version: 66.08
glider: 502
mission: 3
dive: 466
start: 1 2 111 8 22 32
data:
$ID,502
$MISSION,3
$DIVE,466
$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,-30728.561
$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,31
$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
$GPS1,020111,081546,-7630.212,17946.164,10,2.4,29,118.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-69.6
$GPS2,020111,082206,-7630.232,17946.305,14,0.9,31,118.5
$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,196.6,253484,-17.5,-10.000
$D_GRID,375
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-146.0,0.0,0.0,0,100,0.00,0.00,-80.75,0.000,2,0.000,0.000,406,2664,3208,0,0,0,0,0,0
$GC,103,-0.76,-146.0,3.1,-2.0,12,132,8.95,2.35,-11.30,0.000,4,0.194,0.062,2804,1238,3561,0,0,0,0,0,0
$GC,378,-0.76,-146.0,44.8,-15.5,61,386,0.00,2.33,0.00,0.000,6,0.000,0.058,2797,2646,3563,0,0,0,0,0,0
$GC,516,-0.76,-146.0,67.0,-16.8,86,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2646,3563,0,0,0,0,0,0
$GC,657,-0.76,-146.0,90.2,-16.4,111,664,0.00,1.83,0.00,0.000,4,0.000,0.062,2789,3773,3563,0,0,0,0,0,0
$GC,704,-0.76,-146.0,98.5,-17.5,119,711,0.00,1.77,0.00,0.000,6,0.000,0.043,2789,2641,3564,0,0,0,0,0,0
$GC,848,-0.76,-146.0,122.6,-16.7,133,857,0.10,0.00,0.00,0.000,6,0.169,0.000,2815,2639,3564,0,0,0,0,0,0
$GC,985,-0.76,-146.0,143.3,-14.7,146,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2639,3564,0,0,0,0,0,0
$GC,1111,-0.76,-146.0,161.4,-14.3,158,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2639,3563,0,0,0,0,0,0
$GC,1238,-0.76,-146.0,179.3,-13.9,170,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2639,3564,0,0,0,0,0,0
$GC,1365,-0.76,-146.0,197.1,-13.9,182,1369,0.00,2.20,0.00,0.000,4,0.000,0.051,2815,1249,3563,0,0,0,0,0,0
$GC,1395,-0.76,-146.0,201.5,-14.3,184,1399,0.00,2.33,0.00,0.000,6,0.000,0.057,2806,2670,3564,0,0,0,0,0,0
$GC,1530,-0.76,-146.0,220.2,-13.0,196,1535,0.00,2.28,0.00,0.000,4,0.000,0.050,2806,1245,3564,0,0,0,0,0,0
$GC,1552,-0.76,-146.0,223.8,-15.0,197,1561,0.00,2.35,0.00,0.000,6,0.000,0.057,2797,2653,3564,0,0,0,0,0,0
$GC,1687,-0.76,-146.0,243.4,-14.8,210,1691,0.00,1.80,0.00,0.000,4,0.000,0.061,2788,3773,3564,0,0,0,0,0,0
$STATE,1843,end dive,NO_VERTICAL_VELOCITY
$STATE,1843,begin apogee
$GC,1850,-0.27,0.0,244.7,0.0,224,1989,0.52,0.00,127.90,0.940,4,0.087,0.000,2980,2487,2961,0,0,0,0,0,0
$STATE,1990,end apogee,CONTROL_FINISHED_OK
$STATE,1990,begin climb
$GC,1992,0.76,146.0,244.7,0.0,235,2148,1.02,2.47,143.55,0.855,4,0.078,0.049,3306,1095,2365,0,0,0,0,0,0
$GC,2218,0.76,146.0,226.3,11.0,253,2228,0.00,2.62,0.00,0.000,6,0.000,0.053,3306,2498,2356,0,0,0,0,0,0
$GC,2356,0.76,146.0,210.7,11.4,266,2360,0.00,2.40,0.00,0.000,4,0.000,0.050,3315,1093,2353,0,0,0,0,0,0
$GC,2551,0.76,146.0,189.8,10.2,283,2556,0.00,2.35,0.00,0.000,6,0.000,0.054,3315,2528,2349,0,0,0,0,0,0
$GC,2687,0.76,146.0,174.6,11.2,295,2691,0.00,1.98,0.00,0.000,4,0.000,0.059,3315,3764,2348,0,0,0,0,0,0
$GC,2725,0.76,146.0,169.2,13.3,298,2734,0.00,1.98,0.00,0.000,6,0.000,0.041,3325,2526,2348,0,0,0,0,0,0
$GC,2863,0.76,146.0,153.0,11.7,311,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2525,2348,0,0,0,0,0,0
$GC,2998,0.76,146.0,136.5,12.0,324,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2524,2347,0,0,0,0,0,0
$GC,3125,0.76,146.0,121.0,12.1,336,3128,0.00,2.03,0.00,0.000,4,0.000,0.058,3325,3774,2347,0,0,0,0,0,0
$GC,3160,0.76,146.0,116.2,14.6,339,3164,0.00,1.98,0.00,0.000,6,0.000,0.041,3335,2508,2347,0,0,0,0,0,0
$GC,3295,0.76,146.0,98.7,12.4,352,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2505,2347,0,0,0,0,0,0
$GC,3433,0.76,146.0,81.0,13.0,377,3440,0.00,2.05,0.00,0.000,4,0.000,0.058,3335,3764,2347,0,0,0,0,0,0
$GC,3506,0.76,146.0,69.7,15.0,390,3515,0.10,1.95,0.00,0.000,6,0.137,0.041,3311,2544,2347,0,0,0,0,0,0
$GC,3650,0.76,146.0,53.2,11.4,415,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2542,2346,0,0,0,0,0,0
$GC,3785,0.76,146.0,37.7,11.4,440,3793,0.00,2.03,0.00,0.000,4,0.000,0.059,3311,3764,2346,0,0,0,0,0,0
$GC,3893,0.76,146.0,24.3,13.5,459,3899,0.00,1.92,0.00,0.000,6,0.000,0.040,3319,2530,2346,0,0,0,0,0,0
$FREEZE,8.90,-1.056,-1.898,2,1,0
$FREEZE,8.34,-1.058,-1.898,2,1,0
$FREEZE,7.61,-1.057,-1.897,2,1,0
$GC,4033,0.76,146.0,7.6,11.4,484,4042,0.00,2.05,0.00,0.000,4,0.000,0.060,3318,3765,2345,0,0,0,0,0,0
$FREEZE,5.57,-1.058,-1.896,2,1,0
$FREEZE,4.75,-1.058,-1.895,2,1,0
$FREEZE,4.02,-1.059,-1.895,2,1,0
$FREEZE,3.23,-1.061,-1.894,2,1,0
$FREEZE,2.46,-1.062,-1.894,2,1,0
$STATE,4071,end climb,SURFACE_DEPTH_REACHED
$STATE,4071,begin surface coast
$FREEZE,1.79,-1.063,-1.893,2,1,0
$FREEZE,1.22,-1.072,-1.893,2,1,0
$FREEZE,1.10,-1.079,-0.178,2,1,0
$FINISH,1.1,1.002401
$STATE,4092,end surface coast,FINISH_DEPTH_REACHED
$STATE,4092,begin surface
$SM_CCo,4110,75.62,0.099,0,0,1737,300.24
$SM_GC,2.02,0.00,0.00,75.62,0.000,0.000,0.099,414,2652,1737,-8.28,0.06,300.24
$IRIDIUM_FIX,-7536.68,-17837.73,020111,060613
$TT8_MAMPS,0.028462
$HUMID,52.75
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,20.3,70.970
$10V_AH,9.7,48.311
$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,18.250,50.875,271.450,75.625,0.000,25.843,37.857,189.220,0.500,0.000,31.966,1242.106,1110.722,423.487,1632.428,168.302,0.000,975.931,0.000,825.580,0.000,2.621,0.000
$DEVICE_MAMPS,194.310,61.965,940.185,98.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.846,750.692,1013.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,267128
$DATA_FILE_SIZE,33713,493
$CAP_FILE_SIZE,69327,0
$CFSIZE,260165632,226639872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.338,128.1,1
$GPS,020111,093308,-7630.445,17947.408,11,1.7,11,118.5