version: 66.08
glider: 503
mission: 7
dive: 16
start: 11 30 110 7 24 15
data:
$ID,503
$MISSION,7
$DIVE,16
$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,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,-16945.062
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,291110,085438,-7726.121,16929.959,181,99.0,181,137.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,89.33
$_SM_ANGLEo,3.1
$GPS2,291110,085438,-7726.121,16929.959,181,99.0,181,137.2
$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,-8.88,0.000,2,0.000,0.000,2938,1973,2261,0,0,0,0,0,0
$GC,28,-0.84,-219.0,89.3,-0.0,1,43,0.77,0.00,-11.50,0.000,6,0.085,0.000,2668,1973,3862,0,0,0,0,0,0
$GC,177,-1.27,-219.0,99.8,-9.7,27,185,0.38,2.38,0.00,0.000,4,0.091,0.047,2533,3386,3865,0,0,0,0,0,0
$GC,226,-1.37,-219.0,104.9,-10.1,32,230,0.00,2.28,0.00,0.000,6,0.000,0.031,2534,1967,3865,0,0,0,0,0,0
$GC,362,-1.37,-219.0,123.6,-13.7,44,366,0.00,2.35,0.00,0.000,4,0.000,0.050,2533,3384,3865,0,0,0,0,0,0
$GC,491,-1.37,-219.0,143.6,-15.0,55,500,0.00,2.28,0.00,0.000,6,0.000,0.031,2533,1980,3865,0,0,0,0,0,0
$GC,628,-1.37,-219.0,162.5,-14.3,68,632,0.00,2.30,0.00,0.000,4,0.000,0.049,2534,3384,3865,0,0,0,0,0,0
$GC,768,-1.37,-219.0,185.3,-16.2,80,777,0.00,2.28,0.00,0.000,6,0.000,0.031,2533,1972,3865,0,0,0,0,0,0
$GC,904,-1.37,-219.0,205.2,-14.6,93,908,0.00,2.30,0.00,0.000,4,0.000,0.049,2524,3385,3865,0,0,0,0,0,0
$GC,1043,-1.34,-219.0,227.4,-16.2,105,1047,0.00,2.22,0.00,0.000,6,0.000,0.031,2523,1970,3865,0,0,0,0,0,0
$GC,1178,-1.34,-219.0,249.0,-16.2,117,1183,0.00,2.30,0.00,0.000,4,0.000,0.050,2520,3384,3865,0,0,0,0,0,0
$GC,1317,-1.32,-219.0,272.8,-16.6,129,1324,0.00,2.22,0.00,0.000,6,0.000,0.032,2520,1966,3865,0,0,0,0,0,0
$GC,1514,-1.32,-219.0,303.0,-15.4,148,1518,0.00,2.33,0.00,0.000,4,0.000,0.050,2510,3390,3865,0,0,0,0,0,0
$GC,1705,-1.27,-219.0,334.2,-15.2,165,1709,0.00,2.20,0.00,0.000,6,0.000,0.031,2510,1976,3865,0,0,0,0,0,0
$GC,1904,-1.25,-219.0,365.2,-15.5,183,1908,0.00,2.28,0.00,0.000,4,0.000,0.050,2500,3385,3865,0,0,0,0,0,0
$STATE,2105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2105,begin apogee
$GC,2111,-0.16,0.0,400.6,17.3,200,2294,1.17,0.00,176.45,0.924,6,0.126,0.000,2886,1973,2960,0,0,0,0,0,0
$STATE,2294,end apogee,CONTROL_FINISHED_OK
$STATE,2294,begin climb
$GC,2296,0.84,219.0,410.7,0.0,217,2490,0.93,2.50,184.55,0.876,4,0.061,0.041,3224,568,2066,0,0,0,0,0,0
$GC,2635,0.57,219.0,358.8,23.2,248,2643,0.32,2.40,0.00,0.000,6,0.169,0.038,3126,1971,2054,0,0,0,0,0,0
$GC,2834,0.40,219.0,323.4,17.3,267,2839,0.20,2.38,0.00,0.000,4,0.158,0.046,3070,3392,2051,0,0,0,0,0,0
$GC,3091,0.27,219.0,281.6,15.4,289,3100,0.17,2.33,0.00,0.000,6,0.168,0.032,3033,1970,2048,0,0,0,0,0,0
$GC,3290,0.34,272.7,259.1,11.1,308,3344,0.00,2.42,43.95,0.825,4,0.000,0.047,3033,3391,1847,0,0,0,0,0,0
$GC,3590,0.31,273.1,219.6,13.3,335,3599,0.00,2.33,0.00,0.000,6,0.000,0.034,3043,1983,1838,0,0,0,0,0,0
$GC,3726,0.34,294.7,202.8,12.4,348,3752,0.00,2.38,19.10,0.799,4,0.000,0.047,3043,3392,1758,0,0,0,0,0,0
$GC,3964,0.32,294.7,168.3,14.9,369,3973,0.00,2.33,0.00,0.000,6,0.000,0.033,3050,1973,1752,0,0,0,0,0,0
$GC,4099,0.32,294.7,150.4,13.5,382,4104,0.00,2.33,0.00,0.000,4,0.000,0.048,3051,3392,1751,0,0,0,0,0,0
$GC,4272,0.29,294.7,123.7,15.0,397,4281,0.00,2.30,0.00,0.000,6,0.000,0.033,3060,1971,1750,0,0,0,0,0,0
$GC,4409,0.29,294.7,105.1,13.8,410,4413,0.00,2.33,0.00,0.000,4,0.000,0.048,3060,3397,1751,0,0,0,0,0,0
$GC,4548,0.92,607.9,87.6,0.5,431,4668,0.50,2.28,112.68,0.729,2,0.068,0.033,3248,1964,1197,0,0,0,0,0,0
$STATE,4669,end climb,NO_VERTICAL_VELOCITY
$STATE,4669,begin subsurface finish
$SM_CCo,4671,150.77,0.683,0,0,445,616.92
$FINISH1,87.6,1.027830,-16
$GC,4985,-0.02,-16.2,87.6,0.1,449,4993,0.95,0.00,-4.78,0.000,2,0.103,0.000,2939,1964,1037,0,0,0,0,0,0
$FINISH2,87.6
$STATE,4994,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,4994,begin surface
$IRIDIUM_FIX,-7639.69,16935.54,291110,080851
$TT8_MAMPS,0.026964
$HUMID,51.18
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,13.90
$XPDR_PINGS,1
$24V_AH,23.1,39.130
$10V_AH,10.0,59.232
$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,5.400,60.225,536.725,150.775,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1085.521,1936.581,618.443,1327.918,77.475,0.000,1243.295,0.000,991.704,0.000,7.841,0.000
$DEVICE_MAMPS,169.065,50.490,924.120,683.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.328,535.469,615.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30335,450
$CAP_FILE_SIZE,68654,0
$CFSIZE,260165632,249704448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291110,085438,-7726.121,16929.959,181,99.0,181,137.2