version: 66.08
glider: 503
mission: 7
dive: 18
start: 11 30 110 10 18 48
data:
$ID,503
$MISSION,7
$DIVE,18
$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,36
$R_STBD_OVSHOOT,24
$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,87.57
$_SM_ANGLEo,0.4
$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,13,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,-8.18,0.000,2,0.000,0.000,2934,1981,2233,0,0,0,0,0,0
$GC,27,-0.84,-219.0,87.6,-0.0,1,48,0.75,2.38,-11.82,0.000,4,0.081,0.063,2669,3388,3864,0,0,0,0,0,0
$GC,213,-1.30,-219.0,101.5,-9.3,33,219,0.43,2.28,0.00,0.000,6,0.086,0.032,2522,1973,3865,0,0,0,0,0,0
$GC,349,-1.28,-219.0,119.2,-14.9,45,353,0.00,2.35,0.00,0.000,4,0.000,0.050,2510,3391,3866,0,0,0,0,0,0
$GC,532,-1.21,-219.0,151.0,-17.8,61,541,0.10,2.30,0.00,0.000,6,0.143,0.031,2542,1967,3866,0,0,0,0,0,0
$GC,667,-1.21,-219.0,169.9,-13.6,74,672,0.00,2.33,0.00,0.000,4,0.000,0.049,2534,3388,3865,0,0,0,0,0,0
$GC,806,-1.21,-219.0,191.0,-15.2,86,810,0.00,2.22,0.00,0.000,6,0.000,0.031,2534,1974,3865,0,0,0,0,0,0
$GC,942,-1.21,-219.0,210.3,-14.0,98,946,0.00,2.30,0.00,0.000,4,0.000,0.050,2534,3388,3865,0,0,0,0,0,0
$GC,1091,-1.21,-219.0,231.9,-14.4,111,1095,0.00,2.22,0.00,0.000,6,0.000,0.031,2533,1969,3866,0,0,0,0,0,0
$GC,1226,-1.21,-219.0,251.2,-14.1,123,1231,0.00,2.33,0.00,0.000,4,0.000,0.050,2534,3395,3865,0,0,0,0,0,0
$GC,1368,-1.21,-219.0,272.7,-14.9,135,1372,0.00,2.22,0.00,0.000,6,0.000,0.031,2533,1977,3865,0,0,0,0,0,0
$GC,1572,-1.21,-219.0,301.0,-14.1,154,1576,0.00,2.28,0.00,0.000,4,0.000,0.049,2534,3389,3865,0,0,0,0,0,0
$GC,1794,-1.21,-219.0,334.2,-14.4,173,1802,0.00,2.25,0.00,0.000,6,0.000,0.031,2533,1970,3865,0,0,0,0,0,0
$GC,1993,-1.21,-219.0,360.1,-12.6,192,1997,0.00,2.30,0.00,0.000,4,0.000,0.050,2534,3395,3865,0,0,0,0,0,0
$GC,2212,-1.21,-219.0,390.4,-13.3,211,2216,0.00,2.20,0.00,0.000,6,0.000,0.031,2533,1973,3865,0,0,0,0,0,0
$STATE,2292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2292,begin apogee
$GC,2296,-0.16,0.0,401.0,12.9,218,2481,1.05,0.00,175.60,0.924,6,0.119,0.000,2884,1972,2961,0,0,0,0,0,0
$STATE,2482,end apogee,CONTROL_FINISHED_OK
$STATE,2482,begin climb
$GC,2484,0.84,219.0,409.3,0.0,235,2681,0.93,2.47,184.43,0.875,4,0.064,0.041,3219,581,2065,0,0,0,0,0,0
$GC,2809,0.57,219.0,357.7,24.8,264,2817,0.32,2.40,0.00,0.000,6,0.167,0.039,3129,1978,2054,0,0,0,0,0,0
$GC,3008,0.39,219.0,317.9,19.9,283,3013,0.22,2.35,0.00,0.000,4,0.158,0.045,3066,3388,2050,0,0,0,0,0,0
$GC,3265,0.26,219.0,272.6,17.0,305,3273,0.20,2.28,0.00,0.000,6,0.165,0.032,3023,1983,2047,0,0,0,0,0,0
$GC,3465,0.31,264.1,248.3,11.5,324,3506,0.00,2.40,36.80,0.821,4,0.000,0.047,3023,3394,1883,0,0,0,0,0,0
$GC,3751,0.34,284.6,210.2,12.5,349,3775,0.00,2.33,18.20,0.793,6,0.000,0.034,3031,1978,1799,0,0,0,0,0,0
$GC,3912,0.40,315.6,190.9,12.1,364,3951,0.12,2.42,27.83,0.783,4,0.093,0.047,3090,3381,1672,0,0,0,0,0,0
$GC,4196,0.30,315.6,134.0,19.6,389,4205,0.17,2.30,0.00,0.000,6,0.147,0.034,3045,1987,1666,0,0,0,0,0,0
$GC,4333,0.33,315.6,114.9,13.6,402,4337,0.00,2.33,0.00,0.000,4,0.000,0.047,3045,3396,1665,0,0,0,0,0,0
$GC,4503,0.30,315.6,88.7,14.9,423,4510,0.00,2.28,0.00,0.000,6,0.000,0.032,3045,1970,1662,0,0,0,0,0,0
$GC,4641,0.93,641.1,88.3,-0.0,448,4657,0.50,0.00,12.55,0.747,2,0.072,0.000,3233,1970,1611,0,0,0,0,0,0
$STATE,4657,end climb,NO_VERTICAL_VELOCITY
$STATE,4657,begin subsurface finish
$SM_CCo,4659,234.18,0.702,0,0,444,616.92
$FINISH1,88.3,1.027834,-16
$GC,5056,-0.02,-16.4,88.3,-0.0,450,5066,0.88,0.00,-6.15,0.000,2,0.086,0.000,2937,1969,1219,0,0,0,0,0,0
$FINISH2,88.2
$STATE,5067,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5067,begin surface
$IRIDIUM_FIX,-7639.69,16935.54,291110,080851
$TT8_MAMPS,0.027713
$HUMID,50.55
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,14.00
$XPDR_PINGS,1
$24V_AH,23.1,39.445
$10V_AH,10.1,59.355
$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,5.675,55.500,455.400,234.175,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1117.419,1955.895,641.079,1327.077,74.893,0.000,1245.702,0.000,995.765,0.000,7.847,0.000
$DEVICE_MAMPS,166.770,62.730,924.120,701.505,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.964,534.103,600.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30383,451
$CAP_FILE_SIZE,68574,0
$CFSIZE,260165632,249622528
$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