version: 66.08
glider: 503
mission: 7
dive: 20
start: 11 30 110 13 12 30
data:
$ID,503
$MISSION,7
$DIVE,20
$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,34
$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,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,88.42
$_SM_ANGLEo,-0.2
$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,-219.0,0.0,0.0,0,26,0.00,0.00,-8.98,0.000,2,0.000,0.000,2924,1967,2364,0,0,0,0,0,0
$GC,28,-0.84,-219.0,88.4,-0.0,1,49,0.75,2.35,-10.77,0.000,4,0.094,0.053,2671,562,3864,0,0,0,0,0,0
$GC,127,-1.20,-219.0,95.5,-9.5,18,136,0.32,2.35,0.00,0.000,6,0.087,0.039,2555,1970,3866,0,0,0,0,0,0
$GC,269,-1.24,-219.0,110.6,-13.1,35,273,0.00,2.35,0.00,0.000,4,0.000,0.049,2550,3392,3864,0,0,0,0,0,0
$GC,441,-1.24,-219.0,134.5,-13.4,50,451,0.00,2.30,0.00,0.000,6,0.000,0.031,2550,1976,3865,0,0,0,0,0,0
$GC,579,-1.26,-219.0,151.7,-12.8,63,584,0.00,2.33,0.00,0.000,4,0.000,0.048,2550,3392,3865,0,0,0,0,0,0
$GC,742,-1.26,-219.0,175.1,-14.2,77,750,0.00,2.28,0.00,0.000,6,0.000,0.031,2550,1975,3865,0,0,0,0,0,0
$GC,877,-1.28,-219.0,194.0,-13.8,90,881,0.00,2.30,0.00,0.000,4,0.000,0.050,2550,3386,3865,0,0,0,0,0,0
$GC,1016,-1.30,-219.0,213.5,-14.8,102,1020,0.00,2.22,0.00,0.000,6,0.000,0.031,2550,1971,3865,0,0,0,0,0,0
$GC,1151,-1.34,-219.0,232.4,-13.3,114,1156,0.12,2.33,0.00,0.000,4,0.104,0.052,2495,3385,3865,0,0,0,0,0,0
$GC,1281,-1.26,-219.0,256.6,-18.0,125,1289,0.15,2.25,0.00,0.000,6,0.155,0.032,2536,1971,3865,0,0,0,0,0,0
$GC,1480,-1.26,-219.0,285.5,-14.4,144,1484,0.00,2.30,0.00,0.000,4,0.000,0.050,2534,3389,3865,0,0,0,0,0,0
$GC,1670,-1.26,-219.0,313.7,-15.1,160,1678,0.00,2.25,0.00,0.000,6,0.000,0.031,2534,1974,3864,0,0,0,0,0,0
$GC,1868,-1.26,-219.0,341.0,-13.9,179,1872,0.00,2.28,0.00,0.000,4,0.000,0.049,2523,3388,3864,0,0,0,0,0,0
$GC,2057,-1.26,-219.0,371.0,-15.2,195,2065,0.00,2.22,0.00,0.000,6,0.000,0.031,2523,1980,3864,0,0,0,0,0,0
$GC,2255,-1.26,-219.0,399.3,-14.0,214,2260,0.00,2.28,0.00,0.000,4,0.000,0.049,2513,3396,3865,0,0,0,0,0,0
$STATE,2265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2265,begin apogee
$GC,2272,-0.16,0.0,400.8,14.0,215,2457,1.12,0.00,176.07,0.924,6,0.125,0.000,2883,1972,2959,0,0,0,0,0,0
$STATE,2458,end apogee,CONTROL_FINISHED_OK
$STATE,2458,begin climb
$GC,2460,0.84,219.0,410.0,0.0,232,2657,0.93,2.58,184.07,0.874,4,0.057,0.047,3213,3386,2065,0,0,1,0,0,0
$GC,2911,0.46,219.0,318.7,27.6,272,2918,0.50,2.35,0.00,0.000,6,0.184,0.034,3093,1978,2051,0,0,0,0,0,0
$GC,3111,0.34,219.0,285.0,16.1,291,3116,0.15,2.30,0.00,0.000,4,0.169,0.041,3063,564,2048,0,0,0,0,0,0
$GC,3241,0.31,219.0,267.0,13.8,302,3245,0.00,2.30,0.00,0.000,6,0.000,0.038,3063,1978,2047,0,0,0,0,0,0
$GC,3441,0.26,226.3,241.0,13.0,320,3455,0.15,2.38,4.18,0.638,4,0.158,0.049,3022,3380,2037,0,0,0,0,0,0
$GC,3700,0.26,259.8,208.1,12.0,343,3736,0.00,2.28,30.23,0.807,6,0.000,0.034,3032,1981,1901,0,0,0,0,0,0
$GC,3873,0.27,272.9,186.5,12.8,359,3890,0.00,2.38,12.25,0.773,4,0.000,0.048,3032,3390,1847,0,0,0,0,0,0
$GC,4135,0.25,272.9,147.9,15.3,382,4144,0.00,2.33,0.00,0.000,6,0.000,0.034,3041,1973,1842,0,0,0,0,0,0
$GC,4272,0.25,273.2,129.1,13.3,395,4277,0.00,2.33,0.00,0.000,4,0.000,0.049,3041,3386,1841,0,0,0,0,0,0
$GC,4523,0.21,273.2,91.5,14.1,422,4531,0.12,2.30,0.00,0.000,6,0.138,0.034,3009,1969,1839,0,0,0,0,0,0
$GC,4665,0.87,601.4,88.9,-0.1,447,4694,0.57,0.00,25.20,0.757,2,0.074,0.000,3223,1968,1729,0,0,0,0,0,0
$STATE,4695,end climb,NO_VERTICAL_VELOCITY
$STATE,4695,begin subsurface finish
$SM_CCo,4696,257.45,0.698,0,0,444,616.92
$FINISH1,88.9,1.027840,-17
$GC,5118,-0.02,-16.7,88.9,0.1,451,5126,0.88,0.00,-4.82,0.000,2,0.092,0.000,2932,1968,1051,0,0,0,0,0,0
$FINISH2,88.8
$STATE,5127,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,5127,begin surface
$IRIDIUM_FIX,-7639.69,16935.54,291110,080851
$TT8_MAMPS,0.026964
$HUMID,50.78
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.1,39.759
$10V_AH,10.1,59.478
$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,5.775,60.150,432.000,257.450,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1128.063,1967.001,662.162,1341.101,78.505,0.000,1264.998,0.000,994.519,0.000,7.840,0.000
$DEVICE_MAMPS,184.365,52.785,924.120,697.680,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.462,541.561,637.252,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30401,452
$CAP_FILE_SIZE,70096,0
$CFSIZE,260165632,249536512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,291110,085438,-7726.121,16929.959,181,99.0,181,137.2