version: 66.08
glider: 502
mission: 3
dive: 462
start: 1 2 111 3 11 22
data:
$ID,502
$MISSION,3
$DIVE,462
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$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,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30723.523
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-70.546913
$PRESSURE_SLOPE,0.00011650941
$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,4
$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,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,020111,030507,-7628.652,17951.936,34,1.2,34,118.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-68.1
$GPS2,020111,031056,-7628.697,17951.773,16,1.2,16,118.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA1
$TGT_LATLONG,-7630.000,17000.000
$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,196.3,255859,-17.5,-10.000
$D_GRID,385
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,101,0.00,0.00,-81.68,0.000,2,0.000,0.000,407,2679,3226,0,0,0,0,0,0
$GC,104,-0.76,-146.0,3.1,-1.4,12,129,8.95,2.40,-10.12,0.000,4,0.194,0.063,2808,1237,3559,0,0,0,0,0,0
$GC,232,-0.76,-146.0,23.9,-15.4,34,240,0.00,2.35,0.00,0.000,6,0.000,0.057,2800,2645,3562,0,0,0,0,0,0
$GC,372,-0.76,-146.0,45.3,-16.5,59,378,0.00,1.80,0.00,0.000,4,0.000,0.061,2791,3764,3562,0,0,0,0,0,0
$GC,397,-0.76,-146.0,50.0,-16.7,63,405,0.00,1.77,0.00,0.000,6,0.000,0.041,2791,2652,3562,0,0,0,0,0,0
$GC,536,-0.76,-146.0,73.6,-17.2,88,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2652,3563,0,0,0,0,0,0
$GC,676,-0.76,-146.0,97.3,-17.5,113,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2652,3562,0,0,0,0,0,0
$GC,820,-0.76,-146.0,122.4,-17.4,127,824,0.00,1.83,0.00,0.000,4,0.000,0.062,2782,3773,3563,0,0,0,0,0,0
$GC,868,-0.76,-146.0,131.7,-17.9,131,878,0.10,1.75,0.00,0.000,6,0.134,0.041,2815,2670,3563,0,0,0,0,0,0
$GC,1004,-0.76,-146.0,151.8,-14.8,144,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2670,3563,0,0,0,0,0,0
$GC,1131,-0.76,-146.0,169.2,-13.7,156,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2670,3563,0,0,0,0,0,0
$GC,1258,-0.76,-146.0,186.7,-13.7,168,1262,0.00,1.80,0.00,0.000,4,0.000,0.061,2809,3767,3563,0,0,0,0,0,0
$GC,1283,-0.76,-146.0,190.1,-13.6,170,1286,0.00,1.70,0.00,0.000,6,0.000,0.041,2808,2674,3563,0,0,0,0,0,0
$GC,1424,-0.76,-146.0,210.4,-14.5,183,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2671,3562,0,0,0,0,0,0
$GC,1551,-0.76,-146.0,228.2,-13.0,195,1555,0.00,1.77,0.00,0.000,4,0.000,0.061,2800,3764,3563,0,0,0,0,0,0
$GC,1632,-0.76,-146.0,241.8,-17.7,202,1641,0.00,1.75,0.00,0.000,6,0.000,0.041,2800,2671,3563,0,0,0,0,0,0
$GC,1769,-0.76,-146.0,245.5,0.0,215,1772,0.00,1.77,0.00,0.000,4,0.000,0.063,2800,3763,3563,0,0,0,0,0,0
$STATE,1824,end dive,NO_VERTICAL_VELOCITY
$STATE,1824,begin apogee
$GC,1832,-0.27,0.0,245.4,0.0,220,1971,0.50,0.00,128.55,0.946,4,0.085,0.000,2981,2490,2959,0,0,0,0,0,0
$STATE,1972,end apogee,CONTROL_FINISHED_OK
$STATE,1972,begin climb
$GC,1974,0.76,146.0,245.4,0.0,231,2129,1.02,2.45,143.77,0.859,4,0.076,0.049,3309,1102,2364,0,0,0,0,0,0
$GC,2178,0.76,146.0,227.6,11.5,247,2186,0.00,2.62,0.00,0.000,6,0.000,0.052,3309,2492,2357,0,0,0,0,0,0
$GC,2316,0.76,147.5,213.9,9.9,260,2320,0.00,2.20,0.00,0.000,4,0.000,0.056,3309,3771,2353,0,0,0,0,0,0
$GC,2424,0.76,147.5,199.3,13.5,269,2434,0.00,2.05,0.00,0.000,6,0.000,0.041,3318,2526,2352,0,0,0,0,0,0
$GC,2562,0.76,147.5,183.2,12.1,282,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2525,2350,0,0,0,0,0,0
$GC,2697,0.76,147.5,166.8,11.7,295,2701,0.00,2.03,0.00,0.000,4,0.000,0.058,3319,3778,2349,0,0,0,0,0,0
$GC,2746,0.76,147.5,159.8,13.9,299,2754,0.00,2.00,0.00,0.000,6,0.000,0.041,3328,2523,2349,0,0,0,0,0,0
$GC,2884,0.76,147.5,142.9,12.5,312,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2522,2348,0,0,0,0,0,0
$GC,3019,0.76,147.5,125.5,12.8,325,3022,0.00,2.03,0.00,0.000,4,0.000,0.058,3328,3776,2348,0,0,0,0,0,0
$GC,3065,0.76,147.5,119.0,14.2,329,3069,0.00,1.95,0.00,0.000,6,0.000,0.040,3337,2524,2348,0,0,0,0,0,0
$GC,3209,0.76,147.5,100.1,12.9,342,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2521,2347,0,0,0,0,0,0
$GC,3347,0.76,147.5,82.0,13.3,367,3354,0.00,2.08,0.00,0.000,4,0.000,0.058,3337,3773,2347,0,0,0,0,0,0
$GC,3409,0.76,147.5,72.7,14.9,378,3418,0.10,1.98,0.00,0.000,6,0.140,0.041,3314,2540,2347,0,0,0,0,0,0
$GC,3549,0.76,147.5,56.0,11.8,403,3556,0.00,2.30,0.00,0.000,4,0.000,0.051,3323,1087,2346,0,0,0,0,0,0
$GC,3568,0.76,147.5,53.5,11.5,406,3577,0.00,2.40,0.00,0.000,6,0.000,0.054,3323,2543,2346,0,0,0,0,0,0
$GC,3711,0.76,147.5,36.3,11.8,431,3717,0.00,1.95,0.00,0.000,4,0.000,0.057,3323,3764,2346,0,0,0,0,0,0
$GC,3751,0.76,147.5,30.5,13.6,438,3759,0.00,1.95,0.00,0.000,6,0.000,0.041,3332,2540,2346,0,0,0,0,0,0
$GC,3894,0.76,147.5,11.8,13.0,463,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2540,2346,0,0,0,0,0,0
$FREEZE,8.22,-0.872,-1.896,2,1,0
$FREEZE,7.42,-0.858,-1.896,2,1,0
$FREEZE,6.67,-0.856,-1.895,2,1,0
$FREEZE,5.86,-0.859,-1.895,2,1,0
$FREEZE,5.00,-0.866,-1.894,2,1,0
$FREEZE,4.31,-0.859,-1.893,2,1,0
$FREEZE,3.66,-0.855,-1.893,2,1,0
$FREEZE,2.81,-0.855,-1.892,2,1,0
$STATE,3958,end climb,SURFACE_DEPTH_REACHED
$STATE,3958,begin surface coast
$FREEZE,2.06,-0.849,-1.892,2,1,0
$FREEZE,1.13,-0.854,-1.890,2,1,0
$FREEZE,1.18,-0.943,-1.896,2,1,0
$FREEZE,1.14,-0.935,-1.067,2,1,0
$FINISH,1.1,1.015763
$STATE,3986,end surface coast,CONTROL_FINISHED_OK
$STATE,3986,begin surface
$SM_CCo,4003,75.55,0.101,0,0,1735,300.24
$SM_GC,2.07,0.00,0.00,75.55,0.000,0.000,0.101,413,2663,1735,-8.28,0.37,300.24
$IRIDIUM_FIX,-7545.40,17950.81,020111,010101
$TT8_MAMPS,0.028462
$HUMID,53.50
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.8
$24V_AH,20.3,70.595
$10V_AH,9.7,48.013
$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,18.250,52.900,272.325,75.550,0.000,27.576,46.025,164.281,0.750,0.000,17.397,1217.310,1074.865,429.963,1545.822,171.869,0.000,979.714,0.000,792.608,0.000,2.622,0.000
$DEVICE_MAMPS,194.310,74.205,945.540,100.980,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.625,728.115,987.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267112
$DATA_FILE_SIZE,33612,478
$CAP_FILE_SIZE,70435,0
$CFSIZE,260165632,226799616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.348,206.7,1
$GPS,020111,042013,-7629.019,17948.738,8,1.3,12,118.3