0
$GC,4493,0.20,274.8,96.4,16.3,411,4500,0.20,2.22,0.00,0.000,6,0.155,0.033,3006,1978,1832,0,0,0,0,0,0
$GC,4633,0.92,615.5,92.4,-0.6,436,4662,0.62,0.00,25.15,0.763,2,0.073,0.000,3239,1977,1721,0,0,0,0,0,0
$STATE,4662,end climb,NO_VERTICAL_VELOCITY
$STATE,4663,begin subsurface finish
$SM_CCo,4664,255.93,0.703,0,0,445,616.92
$FINISH1,92.4,1.027821,-16
$GC,5084,-0.02,-15.7,92.4,0.0,440,5094,0.90,0.00,-6.12,0.000,2,0.089,0.000,2936,1977,1235,0,0,0,0,0,0
$FINISH2,92.5
$STATE,5094,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5095,begin surface
$IRIDIUM_FIX,-7639.69,16925.85,291110,080855
$TT8_MAMPS,0.027713
$HUMID,52.08
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.10
$XPDR_PINGS,1
$24V_AH,23.1,38.656
$10V_AH,10.1,59.041
$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,5.900,59.900,433.875,255.925,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1110.003,1968.437,658.422,1328.146,79.993,0.000,1256.902,0.000,990.252,0.000,7.848,0.000
$DEVICE_MAMPS,174.420,54.315,924.885,703.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.840,521.041,614.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30490,441
$CAP_FILE_SIZE,70739,0
$CFSIZE,260165632,249827328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,085438,-7726.121,16929.959,10,1.5,10,137.2